public static Location FindNextLocation(Location start, Location dest, IGameState state, List<Location> avoid, LayeredInfluenceMap heat)
{
if (start.Equals(dest) || !state.GetIsPassable(dest) || avoid.Contains(dest))
return null;
List<Location> list = FindPath(start, dest, state, avoid, heat);
if (list != null)
return list[0];
else
return null;
}
// Returns a list of tiles that form the shortest path between start and dest
public static List<Location> FindPath(Location start, Location dest, IGameState state, List<Location> avoid, LayeredInfluenceMap heat = null, int maxDepth = int.MaxValue)
{
if (start.Equals(dest) || !state.GetIsPassable(dest) || avoid.Contains(dest))
return null;
HashSet<string> closed = new HashSet<string>();
Dictionary<string, PathfindNode> locToNode = new Dictionary<string, PathfindNode>();
List<PathfindNode> open = new List<PathfindNode>();
List<Location> reachable;
PathfindNode first = new PathfindNode(start, null, dest, state, heat[start]);
open.Add(first);
locToNode.Add(MyBot.LocationToKey(first.Position), first);
// Repeat until the destination node is reached
PathfindNode last = null;
while (open.Count > 0)
{
if (state.TimeRemaining < 10)
{
MyBot.LogShit("timeout.txt", "stop B - " + state.TimeRemaining);
return null;
}
// Search the best available tile (lowest cost to reach from start, closest to dest)
PathfindNode best = null;
foreach (PathfindNode next in open)
{
if (best == null)
best = next;
if (next.F < best.F)
best = next;
}
if (best.G > maxDepth)
return null;
//PathfindNode best = open.Min;
// Move to closed list
open.Remove(best);
locToNode.Remove(MyBot.LocationToKey(best.Position));
closed.Add(MyBot.LocationToKey(best.Position));
if (best.Position.Equals(dest)) // Destination added to closed list - almost done!
{
last = best;
break;
}
// Find tiles adjacent to this tile
reachable = GetNeighbours(best.Position, state);
string lid;
PathfindNode pfn;
foreach (Location next in reachable)
{
if (!state.GetIsPassable(next) || avoid.Contains(next)) // Check if tile is blocked
continue;
lid = MyBot.LocationToKey(next);
if (closed.Contains(lid))
continue;
if(locToNode.ContainsKey(lid))
{
pfn = locToNode[lid];
if (best.G + 1 < pfn.G)
pfn.Parent = best;
}
else{
pfn = new PathfindNode(next, best, dest, state, heat[next]);
open.Add(pfn);
locToNode.Add(lid, pfn);
}
}
}
if (last == null)
return null;
// Trace the route from destination to start (using each node's parent property)
List<PathfindNode> route = new List<PathfindNode>();
while (last != first && last != null)
{
route.Add(last);
last = last.Parent;
}
// Reverse route and convert to Points
List<Location> path = new List<Location>();
for (int i = route.Count - 1; i >= 0; i--)
{
path.Add(route[i].Position);
}
// Return the list of Points
return path;
}
// Returns a list of tiles that form the shortest path between start and dest
public static List <Location> FindPath(Location start, Location dest, IGameState state, List <Location> avoid, LayeredInfluenceMap heat = null, int maxDepth = int.MaxValue)
{
if (start.Equals(dest) || !state.GetIsPassable(dest) || avoid.Contains(dest))
{
return(null);
}
HashSet <string> closed = new HashSet <string>();
Dictionary <string, PathfindNode> locToNode = new Dictionary <string, PathfindNode>();
List <PathfindNode> open = new List <PathfindNode>();
List <Location> reachable;
PathfindNode first = new PathfindNode(start, null, dest, state, heat[start]);
open.Add(first);
locToNode.Add(MyBot.LocationToKey(first.Position), first);
// Repeat until the destination node is reached
PathfindNode last = null;
while (open.Count > 0)
{
if (state.TimeRemaining < 10)
{
MyBot.LogShit("timeout.txt", "stop B - " + state.TimeRemaining);
return(null);
}
// Search the best available tile (lowest cost to reach from start, closest to dest)
PathfindNode best = null;
foreach (PathfindNode next in open)
{
if (best == null)
{
best = next;
}
if (next.F < best.F)
{
best = next;
}
}
if (best.G > maxDepth)
{
return(null);
}
//PathfindNode best = open.Min;
// Move to closed list
open.Remove(best);
locToNode.Remove(MyBot.LocationToKey(best.Position));
closed.Add(MyBot.LocationToKey(best.Position));
if (best.Position.Equals(dest)) // Destination added to closed list - almost done!
{
last = best;
break;
}
// Find tiles adjacent to this tile
reachable = GetNeighbours(best.Position, state);
string lid;
PathfindNode pfn;
foreach (Location next in reachable)
{
if (!state.GetIsPassable(next) || avoid.Contains(next)) // Check if tile is blocked
{
continue;
}
lid = MyBot.LocationToKey(next);
if (closed.Contains(lid))
{
continue;
}
if (locToNode.ContainsKey(lid))
{
pfn = locToNode[lid];
if (best.G + 1 < pfn.G)
{
pfn.Parent = best;
}
}
else
{
pfn = new PathfindNode(next, best, dest, state, heat[next]);
open.Add(pfn);
locToNode.Add(lid, pfn);
}
}
}
if (last == null)
{
return(null);
}
// Trace the route from destination to start (using each node's parent property)
List <PathfindNode> route = new List <PathfindNode>();
while (last != first && last != null)
{
route.Add(last);
last = last.Parent;
}
// Reverse route and convert to Points
List <Location> path = new List <Location>();
for (int i = route.Count - 1; i >= 0; i--)
{
path.Add(route[i].Position);
}
// Return the list of Points
return(path);
}
public static Location FindNextLocation(Location start, Location dest, IGameState state, List <Location> avoid, LayeredInfluenceMap heat)
{
if (start.Equals(dest) || !state.GetIsPassable(dest) || avoid.Contains(dest))
{
return(null);
}
List <Location> list = FindPath(start, dest, state, avoid, heat);
if (list != null)
{
return(list[0]);
}
else
{
return(null);
}
}
// Initialise at first step
public void Init(IGameState state)
{
random = new Random();
currentTasks = new Dictionary<string, CurrentTask>();
nextTasks = new Dictionary<string, CurrentTask>();
myHills = new List<Location>(state.MyHills);
theirHills = new List<Location>();
yummies = new List<Location>();
timRobbins = new List<Location>();
martinSheen = new List<Location>();
viewRadius = (int)Math.Sqrt(state.ViewRadius2);
heatMap = new HeatMap(viewRadius, state);
influenceMaps = new LayeredInfluenceMap(state);
influenceMaps["Enemies"] = new InfluenceMap(state, 4, 1);
influenceMaps["Friends"] = new InfluenceMap(state, 1, 1);
foreach (Location h in myHills)
{
heatMap.UpdateCell(h, -5f);
Location tim;
tim = h + new Location(-1, -1);
if (state.GetIsPassable(tim))
timRobbins.Add(tim);
tim = h + new Location(-1, 1);
if (state.GetIsPassable(tim))
timRobbins.Add(tim);
tim = h + new Location(1, -1);
if (state.GetIsPassable(tim))
timRobbins.Add(tim);
tim = h + new Location(1, 1);
if (state.GetIsPassable(tim))
timRobbins.Add(tim);
}
}
