public NodeArrayAStarPathFinding(WorldModel WM, IHeuristic heuristic) : base(WM,null,null,heuristic)
{
this.NodeRecordArray = new NodeRecordArray(WM);
this.lstars = new List<NodeRecord>();
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
}
public AStarPathfinding(WorldModel WM, IOpenSet open, IClosedSet closed, IHeuristic heuristic) : base(WM)
{
this.Open = open;
this.Closed = closed;
this.NodesPerSearch = uint.MaxValue; //by default we process all nodes in a single request
this.InProgress = false;
this.Heuristic = heuristic;
}
public DecisionMakingProcess (WorldModel WM) : base(WM)
{
this.AStar = new NodeArrayAStarPathFinding(WM, new ZeroHeuristic());
this.Manual = new InstructionManualProcessor(WM);
this.CurrentConnectionID = -1;
this.CurrentActionID = -1;
this.CurrentRectangle = WM.Character;
this.CurrentSolution = new int[0];
}
public NodeRecordArray(WorldModel WM) : base(WM)
{
this.NodeRecords = new NodeRecord[WM.Mesh.Count()];
for(int i = 0; i < WM.Mesh.Count(); i++)
{
var node = WM.Mesh[i];
this.NodeRecords[i] = new NodeRecord {node = node, status = NodeStatus.Unvisited};
}
this.SpecialCaseNodes = new List<NodeRecord>();
this.Open = new NodePriorityHeap();
}
//Reads the file and makes a security backup
public InstructionManualProcessor(WorldModel WM) : base(WM)
{
table = new DataTable();
table.Columns.Add("Type", typeof(string));
table.Columns.Add("Direction", typeof(string));
table.Columns.Add("Distance", typeof(string));
table.Columns.Add("Solution", typeof(string));
foreach (string f in File.ReadAllLines(mydocpath))
{
string[] words = f.Split('\\');
table.Rows.Add(words[0].ToString(), words[2].ToString(), words[4].ToString(), words[6].ToString());
}
BackupToFile();
}
public LevelMatrix(WorldModel WM, float height, float width) : base(WM)
{
this.World_Width = width;
this.World_Height = height;
this.Matrix_Width = (int)width / WORLD_UNIT_SIZE;
this.Matrix_Height = (int)height / WORLD_UNIT_SIZE;
this.Matrix = new int[this.Matrix_Width, this.Matrix_Height];
for (int i = 0; i < Matrix_Width; i++)
{
for (int j = 0; j < Matrix_Height; j++)
this.Matrix[i, j] = EMPTY;
}
//ConsolePrinter.PrintLine("World_Width: " + width + " | World_Height: " + height + " | Matrix_Width: " + this.Matrix_Width + " | Matrix_Height: " + this.Matrix_Height);
}
public RectangleCharacter(WorldModel WM, float xPos, float yPos) : base(WM, xPos, yPos)
{
}
public Platform(WorldModel WM, int ID, float xPos, float yPos, float height, float width) : base(WM, xPos, yPos)
{
this.ID = ID;
this.Width = width;
this.Height = height;
}
public Collectible(WorldModel WM, int id, float xPos, float yPos) : base(WM, xPos, yPos)
{
this.ID = id;
}
public RectangleCharacter(WorldModel WM, float xPos, float yPos, float h) : base(WM, xPos, yPos)
{
this.heigth = h;
}
public Connection(WorldModel WM, Point origin, Point destination) : base (WM)
{
this.Origin = origin;
this.Destination = destination;
}
public WorldObject(WorldModel WM) : base(WM)
{
}
public Platform(WorldModel WM, int ID, float xPos, float yPos, float height, float width) : base(WM, xPos, yPos)
{
this.ID = ID;
this.Width = width;
this.Height = height;
}
public WorldObject(WorldModel WM, float x, float y) : base(WM)
{
this.xPos = x;
this.yPos = y;
}
public Point(WorldModel WM, int categorie, int side, float x, float y) : base(WM, x, y)
{
this.categorie = categorie;
this.side = side;
this.ConnectionList = new List<Connection>();
}
public Point(WorldModel WM, float x, float y) : base (WM, x, y)
{
this.ConnectionList = new List<Connection>();
}
public void Setup(int[] nI, float[] sI, float[] cI, float[] oI, float[] sPI, float[] cPI, float[] colI, Rectangle area, double timeLimit) {
// Time limit is the time limit of the level - if negative then there is no time constrains
this.area = area;
int temp;
// numbersInfo[] Description
//
// Index - Information
//
// 0 - Number of Obstacles
// 1 - Number of Rectangle Platforms
// 2 - Number of Circle Platforms
// 3 - Number of Collectibles
numbersInfo = new int[4];
int i;
for (i = 0; i < nI.Length; i++)
{
numbersInfo[i] = nI[i];
}
nCollectiblesLeft = nI[3];
// rectangleInfo[] Description
//
// Index - Information
//
// 0 - Rectangle X Position
// 1 - Rectangle Y Position
// 2 - Rectangle X Velocity
// 3 - Rectangle Y Velocity
// 4 - Rectangle Height
rectangleInfo = new float[5];
rectangleInfo[0] = sI[0];
rectangleInfo[1] = sI[1];
rectangleInfo[2] = sI[2];
rectangleInfo[3] = sI[3];
rectangleInfo[4] = sI[4];
// circleInfo[] Description
//
// Index - Information
//
// 0 - Circle X Position
// 1 - Circle Y Position
// 2 - Circle X Velocity
// 3 - Circle Y Velocity
// 4 - Circle Radius
circleInfo = new float[5];
circleInfo[0] = cI[0];
circleInfo[1] = cI[1];
circleInfo[2] = cI[2];
circleInfo[3] = cI[3];
circleInfo[4] = cI[4];
// Obstacles and Platforms Info Description
//
// X = Center X Coordinate
// Y = Center Y Coordinate
//
// H = Platform Height
// W = Platform Width
//
// Position (X=0,Y=0) = Left Superior Corner
// obstaclesInfo[] Description
//
// Index - Information
//
// If (Number of Obstacles > 0)
// [0 ; (NumObstacles * 4) - 1] - Obstacles' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[0] > 0)
obstaclesInfo = new float[numbersInfo[0] * 4];
else obstaclesInfo = new float[4];
temp = 1;
if (nI[0] > 0)
{
while (temp <= nI[0])
{
obstaclesInfo[(temp * 4) - 4] = oI[(temp * 4) - 4];
obstaclesInfo[(temp * 4) - 3] = oI[(temp * 4) - 3];
obstaclesInfo[(temp * 4) - 2] = oI[(temp * 4) - 2];
obstaclesInfo[(temp * 4) - 1] = oI[(temp * 4) - 1];
temp++;
}
}
else
{
obstaclesInfo[0] = oI[0];
obstaclesInfo[1] = oI[1];
obstaclesInfo[2] = oI[2];
obstaclesInfo[3] = oI[3];
}
// rectanglePlatformsInfo[] Description
//
// Index - Information
//
// If (Number of Rectangle Platforms > 0)
// [0; (numRectanglePlatforms * 4) - 1] - Rectangle Platforms' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[1] > 0)
rectanglePlatformsInfo = new float[numbersInfo[1] * 4];
else
rectanglePlatformsInfo = new float[4];
temp = 1;
if (nI[1] > 0)
{
while (temp <= nI[1])
{
rectanglePlatformsInfo[(temp * 4) - 4] = sPI[(temp * 4) - 4];
rectanglePlatformsInfo[(temp * 4) - 3] = sPI[(temp * 4) - 3];
rectanglePlatformsInfo[(temp * 4) - 2] = sPI[(temp * 4) - 2];
rectanglePlatformsInfo[(temp * 4) - 1] = sPI[(temp * 4) - 1];
temp++;
}
}
else
{
rectanglePlatformsInfo[0] = sPI[0];
rectanglePlatformsInfo[1] = sPI[1];
rectanglePlatformsInfo[2] = sPI[2];
rectanglePlatformsInfo[3] = sPI[3];
}
// circlePlatformsInfo[] Description
//
// Index - Information
//
// If (Number of Circle Platforms > 0)
// [0; (numCirclePlatforms * 4) - 1] - Circle Platforms' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[2] > 0)
circlePlatformsInfo = new float[numbersInfo[2] * 4];
else
circlePlatformsInfo = new float[4];
temp = 1;
if (nI[2] > 0)
{
while (temp <= nI[2])
{
circlePlatformsInfo[(temp * 4) - 4] = cPI[(temp * 4) - 4];
circlePlatformsInfo[(temp * 4) - 3] = cPI[(temp * 4) - 3];
circlePlatformsInfo[(temp * 4) - 2] = cPI[(temp * 4) - 2];
circlePlatformsInfo[(temp * 4) - 1] = cPI[(temp * 4) - 1];
temp++;
}
}
else
{
circlePlatformsInfo[0] = cPI[0];
circlePlatformsInfo[1] = cPI[1];
circlePlatformsInfo[2] = cPI[2];
circlePlatformsInfo[3] = cPI[3];
}
//Collectibles' To Catch Coordinates (X,Y)
//
// [0; (numCollectibles * 2) - 1] - Collectibles' Coordinates (X,Y)
collectiblesInfo = new float[numbersInfo[3] * 2];
temp = 1;
while (temp <= nI[3])
{
collectiblesInfo[(temp * 2) - 2] = colI[(temp * 2) - 2];
collectiblesInfo[(temp * 2) - 1] = colI[(temp * 2) - 1];
temp++;
}
this.Model = new WorldModel(nI,sI, cI, oI, sPI, cPI, colI, area);
this.CurrentRectangle = this.Model.Character;
this.CurrentRectangle.heigth = sI[4];
this.PdA = new ProblemDectectionAlgorithm(this.Model);
this.PdA.GeneratePoints();
this.PdA.GenerateConnections();
this.DMP = new DecisionMakingProcess(this.Model);
DebugSensorsInfo();
}
public ProblemDectectionAlgorithm(WorldModel WM)
{
this.WM = WM;
this.OpenPoints = new LeftPriorityList();
}
