private static List <char> GetCharVector(ConcreteMap concreteMap)
{
var result = new List <char>();
var numberNodes = concreteMap.NrNodes;
for (var i = 0; i < numberNodes; i++)
{
result.Add(concreteMap.Graph.GetNodeInfo(Id <ConcreteNode> .From(i)).IsObstacle ? '@' : '.');
}
return(result);
}
public Cluster(ConcreteMap concreteMap, Id <Cluster> id, int clusterX, int clusterY, Position origin, Size size)
{
SubConcreteMap = concreteMap.Slice(origin.X, origin.Y, size.Width, size.Height, concreteMap.Passability);
Id = id;
ClusterY = clusterY;
ClusterX = clusterX;
Origin = origin;
Size = size;
_distances = new Dictionary <Tuple <Id <AbstractNode>, Id <AbstractNode> >, int>();
_cachedPaths = new Dictionary <Tuple <Id <AbstractNode>, Id <AbstractNode> >, List <Id <ConcreteNode> > >();
_distanceCalculated = new Dictionary <Tuple <Id <AbstractNode>, Id <AbstractNode> >, bool>();
EntrancePoints = new List <EntrancePoint>();
}
private static List <IPathNode> RegularSearch(ConcreteMap concreteMap, Position startPosition, Position endPosition)
{
var tilingGraph = concreteMap.Graph;
Func <int, int, ConcreteNode> getNode =
(top, left) => tilingGraph.GetNode(concreteMap.GetNodeIdFromPos(top, left));
// Regular pathfinding
var searcher = new AStar <ConcreteNode>(concreteMap, getNode(startPosition.X, startPosition.Y).NodeId, getNode(endPosition.X, endPosition.Y).NodeId);
var path = searcher.FindPath();
var path2 = path.PathNodes;
return(new List <IPathNode>(path2.Select(p => (IPathNode) new ConcretePathNode(p))));
}
public Position Origin { get; set; } // The position where this cluster starts in the main grid
public Cluster(ConcreteMap concreteMap, int id, int clusterX, int clusterY, Position origin, Size size)
{
SubConcreteMap = concreteMap.Slice(origin.X, origin.Y, size.Width, size.Height, concreteMap.Passability);
Id = id;
ClusterY = clusterY;
ClusterX = clusterX;
Origin = origin;
Size = size;
Distances = new Dictionary<Tuple<int, int>, int>();
CachedPaths = new Dictionary<Tuple<int, int>, List<int>>();
DistanceCalculated = new Dictionary<Tuple<int, int>, bool>();
EntrancePoints = new List<EntrancePoint>();
}
public HierarchicalMap(ConcreteMap concreteMap, int clusterSize, int maxLevel)
{
ClusterSize = clusterSize;
MaxLevel = maxLevel;
SetType(concreteMap.TileType);
this.Height = concreteMap.Height;
this.Width = concreteMap.Width;
ConcreteNodeIdToAbstractNodeIdMap = new Dictionary <Id <ConcreteNode>, Id <AbstractNode> >();
Clusters = new List <Cluster>();
AbstractGraph = new AbstractGraph();
}
// Create a new concreteMap as a copy of another concreteMap (just copying obstacles)
public ConcreteMap Slice(int horizOrigin, int vertOrigin, int width, int height, IPassability passability)
{
var slicedConcreteMap = new ConcreteMap(this.TileType, width, height, passability);
foreach (var slicedMapNode in slicedConcreteMap.Graph.Nodes)
{
var globalConcreteNode =
Graph.GetNode(GetNodeIdFromPos(horizOrigin + slicedMapNode.Info.Position.X,
vertOrigin + slicedMapNode.Info.Position.Y));
slicedMapNode.Info.IsObstacle = globalConcreteNode.Info.IsObstacle;
slicedMapNode.Info.Cost = globalConcreteNode.Info.Cost;
}
return(slicedConcreteMap);
}
public void CreateHierarchicalMap(ConcreteMap concreteMap, int clusterSize, int maxLevel, EntranceStyle style)
{
this.ClusterSize = clusterSize;
this.EntranceStyle = style;
MaxLevel = maxLevel;
ConcreteMap = concreteMap;
HierarchicalMap = new HierarchicalMap(concreteMap, clusterSize, maxLevel);
List<Entrance> entrances;
List<Cluster> clusters;
CreateEntrancesAndClusters(out entrances, out clusters);
HierarchicalMap.Clusters = clusters;
CreateAbstractNodes(entrances, clusters);
CreateEdges(entrances, clusters);
}
// Create a new concreteMap as a copy of another concreteMap (just copying obstacles)
public ConcreteMap Slice(int horizOrigin, int vertOrigin, int width, int height, IPassability passability)
{
var slicedConcreteMap = new ConcreteMap(this.TileType, width, height, passability);
// so we now put the obstacles in place
for (var x = 0; x < width; x++)
for (var y = 0; y < height; y++)
{
// get the local node
var localNodeInfo = slicedConcreteMap.Graph.GetNode(slicedConcreteMap.GetNodeIdFromPos(x, y)).Info;
// get the initial concreteMap node
var nodeInfo = this.Graph.GetNode(this.GetNodeIdFromPos(horizOrigin + x, vertOrigin + y)).Info;
// set obstacle for the local node
localNodeInfo.IsObstacle = nodeInfo.IsObstacle;
localNodeInfo.Cost = nodeInfo.Cost;
}
return slicedConcreteMap;
}
private static void PrintFormatted(List <char> chars, ConcreteMap concreteMap, HierarchicalMap hierarchicalGraph, int clusterSize, List <Position> path)
{
for (var y = 0; y < concreteMap.Height; y++)
{
if (y % clusterSize == 0)
{
Console.WriteLine("---------------------------------------------------------");
}
for (var x = 0; x < concreteMap.Width; x++)
{
Console.ForegroundColor = ConsoleColor.White;
if (x % clusterSize == 0)
{
Console.Write('|');
}
var nodeId = concreteMap.GetNodeIdFromPos(x, y);
var hasAbsNode = hierarchicalGraph.AbstractGraph.Nodes.SingleOrDefault(n => n.Info.ConcreteNodeId == nodeId);
if (hasAbsNode != null)
{
switch (hasAbsNode.Info.Level)
{
case 1: Console.ForegroundColor = ConsoleColor.Red;
break;
case 2: Console.ForegroundColor = ConsoleColor.DarkGreen;
break;
}
}
Console.Write(path.Any(node => node.X == x && node.Y == y) ? 'X' : chars[nodeId.IdValue]);
}
Console.WriteLine();
}
}
private static List <IPathNode> HierarchicalSearch(HierarchicalMap hierarchicalMap, int maxLevel, ConcreteMap concreteMap, Position startPosition, Position endPosition)
{
var factory = new HierarchicalMapFactory();
var startAbsNode = factory.InsertAbstractNode(hierarchicalMap, startPosition);
var targetAbsNode = factory.InsertAbstractNode(hierarchicalMap, endPosition);
var maxPathsToRefine = int.MaxValue;
var hierarchicalSearch = new HierarchicalSearch();
var abstractPath = hierarchicalSearch.DoHierarchicalSearch(hierarchicalMap, startAbsNode, targetAbsNode, maxLevel, maxPathsToRefine);
var path = hierarchicalSearch.AbstractPathToLowLevelPath(hierarchicalMap, abstractPath, hierarchicalMap.Width, maxPathsToRefine);
var smoother = new SmoothWizard(concreteMap, path);
path = smoother.SmoothPath();
factory.RemoveAbstractNode(hierarchicalMap, targetAbsNode);
factory.RemoveAbstractNode(hierarchicalMap, startAbsNode);
return(path);
}
public static void PrintFormatted(ConcreteMap concreteMap, HierarchicalMap hierarchicalGraph, int clusterSize, List <Position> path)
{
PrintFormatted(GetCharVector(concreteMap), concreteMap, hierarchicalGraph, clusterSize, path);
}
private static List<Position> HierarchicalSearch(HierarchicalMap hierarchicalMap, int maxLevel, ConcreteMap concreteMap)
{
// Hierarchical pathfinding
var factory = new AbstractMapFactory();
var startAbsNode = factory.InsertAbstractNode(hierarchicalMap, StartPosition, 0);
var targetAbsNode = factory.InsertAbstractNode(hierarchicalMap, EndPosition, 1);
var maxPathsToRefine = int.MaxValue;
var hierarchicalSearch = new HierarchicalSearch();
var abstractPath = hierarchicalSearch.DoHierarchicalSearch(hierarchicalMap, startAbsNode, targetAbsNode, maxLevel, maxPathsToRefine);
var path = hierarchicalSearch.AbstractPathToLowLevelPath(hierarchicalMap, abstractPath, hierarchicalMap.Width, maxPathsToRefine);
factory.RemoveAbstractNode(hierarchicalMap, targetAbsNode, 1);
factory.RemoveAbstractNode(hierarchicalMap, startAbsNode, 0);
//var smoother = new SmoothWizard(concreteMap, path);
//path = smoother.SmoothPath();
return path.Select(p => concreteMap.Graph.GetNodeInfo(p.Id).Position).ToList();
//return path.Select(n => n.Level == 0 ? concreteMap.Graph.GetNodeInfo(n.Id).Position : hierarchicalMap.AbstractGraph.GetNodeInfo(n.Id).Position).ToList();
}
public static ConcreteMap CreateTiling(int width, int height, IPassability passability, TileType tilingType = TileType.OCTILE)
{
var tiling = new ConcreteMap(tilingType, width, height, passability);
return tiling;
}
private static void PrintFormatted(List<char> chars, ConcreteMap concreteMap, HierarchicalMap hierarchicalGraph, int clusterSize, List<Position> path)
{
for (var y = 0; y < concreteMap.Height; ++y)
{
if (y % clusterSize == 0) Console.WriteLine("---------------------------------------------------------");
for (var x = 0; x < concreteMap.Width; ++x)
{
Console.ForegroundColor = ConsoleColor.White;
if (x % clusterSize == 0) Console.Write('|');
var nodeId = concreteMap.GetNodeIdFromPos(x, y);
var hasAbsNode = hierarchicalGraph.AbstractGraph.Nodes.FirstOrDefault(n => n.Info.CenterId == nodeId);
if (hasAbsNode != null)
switch (hasAbsNode.Info.Level)
{
case 1: Console.ForegroundColor = ConsoleColor.Red;
break;
case 2: Console.ForegroundColor = ConsoleColor.DarkGreen;
break;
}
Console.Write(path.Any(n => n.X == x && n.Y == y) ? 'X' : chars[nodeId]);
}
Console.WriteLine();
}
}
public static void PrintFormatted(ConcreteMap concreteMap, HierarchicalMap hierarchicalGraph, int clusterSize, List<Position> path)
{
PrintFormatted(GetCharVector(concreteMap), concreteMap, hierarchicalGraph, clusterSize, path);
}
private static List<char> GetCharVector(ConcreteMap concreteMap)
{
var result = new List<char>();
var numberNodes = concreteMap.NrNodes;
for (var i = 0; i < numberNodes; ++i)
{
result.Add(concreteMap.Graph.GetNodeInfo(i).IsObstacle ? '@' : '.');
}
return result;
}
private static List<Position> RegularSearch(ConcreteMap concreteMap)
{
var tilingGraph = concreteMap.Graph;
Func<int, int, Graph<TilingNodeInfo, TilingEdgeInfo>.Node> getNode =
(top, left) => tilingGraph.GetNode(concreteMap.GetNodeIdFromPos(top, left));
// Regular pathfinding
var searcher = new AStar();
var path = searcher.FindPath(concreteMap, getNode(StartPosition.X, StartPosition.Y).NodeId, getNode(EndPosition.X, EndPosition.Y).NodeId);
var path2 = path.PathNodes;
return path2.Select(n => concreteMap.Graph.GetNodeInfo(n).Position).ToList();
}
public void CreateTilingTest()
{
var passability = new Mock<IPassability>();
var tiling = new ConcreteMap(TileType.OCTILE, 10, 10, passability.Object);
}
public HierarchicalMap(ConcreteMap concreteMap, int clusterSize, int maxLevel)
{
ClusterSize = clusterSize;
MaxLevel = maxLevel;
SetType(concreteMap.TileType);
this.Height = concreteMap.Height;
this.Width = concreteMap.Width;
AbsNodeIds = new int[this.Height * this.Width];
for (var i = 0; i < this.Height * this.Width; i++)
AbsNodeIds[i] = -1;
Clusters = new List<Cluster>();
AbstractGraph = new Graph<AbsTilingNodeInfo, AbsTilingEdgeInfo>();
}