public ConsideredPosition(Point position, ObstacleSurface surface, int score, PoseMechanism pose)
{
Position = position;
Pose = pose;
RestingOn = surface;
CostScore = score;
}
public ConsideredPosition(Point position, Room world, int score, PoseMechanism pose)
{
Position = position;
Pose = pose;
World = world;
CostScore = score;
}
//public List<ConsideredPosition> EndPoints;
public void AddStartPoint(ObstacleSurface mySurface, Point position, int score, ConsideredPosition previousPosition, PoseMechanism pose, TryGoEvent context)
{
if (StartPoints == null)
{
StartPoints = new List <ConsideredPosition>();
}
else
{
foreach (ConsideredPosition point in StartPoints)
{
if (point.Position.Equals(position))
{
if (score < point.CostScore)
{
//TODO: I don't think this can actually be reached. It might be good to update scores of future points if it does though?
//There's not a good way to do that currently though, so not doing that right now.
point.PreviousPositions.Insert(0, previousPosition);
point.CostScore = score;
}
else
{
point.PreviousPositions.Add(previousPosition);
}
return;
}
}
}
//Not found yet, need to create a new point.
ConsideredPosition newPoint = new ConsideredPosition(position, mySurface, score, pose);
StartPoints.Add(newPoint);
//Since it's new, connect to all end points on this surface.
if (EndPoints != null)
{
//foreach (ConsideredPosition endPoint in EndPoints)
//{
// context.ConsiderSurfacePath(newPoint, endPoint);
//}
}
}