Ejemplo n.º 1
0
        public Dijstra(GridWorld G, int s)
        {
            world  = G;
            this.s = s;
            int V = G.VertexCount;

            marked = new bool[V];
            edgeTo = new DirectedWeightedEdge[V];
            cost   = new double[V];

            for (var i = 0; i < V; ++i)
            {
                cost[i] = double.MaxValue;
            }

            cost[s] = 0;

            pq = new IndexMinPQ <double>(V);


            pq.Insert(s, 0);

            while (!pq.IsEmpty)
            {
                var v = pq.DelMin();
                marked[v] = true;
                foreach (var e in G.Adj(v))
                {
                    Relax(G, e);
                }
            }
        }
Ejemplo n.º 2
0
        private void Relax(GridWorld G, DirectedWeightedEdge e)
        {
            int v = e.From();
            int w = e.To();

            if (cost[w] > cost[v] + e.Weight)
            {
                cost[w]   = cost[v] + e.Weight;
                edgeTo[w] = e;
                if (!pq.Contains(w))
                {
                    pq.Insert(w, cost[w]);
                }
                else
                {
                    pq.DecreaseKey(w, cost[w]);
                }
            }
        }
Ejemplo n.º 3
0
        static void Main(string[] args)
        {
            Random    random     = new Random();
            QuadTree  space      = new QuadTree(new Rectangle(0, 0, 2000, 2000));
            GridWorld pathFinder = new GridWorld(space);

            FVec2         target     = new FVec2(1000, 1000);
            List <IAgent> population = new List <IAgent>();

            for (int i = 0; i < 10; ++i)
            {
                IAgent agent = new SimpleAgent(space);
                float  y     = 0; // vertical position
                float  x     = random.Next(2000);
                float  z     = random.Next(2000);
                agent.Position = new FVec3(x, y, z);
                agent.AgentID  = i + 1;
                population.Add(agent);
            }

            for (int steps = 0; steps < 20; ++steps)
            {
                Dijstra paths = pathFinder.dijstra(target);

                foreach (IAgent agent in population)
                {
                    float y = 0; // vertical position
                    float x = random.Next(2000);
                    float z = random.Next(2000);
                    agent.Position = new FVec3(x, y, z);
                    List <FVec3> path = paths.GetPath(agent);
                    Console.WriteLine("Path for agent #{0} in step {1}: {2} navigation points",
                                      agent.AgentID, steps + 1, path.Count);
                }

                target = new FVec2(random.Next(2000), random.Next(2000));
            }
        }