public int findNearestAndConnectablePositionInRoadmap(Roadmap roadmap,Map map)
{
float minLen = float.MaxValue;
float len;
int index = -1;
for (int i = 0; i < roadmap.samplePositionList.Count; i++)
{
len = Vector2.Distance(this.leftUpCorner, roadmap.samplePositionList[i].leftUpCorner);
if (len < minLen)
{
if (this.isConnectable(roadmap.samplePositionList[i],map))
{
minLen = len;
index = i;
}
}
}
return index;
}
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);
}