public override (Voxel target, Voxel moveTarget) ChooseNextTarget()
{
if (Octree == null)
{
Octree = new VoxelOctree(0, 0, 0, MatterSystem.Matrix.Resolution, MatterSystem.Matrix.Resolution, MatterSystem.Matrix.Resolution);
foreach (var v in RemainingVoxels)
{
Octree.Add(v);
}
}
var pos = MatterSystem.Bots[1].Position;
HashSet <Voxel> unreachable = new HashSet <Voxel>();
for (var i = 4; i < MatterSystem.Matrix.Resolution; i++)
{
var target = Octree.GetNearby(pos, i)
.Where(x => !unreachable.Contains(x))
.Where(x => x.Grounded)
.OrderBy(x => x.Y)
.ThenBy(x => x.dv(pos));
foreach (var v in target)
{
// see if we can navigate to this
var moveTargets = v.Nearby
.Where(x => !x.Filled)
.OrderByDescending(x => x.Y)
.ThenByDescending(x => x.Nearby.Count(y => y.Filled != y.Target && y.Grounded))
.ThenBy(x => x.dv(pos));
foreach (var mt in moveTargets)
{
if (AstarMatrixPather.GetRouteTo(pos, mt) == null)
{
continue;
}
return(v, mt);
}
unreachable.Add(v);
}
}
return(null, null);
}
public void Solve(string outputFile)
{
if (outputFile != null)
{
Name = Path.GetFileNameWithoutExtension(outputFile);
}
// get all the target voxels
RemainingVoxels = new HashSet <Voxel>(MatterSystem.Matrix.Storage.Where(x => x.Filled != x.Target));
var lastCompletePercent = 0;
var startCount = RemainingVoxels.Count;
Log.Info($"{Name} Total targets: {RemainingVoxels.Count:N0}");
while (RemainingVoxels.Count > 0)
{
var(targetVoxel, moveTarget) = ChooseNextTarget();
// move bot to a nearby if we're not there
if (MatterSystem.Bots[1].Position != moveTarget)
{
var route = AstarMatrixPather.GetRouteTo(MatterSystem.Bots[1].Position, moveTarget);
MatterSystem.ExecuteCommands(CommandOptimizer.Compress(route));
}
// fill/void it
ToggleVoxel(targetVoxel);
// remove it from targets
RemainingVoxels.Remove(targetVoxel);
var complete = (int)(100 - ((float)RemainingVoxels.Count / startCount * 100));
if (complete != lastCompletePercent)
{
lastCompletePercent = complete;
Log.Info($"{Name} {complete:N0}% complete ({RemainingVoxels.Count:N0} remaining)");
}
}
// move to home
var homeRoute = AstarMatrixPather.GetRouteTo(MatterSystem.Bots[1].Position, MatterSystem.Matrix.Get(0, 0, 0));
if (homeRoute == null)
{
TraceFile.WriteTraceFile(outputFile + ".failed", MatterSystem.Trace);
Log.Error($"{Path.GetFileNameWithoutExtension(outputFile)} Failed with {RemainingVoxels.Count:N0} targets left");
return;
}
MatterSystem.ExecuteCommands(CommandOptimizer.Compress(homeRoute));
if (outputFile != null)
{
// halt
MatterSystem.ExecuteCommand(1, new CommandHalt());
// save trace file
TraceFile.WriteTraceFile(outputFile, MatterSystem.Trace);
Log.Debug($"{Path.GetFileNameWithoutExtension(outputFile)} Finished solution ");
}
}
