List <MoveDirection> build_route(Stack <GridPoint> points)
{
List <MoveDirection> l = new List <MoveDirection>();
GridPoint init = new GridPoint(new Vector2(meX, meY));
float nx = meX;
float ny = meY;
foreach (GridPoint p in points)
{
if (nx > p.Position.X)
{
l.Add(MoveDirection.North);
nx = p.Position.X;
ny = p.Position.Y;
continue;
}
if (nx < p.Position.X)
{
l.Add(MoveDirection.South);
nx = p.Position.X;
ny = p.Position.Y;
continue;
}
if (ny > p.Position.Y)
{
l.Add(MoveDirection.East);
nx = p.Position.X;
ny = p.Position.Y;
continue;
}
if (ny < p.Position.Y)
{
l.Add(MoveDirection.West);
nx = p.Position.X;
ny = p.Position.Y;
continue;
}
}
foreach (MoveDirection m in l)
{
Console.WriteLine(m);
}
return(l);
}
List <MoveDirection> find_route_astar(GridPoint target, List <List <GridPoint> > map)
{
Astar as_Path = new Astar(map);
Stack <GridPoint> solution = new Stack <GridPoint>();
solution = as_Path.FindPath(new Vector2(meX, meY), new Vector2(target.Position.X, target.Position.Y));
// Reverse path (from start to end...)
Stack <GridPoint> rsolution = new Stack <GridPoint>();
foreach (GridPoint p in solution)
{
Console.WriteLine($"[ROUTE] {p.Position.X},{p.Position.Y}");
}
Console.WriteLine($"[ROUTE] {meX},{meY}");
route = build_route(solution);
return(route);
}
GridPoint find_nearest_energy(List <GridPoint> pliste)
{
// Let's compute distance & find the nearest Energy point
// pour chaque nrjtpoint appelé 'p' de nrj_list :
// distance = valeur absolue (meX - GridPoint.posx)+ abs(meY-GridPoint.posy)
GridPoint target = new GridPoint(new Vector2(0, 0));
float mindist = 9999;
foreach (GridPoint p in pliste)
{
float d = p.get_distance(meX, meY);
if (d < mindist)
{
target = p;
mindist = d;
Console.WriteLine($"[TGT] mindist = {mindist}");
}
}
Console.WriteLine($"[TGT] position {target.Position.X} {target.Position.Y} ");
return(target);
}
/// <summary>
/// Résultat du scan
/// </summary>
/// <param name="distance">Distance.</param>
/// <param name="informations">Informations.</param>
/// Compte les energies et defini si une case est "walkable" ou non
public void AreaInformation(byte distance, byte[] informations)
{
if (distance <= 1)
{
return;
}
int radar_nrj = 0;
List <GridPoint> NRJ_list = new List <GridPoint>();
List <List <GridPoint> > ScanMap = new List <List <GridPoint> >();
Console.WriteLine($"Area: {distance}");
int index = 0;
for (int i = 0; i < distance; i++)
{
List <GridPoint> lineCells = new List <GridPoint>();
for (int j = 0; j < distance; j++)
{
GridPoint p = new GridPoint(new Vector2(i, j));
// IF point is energy :
if (informations[index] == (byte)CaseState.Energy)
{
radar_nrj++;
NRJ_list.Add(p);
p.Walkable = true;
}
// If point point is Ennemy
if (informations[index] == (byte)CaseState.Ennemy)
{
meX = j;
meY = i;
p.Walkable = true;
}
if (informations[index] == (byte)CaseState.Wall)
{
p.Walkable = false;
}
if (informations[index] == (byte)CaseState.Empty)
{
p.Walkable = true;
}
index++;
lineCells.Add(p);
}
ScanMap.Add(lineCells);
}
// Find route for each nrgpoint :
/*
* List<List<MoveDirection>> routes = new List<List<MoveDirection>>();
* foreach (GridPoint p in NRJ_list)
* {
* //route = find_route(p);
* route = find_route_astar(p,ScanMap);
*
* if (check_route(route))
* {
* routes.Add(route);
* }
*
* }
*/
mytarget = find_nearest_energy(NRJ_list);
route = find_route_astar(mytarget, ScanMap);
}