//Start from start, move to within distance of goal within max steps.
public static HexPosition[] search(HexPosition start, HexPosition goal, int max, int distance = 0)
{
max += distance; //Now it's the maximum distance to the goal, instead of just the maximum number of steps.
//HashSet<HexPosition> closedSet = new HashSet<HexPosition>(); // The set of nodes already evaluated.
//HashSet<HexPosition> openSet = new HashSet<HexPosition>(start); // The set of tentative nodes to be evaluated, initially containing the start node
Dictionary <HexPosition, HexPosition> cameFrom = new Dictionary <HexPosition, HexPosition>(); // The map of navigated nodes.
Dictionary <HexPosition, int> gScore = new Dictionary <HexPosition, int>(); // Cost from start along best known path. Domain is the open and closed sets.
Dictionary <HexPosition, int> fScore = new Dictionary <HexPosition, int>(); // Estimated total cost from start to goal through y. Domain is the open set.
gScore.Add(start, 0);
fScore.Add(start, start.dist(goal));
while (fScore.Count > 0)
{
HexPosition current = getMin(fScore);
if (current.dist(goal) <= distance)
{
int length = 0;
gScore.TryGetValue(current, out length);
return(reconstructPath(cameFrom, current, length + 1));
}
fScore.Remove(current);
foreach (HexPosition neighbor in current.Neighbors)
{
if (neighbor.containsKey("Obstacle") || neighbor.containsKey("Unit"))
{
continue; //Make this more general.
}
if (gScore.ContainsKey(neighbor) && !fScore.ContainsKey(neighbor))
{
continue;
}
int tentativeGScore = 0;
gScore.TryGetValue(current, out tentativeGScore);
++tentativeGScore;
if (tentativeGScore > max)
{
continue;
}
int neighborGScore = 0;
gScore.TryGetValue(current, out neighborGScore);
if (!fScore.ContainsKey(neighbor) || tentativeGScore < neighborGScore)
{
int newFScore = tentativeGScore + neighbor.dist(goal);
if (newFScore > max)
{
continue;
}
cameFrom.Add(neighbor, current);
gScore.Add(neighbor, tentativeGScore);
fScore.Add(neighbor, newFScore);
}
}
}
return(new HexPosition[0] {
});
}
//Start from start, move to within distance of goal within max steps.
public static HexPosition[] search(HexPosition start, HexPosition goal, int max, int distance = 0)
{
max += distance; //Now it's the maximum distance to the goal, instead of just the maximum number of steps.
//HashSet<HexPosition> closedSet = new HashSet<HexPosition>(); // The set of nodes already evaluated.
//HashSet<HexPosition> openSet = new HashSet<HexPosition>(start); // The set of tentative nodes to be evaluated, initially containing the start node
Dictionary<HexPosition, HexPosition> cameFrom = new Dictionary<HexPosition, HexPosition>(); // The map of navigated nodes.
Dictionary<HexPosition, int> gScore = new Dictionary<HexPosition, int>(); // Cost from start along best known path. Domain is the open and closed sets.
Dictionary<HexPosition, int> fScore = new Dictionary<HexPosition, int>(); // Estimated total cost from start to goal through y. Domain is the open set.
gScore.Add(start, 0);
fScore.Add(start, start.dist(goal));
while (fScore.Count > 0)
{
HexPosition current = getMin(fScore);
if (current.dist(goal) <= distance)
{
int length = 0;
gScore.TryGetValue(current, out length);
return reconstructPath(cameFrom, current, length + 1);
}
fScore.Remove(current);
foreach (HexPosition neighbor in current.Neighbors)
{
if (neighbor.containsKey("Obstacle") || neighbor.containsKey("Unit"))
{
continue; //Make this more general.
}
if (gScore.ContainsKey(neighbor) && !fScore.ContainsKey(neighbor))
{
continue;
}
int tentativeGScore = 0;
gScore.TryGetValue(current, out tentativeGScore);
++tentativeGScore;
if (tentativeGScore > max)
{
continue;
}
int neighborGScore = 0;
gScore.TryGetValue(current, out neighborGScore);
if (!fScore.ContainsKey(neighbor) || tentativeGScore < neighborGScore)
{
int newFScore = tentativeGScore + neighbor.dist(goal);
if (newFScore > max)
{
continue;
}
cameFrom.Add(neighbor, current);
gScore.Add(neighbor, tentativeGScore);
fScore.Add(neighbor, newFScore);
}
}
}
return new HexPosition[0] { };
}
/// <summary>
/// Static reward for a given state
/// </summary>
/// <param name="stateIndex"></param>
/// <returns></returns>
float TestRewardFunction(int state)
{
// reward for going to position 2,2
float maxReward = 1.0f;
var aircraft = stateSpace.GetAircraftAtState(state);
HexPosition target = new HexPosition(targetPosition.x, targetPosition.y);
int distanceToTarget = target.dist(aircraft.hexPos);
if (aircraft.hitPoints == 0)
{
return(-1);
}
if (distanceToTarget == 0 && aircraft.heading == targetHeading)
{
return(maxReward);
}
else
{
return(0);
}
}
private bool isAttackable(Unit attacker, Unit attacked, HexPosition coordinates)
{
return(attacked.PLAYER != player && coordinates.dist(attacked.Coordinates) <= attacker.RANGE);
}
//TODO: Move to Unit.cs
private bool isAttackable(Unit attacker, Unit attacked, HexPosition coordinates)
{
return attacked.PLAYER != player && coordinates.dist(attacked.Coordinates) <= attacker.RANGE;
}