public static void Main(string[] args)
{
const int clusterSize = 8;
const int maxLevel = 2;
const int height = 128;
const int width = 128;
//IPassability passability = new ExamplePassability();
IPassability passability = new FakePassability(width, height);
var concreteMap = ConcreteMapFactory.CreateConcreteMap(width, height, passability);
var abstractMapFactory = new HierarchicalMapFactory();
var absTiling = abstractMapFactory.CreateHierarchicalMap(concreteMap, clusterSize, maxLevel, EntranceStyle.EndEntrance);
//var edges = absTiling.AbstractGraph.Nodes.SelectMany(x => x.Edges.Values)
// .GroupBy(x => x.Info.Level)
// .ToDictionary(x => x.Key, x => x.Count());
Func <Position, Position, List <IPathNode> > doHierarchicalSearch = (startPosition, endPosition)
=> HierarchicalSearch(absTiling, maxLevel, concreteMap, startPosition, endPosition);
Func <Position, Position, List <IPathNode> > doRegularSearch = (startPosition, endPosition)
=> RegularSearch(concreteMap, startPosition, endPosition);
Func <List <IPathNode>, List <Position> > toPositionPath = (path) =>
path.Select(p =>
{
if (p is ConcretePathNode)
{
var concretePathNode = (ConcretePathNode)p;
return(concreteMap.Graph.GetNodeInfo(concretePathNode.Id).Position);
}
var abstractPathNode = (AbstractPathNode)p;
return(absTiling.AbstractGraph.GetNodeInfo(abstractPathNode.Id).Position);
}).ToList();
//Position startPosition2 = new Position(18, 0);
//Position endPosition2 = new Position(20, 0);
var points = Enumerable.Range(0, 2000).Select(_ =>
{
var pos1 = ((FakePassability)passability).GetRandomFreePosition();
var pos2 = ((FakePassability)passability).GetRandomFreePosition();
while (Math.Abs(pos1.X - pos2.X) + Math.Abs(pos1.Y - pos2.Y) < 10)
{
pos2 = ((FakePassability)passability).GetRandomFreePosition();
}
return(Tuple.Create(pos1, pos2));
}).ToArray();
var searchStrategies = new[] { doRegularSearch, doHierarchicalSearch };
foreach (var searchStrategy in searchStrategies)
{
var watch = Stopwatch.StartNew();
for (int i = 0; i < points.Length; i++)
{
Position startPosition2 = points[i].Item1;
Position endPosition2 = points[i].Item2;
var regularSearchPath = searchStrategy(startPosition2, endPosition2);
var posPath1 = toPositionPath(regularSearchPath);
}
var regularSearchTime = watch.ElapsedMilliseconds;
Console.WriteLine(regularSearchTime);
}
}
public static void Main2(string[] args)
{
const int clusterSize = 8;
const int maxLevel = 2;
const int height = 128;
const int width = 128;
Position startPosition = new Position(17, 38);
Position endPosition = new Position(16, 18);
// Prepare the abstract graph beforehand
IPassability passability = new FakePassability(width, height);
var concreteMap = ConcreteMapFactory.CreateConcreteMap(width, height, passability);
var abstractMapFactory = new HierarchicalMapFactory();
var absTiling = abstractMapFactory.CreateHierarchicalMap(concreteMap, clusterSize, maxLevel, EntranceStyle.EndEntrance);
var watch = Stopwatch.StartNew();
var regularSearchPath = RegularSearch(concreteMap, startPosition, endPosition);
var regularSearchTime = watch.ElapsedMilliseconds;
watch = Stopwatch.StartNew();
var hierarchicalSearchPath = HierarchicalSearch(absTiling, maxLevel, concreteMap, startPosition, endPosition);
var hierarchicalSearchTime = watch.ElapsedMilliseconds;
var pospath = hierarchicalSearchPath.Select(p =>
{
if (p is ConcretePathNode)
{
var concretePathNode = (ConcretePathNode)p;
return(concreteMap.Graph.GetNodeInfo(concretePathNode.Id).Position);
}
var abstractPathNode = (AbstractPathNode)p;
return(absTiling.AbstractGraph.GetNodeInfo(abstractPathNode.Id).Position);
}).ToList();
#if !DEBUG
Console.WriteLine("Regular search: " + regularSearchTime + " ms");
Console.WriteLine("Number of nodes: " + regularSearchPath.Count);
Console.WriteLine("Hierachical search: " + hierarchicalSearchTime + " ms");
Console.WriteLine("Number of nodes: " + hierarchicalSearchPath.Count);
#endif
#if DEBUG
//Console.WriteLine("Regular search: " + regularSearchTime + " ms");
//Console.WriteLine($"{regularSearchPath.Count} path nodes");
//PrintFormatted(concreteMap, absTiling, clusterSize, regularSearchPath);
//Console.WriteLine();
//Console.WriteLine();
//Console.WriteLine();
Console.WriteLine("Hierachical search: " + hierarchicalSearchTime + " ms");
Console.WriteLine($"{hierarchicalSearchPath.Count} path nodes");
PrintFormatted(concreteMap, absTiling, clusterSize, pospath);
Console.WriteLine();
Console.WriteLine();
Console.WriteLine();
Console.WriteLine("Press any key to quit...");
Console.ReadKey();
#endif
}
public static void Main(string[] args)
{
// Prepare the abstract graph beforehand
IPassability passability = new FakePassability(Width, Height);
var tiling = TilingFactory.CreateTiling(Width, Height, passability);
var wizard = new AbstractMapFactory();
wizard.CreateHierarchicalMap(tiling, ClusterSize, MaxLevel, EntranceStyle.END_ENTRANCE);
var absTiling = wizard.HierarchicalMap;
var sw = Stopwatch.StartNew();
var path1 = RegularSearch(tiling);
var elapsed = sw.ElapsedMilliseconds;
Console.WriteLine("Regular search: " + elapsed + " ms");
Console.WriteLine($"{path1.Count} path nodes");
PrintFormatted(tiling, absTiling, ClusterSize, path1);
Console.WriteLine();
Console.WriteLine();
Console.WriteLine();
sw = Stopwatch.StartNew();
var path2 = HierarchicalSearch(absTiling, MaxLevel, tiling);
elapsed = sw.ElapsedMilliseconds;
Console.WriteLine("Hierachical search: " + elapsed + " ms");
Console.WriteLine($"{path2.Count} path nodes");
PrintFormatted(tiling, absTiling, ClusterSize, path2);
Console.WriteLine();
Console.WriteLine();
Console.WriteLine();
Console.WriteLine("Press any key to quit...");
Console.ReadKey();
}
