/// <summary>
/// Finds a path from own position to given position in maze.
/// </summary>
/// <returns>The path.</returns>
/// <param name="map">Map.</param>
/// <param name="start">Start.</param>
/// <param name="end">End.</param>
/// <param name="solution">Solution.</param>
/// <param name="allowDiagonals">If set to <c>true</c> allow diagonals.</param>
public AStarSearch.SearchState FindPath(Vec3di end, List <Vec3di> solution, bool allowDiagonals)
{
solution.Clear();
AStarSearch astarsearch = new AStarSearch(map, ownPosition, end, allowDiagonals);
AStarSearch.SearchState SearchState;
do
{
SearchState = astarsearch.SearchStep();
}while(SearchState == AStarSearch.SearchState.SEARCHING);
if (SearchState == AStarSearch.SearchState.SUCCEEDED)
{
GridPosition mapPos = astarsearch.GetSolutionStart();
while (mapPos != null)
{
solution.Add(mapPos.Position);
mapPos = astarsearch.GetSolutionNext();
}
;
// Once you're done with the solution you can free the nodes up
astarsearch.Cleanup();
}
else if (SearchState == AStarSearch.SearchState.FAILED)
{
//Zentronic.Debug.LogError("search terminated. Goal state not found!");
}
return(SearchState);
}
static void astar(String[] args)
{
XmlDocument doc = new XmlDocument();
doc.Load("c:/njones/src/SkippingRock/weewar.net/map.xml");
WeewarMap map = new WeewarMap(doc.DocumentElement);
AStarSearch astarsearch = new AStarSearch();
bool[] path = new bool[map.Height * map.Width];
Unit u = new Unit();
u.Type = UnitType.Trooper;
List<Terrain> bases = map.getTerrainsByType(TerrainType.Base);
Coordinate cs = bases[0].Coordinate;
Coordinate ce = bases[bases.Count-1].Coordinate;
SticksNode start = new SticksNode(map, cs, u);
SticksNode end = new SticksNode(map, ce, u);
astarsearch.SetStartAndGoalStates(start, end);
SearchState searchState;
uint searchSteps = 0;
do
{
searchState = astarsearch.SearchStep();
searchSteps++;
}
while (searchState == SearchState.Searching);
if (searchState == SearchState.Succeeded)
{
Console.WriteLine("Search found goal state");
SticksNode node = astarsearch.GetSolutionStart() as SticksNode;
Console.WriteLine( "Displaying solution");
int steps = 0;
for (; ; )
{
node = astarsearch.GetSolutionNext() as SticksNode;
if (node == null)
{
break;
}
path[node.Coordinate.Y * map.Height + node.Coordinate.X] = true;
//node.PrintNodeInfo();
steps++;
};
for (int y = 0; y < map.Height; y++)
{
if (y % 2 == 1) Console.Write(" ");
for (int x = 0; x < map.Width; x++)
{
if (x == start.Coordinate.X &&
y == start.Coordinate.Y)
Console.Write("S");
else if (x == end.Coordinate.X &&
y == end.Coordinate.Y)
Console.Write("G");
else
Console.Write(path[y * map.Height + x] ? "x" : "o");
}
Console.WriteLine();
}
Console.WriteLine("Solution steps {0}", steps);
// Once you're done with the solution you can free the nodes up
astarsearch.FreeSolutionNodes();
}
else if (searchState == SearchState.Failed)
{
Console.WriteLine("Search terminated. Did not find goal state");
}
// Display the number of loops the search went through
Console.WriteLine("searchSteps : " + searchSteps);
}
protected override void ProcessGame(Game detailed)
{
Console.WriteLine();
Console.WriteLine("Game: " + detailed.Name + " (" + detailed.Id + ")");
Console.WriteLine(" Getting Map info: " + detailed.MapId);
WeewarMap wmap = eliza.GetMap(detailed.MapId);
//Console.WriteLine( " Getting Map info: "+wmap.Terrains);
Faction f = detailed.GetFactionByPlayerName(eliza.User);
Console.WriteLine(" .. moving my dudes. ");
foreach (Unit unit in f.Units)
{
Console.WriteLine("-----------------------------------------------------------------------------");
Console.WriteLine(" " + unit.Type + "(" + unit.Quantity + ") on " + unit.Coordinate);
// repair if quantity below 5
if (!unit.Finished && unit.Quantity < 5)
{
String m = eliza.Repair(detailed.Id, unit.Coordinate);
Console.WriteLine(" " + ".. repairing => " + m);
unit.Finished = true;
continue;
}
//
// request movement coordinates
List<Coordinate> possibleMovementCoordinates = eliza.GetMovementCoords(detailed.Id, unit.Coordinate, unit.Type);
Util.Shuffle(possibleMovementCoordinates);
possibleMovementCoordinates.Insert(0, unit.Coordinate);
// check if there is a capturable base in range
if (!unit.Finished && unit.CanCapture())
{
Coordinate c = MatchFreeBase(possibleMovementCoordinates, wmap, detailed, f);
if (c != null)
{
String m = eliza.MoveAttackCapture(detailed.Id, unit.Coordinate, c, null, true);
unit.Coordinate = c;
Console.WriteLine(" " + ".. moving to " + c + " and capturing =>" + m);
unit.Finished = true;
}
}
List<Coordinate> targets = getTargets(detailed, wmap, f);
int minDistance = MinDistance(unit.Coordinate, targets);
int n = 5;
if (minDistance <= 5 && !unit.Finished)
{
// Different moving spots that will be evaluated
// check for possible attack targets from one of the targets
for (int i = 0; i < n && i < possibleMovementCoordinates.Count; i++)
{
Coordinate c = possibleMovementCoordinates[i];
Console.WriteLine(" " + ".. checking movement Option :" + c + " ");
Coordinate a = getAttackCoordinate(detailed, unit, c);
Console.WriteLine(" " + ".. attack coord :" + a + " ");
if (a != null && detailed.getUnit(c) == null)
{
String m = eliza.MoveAttackCapture(detailed.Id, unit.Coordinate, c, a, false);
Console.WriteLine(" " + ".. moving to " + c + " attacking " + a + " =>" + m);
if (c != null)
unit.Coordinate = c;
unit.Finished = true;
break;
}
}
}
if (!unit.Finished && possibleMovementCoordinates.Count > 1)
{
List<Coordinate> cities = getEnemyCities(detailed, wmap, f);
AStarSearch s = new AStarSearch();
s.SetStartAndGoalStates(new SticksNode(wmap, unit), new SticksNode(wmap, cities[0], unit));
SearchState searchState;
do
{
searchState = s.SearchStep();
}
while (searchState == SearchState.Searching);
if (searchState == SearchState.Succeeded)
{
}
Util.Shuffle(targets);
Util.Shuffle(cities);
possibleMovementCoordinates.RemoveAt(0);
while (possibleMovementCoordinates.Count > 5) possibleMovementCoordinates.RemoveAt(5);
while (cities.Count > 3) cities.RemoveAt(3);
while (targets.Count > 3) targets.RemoveAt(3);
bool cnt = true;
while (cnt)
{
Console.WriteLine(" " + ".. possible movement options: " + Coordinate.ToString(possibleMovementCoordinates));
Console.WriteLine(" " + ".. possible Targets: " + Coordinate.ToString(targets));
Coordinate c;
if (unit.Type == UnitType.Trooper)
c = getClosest(possibleMovementCoordinates, cities);
else
{
c = getClosest(possibleMovementCoordinates, targets);
if (c.Equals(unit.Coordinate) && targets.Count == 0 && possibleMovementCoordinates.Count > 1)
c = possibleMovementCoordinates[1];
}
if (!c.Equals(unit.Coordinate) && detailed.getUnit(c) == null)
{
String m = eliza.MoveAttackCapture(detailed.Id, unit.Coordinate, c, null, false);
Console.WriteLine(" " + ".. moving to " + c + " =>" + m);
unit.Coordinate = c;
cnt = false;
}
else
possibleMovementCoordinates.Remove(c);
cnt = cnt && possibleMovementCoordinates.Count > 0;
}
}
//Thread.sleep( 300 );
}
if (f.Units.Count * 3 < (detailed.GetUnitCount() * 2) || f.Units.Count < 15)
{
Console.WriteLine(" Terrains :" + Terrain.ToString(f.Terrains));
if (f.Credits > 75)
{
foreach (Terrain terrain in f.Terrains)
{
Console.WriteLine(" " + terrain.Type + " on " + terrain.Coordinate + " finished:" + terrain.Finished + " unit: " + (detailed.getUnit(terrain.Coordinate) != null));
if (!terrain.Finished && detailed.getUnit(terrain.Coordinate) == null)
{
Console.WriteLine(" " + terrain.Type + " on " + terrain.Coordinate);
List<UnitType> options = buildOptions[terrain.Type];
UnitType buildType;
do
{
int nd = dice(options.Count);
buildType = options[nd - 1];
} while (f.Credits < Unit.GetCost(buildType));
String x = eliza.Build(detailed.Id, terrain.Coordinate, buildType);
Console.WriteLine(" .... building " + buildType + " " + x);
f.Credits = (f.Credits - Unit.GetCost(buildType));
}
}
}
}
if (eliza.EndTurn(detailed.Id))
Console.WriteLine(" .. finished turn.");
else
Console.WriteLine(" .. failed to finish turn [" + eliza.GetLastResult() + "]");
}
// Main
public static int main(string[] args)
{
Console.WriteLine("STL A* Search implementation\n(C)2001 Justin Heyes-Jones");
// Our sample problem defines the world as a 2d array representing a terrain
// Each element contains an integer from 0 to 5 which indicates the cost
// of travel across the terrain. Zero means the least possible difficulty
// in travelling (think ice rink if you can skate) whilst 5 represents the
// most difficult. 9 indicates that we cannot pass.
// Create an instance of the search class...
AStarSearch astarsearch = new AStarSearch();
bool[] path = new bool[MAP_HEIGHT * MAP_WIDTH];
// Create a start state
MapSearchNode nodeStart = new MapSearchNode();
nodeStart.x = 0;
nodeStart.y = 0;
// Define the goal state
MapSearchNode nodeEnd = new MapSearchNode();
nodeEnd.x = 19;
nodeEnd.y = 19;
// Set Start and goal states
astarsearch.SetStartAndGoalStates(nodeStart, nodeEnd);
SearchState searchState;
uint searchSteps = 0;
do
{
searchState = astarsearch.SearchStep();
searchSteps++;
}
while (searchState == SearchState.Searching);
if (searchState == SearchState.Succeeded)
{
Console.Write("Search found goal state");
MapSearchNode node = astarsearch.GetSolutionStart() as MapSearchNode;
Console.WriteLine( "Displaying solution");
int steps = 0;
node.PrintNodeInfo();
for (; ; )
{
node = astarsearch.GetSolutionNext() as MapSearchNode;
if (node == null)
{
break;
}
path[node.y * MAP_HEIGHT + node.x] = true;
//node.PrintNodeInfo();
steps++;
};
for (int y = 0; y < MAP_HEIGHT; y++)
{
for (int x = 0; x < MAP_WIDTH; x++)
{
Console.Write(path[y * MAP_HEIGHT + x] ? "x" : "o");
}
Console.WriteLine();
}
Console.WriteLine("Solution steps {0}", steps);
// Once you're done with the solution you can free the nodes up
astarsearch.FreeSolutionNodes();
}
else if (searchState == SearchState.Failed)
{
Console.WriteLine("Search terminated. Did not find goal state");
}
// Display the number of loops the search went through
Console.WriteLine("searchSteps : " + searchSteps);
return 0;
}
