private JArray Path2JSON(AStar AS)
{
JArray ja = new JArray();
Node oldnode = null;
foreach (Node n in AS.PathByNodes)
{
JObject jo = new JObject();
double dist = 0;
if (oldnode != null)
dist = SystemData.Distance(n.System, oldnode.System);
oldnode = n;
jo["name"] = n.System.name;
//jo.Add("name", n.Name);
jo["x"] = n.X;
jo["y"] = n.Y;
jo["z"] = n.Z;
jo["dist"] = Math.Round(dist * 100) / 100;
ja.Add(jo);
}
// serialize JSON directly to a file
using (StreamWriter file = File.CreateText(@"route.json"))
{
JsonSerializer serializer = new JsonSerializer();
serializer.Serialize(file, ja);
}
return ja;
}
public static void Solve()
{
Stopwatch sw = new Stopwatch();
ReadData();
sw.Start();
ParseDataIntoGraph();
Console.WriteLine("Parsed data into graph in {0}", sw.Elapsed);
sw.Stop();
AStar a = new AStar(g);
a.ChoosenHeuristic = AStar.MaxAlongAxisHeuristic;
//a.ChoosenHeuristic = AStar.ManhattanHeuristic;
//a.ChoosenHeuristic = AStar.EuclidianHeuristic;
int lowestPathCost = Int32.MaxValue;
for (int start = 0; start < squareSize; start++)
{
Stopwatch swx = new Stopwatch();
swx.Start();
for (int end = 0; end < squareSize; end++)
{
Stopwatch sw1 = new Stopwatch();
sw1.Start();
if (a.SearchPath(nodes[0, start], nodes[squareSize_1, end]))
{
double pathCost = 0;
bool isFirst = true;
foreach (Arc arc in a.PathByArcs)
{
if (isFirst)
{
isFirst = false;
pathCost += fileNodes[(int)arc.StartNode.X, (int)arc.StartNode.Y];
}
pathCost += arc.Cost;
//Console.WriteLine(arc.ToString());
}
Console.WriteLine("{3} Path Cost from {0,2} to {1,2} is {2}", start, end, pathCost, sw1.Elapsed);
if (pathCost < lowestPathCost)
{
lowestPathCost = (int)pathCost;
}
}
else
{
Console.WriteLine("No results.");
}
}
Console.WriteLine("\tElapsed time for startY={0,2} in {1}", start, swx.Elapsed);
}
Console.WriteLine("Lowest Path Cost: {0}", lowestPathCost);
}
private void aStarMatches(Distance distanceCalc)
{
var map = new ArrayMap <bool>(MAP_WIDTH, MAP_HEIGHT);
CellularAutomataGenerator.Generate(map);
var graphTuple = initGraph(map, distanceCalc);
var pather = new AStar(map, distanceCalc);
var controlPather = new CA.AStar(graphTuple.Graph);
controlPather.ChoosenHeuristic = distanceHeuristic(distanceCalc);
for (int i = 0; i < ITERATIONS; i++)
{
Coord start = Coord.Get(SingletonRandom.DefaultRNG.Next(map.Width - 1), SingletonRandom.DefaultRNG.Next(map.Height - 1));
while (!map[start])
{
start = Coord.Get(SingletonRandom.DefaultRNG.Next(map.Width - 1), SingletonRandom.DefaultRNG.Next(map.Height - 1));
}
Coord end = Coord.Get(SingletonRandom.DefaultRNG.Next(map.Width - 1), SingletonRandom.DefaultRNG.Next(map.Height - 1));
while (end == start || !map[end])
{
end = Coord.Get(SingletonRandom.DefaultRNG.Next(map.Width - 1), SingletonRandom.DefaultRNG.Next(map.Height - 1));
}
var path1 = pather.ShortestPath(start, end);
controlPather.SearchPath(graphTuple.Nodes[start.X, start.Y], graphTuple.Nodes[end.X, end.Y]);
var path2 = controlPather.PathByNodes;
if (path2.Length != path1.LengthWithStart)
{
Console.WriteLine($"Error: Control got {path2.Length}, but custom AStar got {path1.LengthWithStart}");
Console.WriteLine("Control: ");
Utility.PrintHightlightedPoints(map, Utility.ToCoords(path2));
Console.WriteLine("AStar :");
Utility.PrintHightlightedPoints(map, path1.StepsWithStart);
}
bool lengthGood = (path1.LengthWithStart <= path2.Length);
Assert.AreEqual(true, lengthGood);
Assert.AreEqual(path1.Start, start);
Assert.AreEqual(path1.End, end);
checkWalkable(path1, map);
checkAdjacency(path1, distanceCalc);
}
}
// 0 1 2 3 4
// 0 __ __ __ N6 __
// 1 N3 __ N5 __ __
// 2 __ N2 __ N4 __
// 3 __ __ N1 __ __
// 4 __ __ __ __ __
//
// Begin:N1
// Goal:N6
// Links of Nodes: N3<-N2<-N1->N4->N5->N6
// Result way:N1->N4->N5->N6
public static void Main()
{
try
{
var G = new Graph();
Node N1 = G.AddNode(2,3,0);
Node N2 = G.AddNode(1,2,0);
Node N3 = G.AddNode(0,1,0);
Node N4 = G.AddNode(3,2,0);
Node N5 = G.AddNode(2, 1, 0);
Node N6 = G.AddNode(3, 0, 0);
G.AddArc(N1,N2,1);
G.AddArc(N2,N3,1);
G.AddArc(N1,N4,1);
G.AddArc(N4,N5,1);
G.AddArc(N5, N6, 1);
Console.WriteLine( ListNodesAndArcs(G) );
Console.WriteLine("Start:"+N1.ToString());
Console.WriteLine("Goal:" + N6.ToString());
AStar AS = new AStar(G);
if (AS.SearchPath(N1, N6))
{
foreach (Arc A in AS.PathByArcs)
Console.WriteLine(A.ToString());
}
else
{
Console.WriteLine("No result !");
}
}
catch(Exception e)
{
Console.Write( "Error :\n\n"+e.ToString() );
}
Console.ReadLine();
}
public static void Solve()
{
Stopwatch sw = new Stopwatch();
sw.Start();
ReadData();
ParseDataIntoGraph();
Console.WriteLine("Parsed data into graph in {0}", sw.Elapsed);
AStar a = new AStar(g);
a.ChoosenHeuristic = AStar.MaxAlongAxisHeuristic;
//a.ChoosenHeuristic = AStar.ManhattanHeuristic;
//a.ChoosenHeuristic = AStar.EuclidianHeuristic;
if (a.SearchPath(nodes[0, 0], nodes[squareSize_1, squareSize_1]))
{
double pathCost = 0;
bool isFirst = true;
foreach (Arc arc in a.PathByArcs)
{
if (isFirst)
{
isFirst = false;
pathCost += fileNodes[(int)arc.StartNode.X, (int)arc.StartNode.Y];
}
pathCost += arc.Cost;
}
Console.WriteLine("Lowest Path Cost: {0}", pathCost);
}
else
{
Console.WriteLine("No results.");
}
//Console.WriteLine(ListNodesAndArcs(g));
}
private void Route(string s1, string s2, float maxrange, int mode)
{
Stopwatch sw = new Stopwatch();
if (lastJumprange != maxrange)
{
G = new Graph();
PrepareNodes(G, out nodes, maxrange, mode);
//Console.WriteLine("Prepare nodes time: {0}", sw.Elapsed);
lastJumprange = maxrange;
}
AStar AS = new AStar(G);
Node start, stop;
start = nodes.FirstOrDefault(x => x.System.SearchName == s1.ToLower());
stop = nodes.FirstOrDefault(x => x.System.SearchName == s2.ToLower());
bool res;
if (start == null)
{
AppendText("Start system: " + s1 + " unknown");
return;
}
if (stop == null)
{
AppendText("Destination system: " + s2 + " unknown");
return;
}
sw = new Stopwatch();
sw.Start();
res = AS.SearchPath(start, stop);
sw.Stop();
AppendText("Searching route from " + s1 + " to " + s2 + Environment.NewLine);
AppendText("Find route Time: " + sw.Elapsed.TotalSeconds.ToString("0.000s") + Environment.NewLine);
AppendText("Total distance: " + SystemData.Distance(s1, s2).ToString("0.00") + Environment.NewLine);
AppendText("Max jumprange:" + maxrange + Environment.NewLine);
double totdist = 0;
int jumps = 0;
if (res)
{
foreach (Arc A in AS.PathByArcs)
{
double dist = SystemData.Distance(A.StartNode.System.name, A.EndNode.System.name);
AppendText(A.EndNode.System.name + " \tDist: " + dist.ToString("0.00") + " ly" + Environment.NewLine);
totdist += dist;
jumps++;
Console.WriteLine(A.ToString());
}
// JArray ja = Path2JSON(AS);
}
else Console.WriteLine("No result !");
AppendText("Total distance: " + totdist.ToString("0.00") + Environment.NewLine);
AppendText("Jumps: " + jumps + Environment.NewLine);
}
/// <summary>
/// Set the A* search path
/// </summary>
/// <param name="StartGridRef">Origin</param>
/// <param name="EndGridRef">Destination</param>
/// <returns>true if a path exists</returns>
public bool SearchAStarPath(Vector2 StartGridRef, Vector2 EndGridRef)
{
if (StartGridRef == LastOrigin && EndGridRef == LastDestination)
return true;
AS = new AStar(MapGraph);
return AS.SearchPath(MapNodes[(int)StartGridRef.X + (int)StartGridRef.Y * level.Width], MapNodes[(int)EndGridRef.X + (int)EndGridRef.Y * level.Width]);
}
private void Route(string s1, string s2, float maxrange, int mode)
{
EDDiscovery2.DB.ISystem ds1 = SystemData.GetSystem(s1);
EDDiscovery2.DB.ISystem ds2 = SystemData.GetSystem(s2);
if (ds1 == null) // warn here, quicker to complain than waiting for nodes to populate.
{
AppendText("Start system: " + s1 + " unknown");
return;
}
if (ds2 == null)
{
AppendText("Destination system: " + s2 + " unknown");
return;
}
double earea = 10.0; // add a little to the box for first/end points allowing out of box systems
Point3D minpos = new EMK.LightGeometry.Point3D(
Math.Min(ds1.x, ds2.x) - earea,
Math.Min(ds1.y, ds2.y) - earea,
Math.Min(ds1.z, ds2.z) - earea );
Point3D maxpos = new EMK.LightGeometry.Point3D(
Math.Max(ds1.x, ds2.x) + earea,
Math.Max(ds1.y, ds2.y)+ earea,
Math.Max(ds1.z, ds2.z) + earea );
AppendText("Bounding Box " + minpos.X + "," + minpos.Y + "," + minpos.Z + " to " + maxpos.X + "," + maxpos.Y + "," + maxpos.Z + Environment.NewLine);
Stopwatch sw = new Stopwatch();
G = new Graph(); // need to compute each time as systems in range changes each time
PrepareNodes(G, maxrange, mode,minpos,maxpos);
AStar AS = new AStar(G);
Node start, stop;
start = G.GetNodes.FirstOrDefault(x => x.System.SearchName == s1.ToLower());
stop = G.GetNodes.FirstOrDefault(x => x.System.SearchName == s2.ToLower());
bool res;
sw = new Stopwatch();
sw.Start();
res = AS.SearchPath(start, stop);
sw.Stop();
AppendText("Searching route from " + ds1.name + " to " + ds2.name + Environment.NewLine);
AppendText("Find route Time: " + sw.Elapsed.TotalSeconds.ToString("0.000s") + Environment.NewLine);
AppendText("Total distance: " + SystemData.Distance(s1, s2).ToString("0.00") + Environment.NewLine);
AppendText("Max jumprange:" + maxrange + Environment.NewLine);
if (res)
{
AppendText(Environment.NewLine + "Depart " + ds1.name + Environment.NewLine);
double totdist = 0;
int jumps = 0;
foreach (Arc A in AS.PathByArcs)
{
double dist = SystemData.Distance(A.StartNode.System.name, A.EndNode.System.name);
AppendText(string.Format("{0,-30}Dist: {1:0.00} ly" + Environment.NewLine, A.EndNode.System.name, dist));
totdist += dist;
jumps++;
Console.WriteLine(A.ToString());
}
AppendText(Environment.NewLine + "Total distance: " + totdist.ToString("0.00") + Environment.NewLine);
AppendText("Jumps: " + jumps + Environment.NewLine);
// JArray ja = Path2JSON(AS);
}
else
AppendText(Environment.NewLine + "NO Solution found - jump distance is too small or not enough star data between systems" + Environment.NewLine);
}
