private void ViewPort_Loaded(object sender, RoutedEventArgs e)
{
width = (int)this.ViewPortContainer.ActualWidth;
height = (int)this.ViewPortContainer.ActualHeight;
writeableBitmap = BitmapFactory.New(width, height);
ViewPort.Source = writeableBitmap;
PrintTheMap();
CompositionTarget.Rendering += CompositionTarget_Rendering;
MazeState state = new MazeState();
if (ALGORITHM_CHOOSER == 0)
{
var dfs = new DeepFirstSearcher(state);
new Thread(() => dfs.Search()).Start();
}
if (ALGORITHM_CHOOSER == 1)
{
var bfs = new BreadthFirstSearcher(state);
new Thread(() => bfs.Search()).Start();
}
if (ALGORITHM_CHOOSER == 2)
{
var ast = new AStarSearcher(state);
new Thread(() => ast.Search()).Start();
}
}
private void AStarButton_Click(object sender, EventArgs e)
{
var astar = new AStarSearcher<Problems.SlidingTilesPuzzle.State, int>(config =>
{
config.ActionsListFunc = x =>
{
return x.Data.GetActions().Where(a => x.Parent == null || x.Parent.Data.Blank != a);
};
config.ActionApplierFunc = (x, a) => x.Data.Clone().ApplyAction(a);
config.ActionCostFunc = (x, a) => 1;
config.HeuristicFunc = SlidingTilePuzzleHeuristics.GetManhattanDistance;
config.IsGoalFunc = x => x.Data.IsSolution;
});
var updateCount = 0;
var start = DateTime.Now;
Action<bool> updateCounts = (force) =>
{
if (!force && ++updateCount % 10000 > 0) return;
NodesGeneratedLabel.Text = "Generated = " + astar.NodesGeneratedCount + " ";
ExpandedNodesLabel.Text = "Expanded = " + astar.NodesExpandedCount + " ";
RetainedNodesLabel.Text = "Retained = " + astar.NodesRetainedCount + " ";
SecondsLabel.Text = DateTime.Now.Subtract(start).TotalSeconds.ToString() + " (next depth = " + astar.NextCostLimitThreshhold + ")";
_currentState = astar.CurrentNode.Data;
panel1.Invalidate();
Application.DoEvents();
};
astar.NodeExpanded += (s, a) => updateCounts(false);
astar.NodeGenerated += (s, a) => updateCounts(false);
var solution = astar.Search(_currentState);
updateCounts(true);
}
// Start is called before the first frame update
void Start()
{
// Rigidbody2Dを取得する
Rigidbody2D rd = GetComponent <Rigidbody2D>();
//目的地の設定
//餌の位置
targetFeed = GameObject.Find("feed").transform.position;
//巣の位置
targetNest = GameObject.Find("nest").transform.position;
//現在置
nowPlace = GameObject.Find("workingAnt").transform.position;
//経路探索のプログラムにぶち込むためのnode作成
nodeGraph = new NodeGraph();
nodeNest = nodeGraph.CreateNode(targetNest);
nodeFeed = nodeGraph.CreateNode(targetFeed);
//現在は曲がり角を生成していないため、nodeは2つだけ
//試しにtargetNestEntrance（巣の出入り口）なるものを曲がり角として用意してみる
targetNestEntrance = GameObject.Find("nestEntrance").transform.position;
nodeNestEntrance = nodeGraph.CreateNode(targetNestEntrance);
// nodeGraph.ConnectNodes(new []{nodeNest, nodeNestEntrance,nodeFeed});
nodeGraph.ConnectNodes(new [] { nodeNest, nodeNestEntrance });
nodeGraph.ConnectNodes(new [] { nodeNestEntrance, nodeFeed });
//探索ごとにAStarSearcherインスタンスを作る
searcher = new AStarSearcher(nodeGraph);
//経路探索をする
searcher.SearchRoute(nodeNest, nodeFeed);
Debug.Log(searcher.Route);
//結果はsearcher.Routeに入る
foreach (var node in searcher.Route)
{
//vにnode.Posで値を取得する
v.Add(node.Pos);
Debug.Log(node.ToString());
}
//ありの状態の取得
//初期位置
nowPlace = GameObject.Find("workingAnt").transform.position;
//対象までにかかる時間
time = 250;
//node間の移動を計算し足していく値
//最初は1番目の目的地へと向かう
i = 1;
target = v[i];
way = explore(target);
float x = way.x;
float y = way.y;
Debug.Log(x);
Debug.Log(y);
//運搬能力
//ability = 1;
}
//運搬能力
//public int ability = 1;
// Start is called before the first frame update
void Start()
{
antMovement = new AntMovement();
//目的地の設定
//餌と巣の位置情報はテスト用(後で削除または変更する可能性あり)
//餌の位置
targetFeed = GameObject.Find("feed").transform.position;
//巣の位置
targetNest = GameObject.Find("nest").transform.position;
//現在置
//自身の座標を取得
antMovement.nowPlace = transform.position;
//経路探索のプログラムにぶち込むためのnode作成
nodeGraph = new NodeGraph();
nodeNest = nodeGraph.CreateNode(targetNest);
nodeFeed = nodeGraph.CreateNode(targetFeed);
//現在は曲がり角を生成していないため、nodeは2つだけ
//試しにtargetNestEntrance（巣の出入り口）なるものを曲がり角として用意してみる
targetNestEntrance = GameObject.Find("nestEntrance").transform.position;
nodeNestEntrance = nodeGraph.CreateNode(targetNestEntrance);
//nodeをそれぞれつなげる作業
//nodeGraph.ConnectNodes(new []{from,to});→ fromからtoへnodeをつなげる
//nodeGraph.ConnectNodes(new []{A, B,C});→ABCの循環円を作成
nodeGraph.ConnectNodes(new [] { nodeNest, nodeNestEntrance });
nodeGraph.ConnectNodes(new [] { nodeNestEntrance, nodeFeed });
//探索ごとにAStarSearcherインスタンスを作る
searcher = new AStarSearcher(nodeGraph);
//経路探索をする
searcher.SearchRoute(nodeNest, nodeFeed);
Debug.Log(searcher.Route);
//結果はsearcher.Routeに入る
foreach (var node in searcher.Route)
{
//vにnode.Posで値を取得する
v.Add(node.WorldPosition);
//Debug.Log(node.ToString());
I++; //vの大きさ
}
//ありの状態の取得
//初期位置
antMovement.nowPlace = transform.position;
//アリのスピード取得(未取得)
//public float speed = hogehoge.speed;
//試験用スピード //これは後で削除
antMovement.speed = 0.01f;
//node間の移動を計算し足していく値
//最初は1番目の目的地へと向かう
i = 1;
target = v[i];
antMovement.way = antMovement.Explore(target);
}
// Start is called before the first frame update
void Start()
{
Debug.Log("testStart");
//経路グラフはNodeGraphで表現する
NodeGraph nodeGraph = new NodeGraph();
Node nodeA = nodeGraph.CreateNode(new Vector2(0, 0));
Node nodeB = nodeGraph.CreateNode(new Vector2(-5, 10));
Node nodeC = nodeGraph.CreateNode(new Vector2(0, 5));
Node nodeD = nodeGraph.CreateNode(new Vector2(10, 10));
Node nodeE = nodeGraph.CreateNode(new Vector2(10, 0));
//それぞれをつなげる
nodeGraph.ConnectNodes(new [] { nodeA, nodeB, nodeC });
nodeGraph.ConnectNodes(new [] { nodeB, nodeC, nodeD });
nodeGraph.ConnectNodes(new [] { nodeA, nodeE });
nodeGraph.ConnectNodes(new [] { nodeD, nodeE });
Debug.Log(nodeA.ToString());
Debug.Log(nodeB.ToString());
Debug.Log(nodeC.ToString());
Debug.Log(nodeD.ToString());
Debug.Log(nodeE.ToString());
Debug.Log("graphOk");
Debug.Log("AStarSearchStart");
var stopWatch = new System.Diagnostics.Stopwatch();
stopWatch.Start();
//探索ごとにAStarSearcherインスタンスを作る
AStarSearcher searcher = new AStarSearcher(nodeGraph);
//経路探索をする
searcher.SearchRoute(nodeB, nodeE);
stopWatch.Stop();
Debug.Log(stopWatch.ElapsedMilliseconds + "ms");
Debug.Log("Route:");
//結果はsearcher.Routeに入る
foreach (var node in searcher.Route)
{
Debug.Log(node.ToString());
}
// Debug.Log();
}
private void AStarButton_Click(object sender, EventArgs e)
{
var astar = new AStarSearcher <Problems.SlidingTilesPuzzle.State, int>(config =>
{
config.ActionsListFunc = x =>
{
return(x.Data.GetActions().Where(a => x.Parent == null || x.Parent.Data.Blank != a));
};
config.ActionApplierFunc = (x, a) => x.Data.Clone().ApplyAction(a);
config.ActionCostFunc = (x, a) => 1;
config.HeuristicFunc = SlidingTilePuzzleHeuristics.GetManhattanDistance;
config.IsGoalFunc = x => x.Data.IsSolution;
});
var updateCount = 0;
var start = DateTime.Now;
Action <bool> updateCounts = (force) =>
{
if (!force && ++updateCount % 10000 > 0)
{
return;
}
NodesGeneratedLabel.Text = "Generated = " + astar.NodesGeneratedCount + " ";
ExpandedNodesLabel.Text = "Expanded = " + astar.NodesExpandedCount + " ";
RetainedNodesLabel.Text = "Retained = " + astar.NodesRetainedCount + " ";
SecondsLabel.Text = DateTime.Now.Subtract(start).TotalSeconds.ToString() + " (next depth = " + astar.NextCostLimitThreshhold + ")";
_currentState = astar.CurrentNode.Data;
panel1.Invalidate();
Application.DoEvents();
};
astar.NodeExpanded += (s, a) => updateCounts(false);
astar.NodeGenerated += (s, a) => updateCounts(false);
var solution = astar.Search(_currentState);
updateCounts(true);
}
