public Roadmap(Map map, Agent agent, int numberOfSample, int depth) { this.map = map; this.agent = agent; this.depth = depth; setSamplePositionList(numberOfSample); connectPositions(); //int roadMapStartIndex = agent.position.findNearestAndConnectablePositionInRoadmap(this, map); //int roadMapGoalIndex = agent.goalPosition.findNearestAndConnectablePositionInRoadmap(this, map); //if (roadMapStartIndex != -1 && roadMapGoalIndex != -1) //{ // connectPositions(); // findMinimumPathOnGraphWithDijikstra(roadMapStartIndex, roadMapGoalIndex); //} }
protected override void LoadContent() { spriteBatch = new SpriteBatch(GraphicsDevice); obstacleTexture = Content.Load<Texture2D>("obstacleImage"); Texture2D tempTexture = Content.Load<Texture2D>("ball"); goalPositionImageTexture = Content.Load<Texture2D>("goalPositionImage"); Position agent1StartPosition = new Position(new Vector2(10, 10), new Vector2(tempTexture.Width, tempTexture.Height)); Position agent1FinishPosition = new Position(new Vector2(800, 500), new Vector2(tempTexture.Width, tempTexture.Height)); agent1 = new Agent(this, tempTexture, "Agent1", Color.DarkBlue, agent1StartPosition, agent1FinishPosition); roadmap = new Roadmap(gameMap, agent1, sampleSize, depth); }