public void addNeighbor(Node node, SpecialConnection settings = null, bool possibleDuplicate = false)
{
if (!possibleDuplicate && this.neighbors.Find(o => o.neighbor == node) != null)
{
throw new Exception("");
}
this.neighbors.Add(new Connection(node, settings));
}
public Connection(NormalNode neighbor, SpecialConnection settings = null)
{
this.neighbor = neighbor;
this.settings = settings;
}
public void CreateDatabase()
{
Stopwatch sw;
File.Delete("nodes.db");
var doors = CreateDoors();
sw = Stopwatch.StartNew();
List <Node[, ]> nodeLists = new List <Node[, ]>();
// Create the set of nodes for every map image
for (int i = 0; i <= 15; i++)
{
nodeLists.Add(CreateNodes(mapImages[i], i, doors));
}
sw.Stop();
Console.WriteLine("Create initial nodes {0}ms", sw.Elapsed.TotalMilliseconds);
var specialConnections = CreateSpecialConnections(nodeLists);
sw = Stopwatch.StartNew();
// Now do some optimization stuff
List <Node> allNodes = new List <Node>();
List <Node> highLevelNodes = new List <Node>();
for (int k = 0; k <= 15; k++)
{
HashSet <Node> hierarchicalNodes = new HashSet <Node>();
Node[,] nodes = nodeLists[k];
for (int x = 0; x < mapImages[7].Width; x++)
{
for (int y = 0; y < mapImages[7].Height; y++)
{
if (nodes[x, y] != null)
{
hierarchicalNodes.Add(nodes[x, y]);
nodes[x, y].parent = null;
}
}
}
// we create a layer above the 'base' nodes
// this layer is used to speed up pathfinding significantly
// basically, we create a high-level node that is the parent to a certain amount of nodes
// it connects to other high level nodes that are reachable from the child-nodes
// this is basically a high level 'filter' step that allows us to immediately discard a large number of paths early on
// by first computing the path on these high level nodes (which is cheap because there are few of them)
// we only need to consider paths that go through the high level nodes, filtering a significant amount of possible paths
int childCount = 100; // this is the maximum amount of children for the hierachical node
while (hierarchicalNodes.Count > 0)
{
Node current = null;
foreach (Node n in hierarchicalNodes)
{
current = n;
break;
}
if (current == null)
{
break;
}
Node hierarchicalNode = new Node(current);
hierarchicalNode.children = new List <Node>();
List <Node> openSet = new List <Node> {
current
};
HashSet <Node> closedSet = new HashSet <Node>()
{
current
};
while (openSet.Count > 0 && hierarchicalNode.children.Count < childCount)
{
Node n = openSet[0];
openSet.RemoveAt(0);
hierarchicalNode.children.Add(n);
hierarchicalNodes.Remove(n);
if (n.parent != null)
{
throw new Exception("Already has a parent.");
}
n.parent = hierarchicalNode;
foreach (Connection conn in n.neighbors)
{
if (conn.settings != null)
{
continue;
}
Node neighbor = conn.neighbor as Node;
if (hierarchicalNodes.Contains(neighbor) && !closedSet.Contains(neighbor))
{
closedSet.Add(neighbor);
openSet.Add(neighbor);
}
}
}
// set up the bounding rectangles of the high level nodes
foreach (Node n in hierarchicalNode.children)
{
hierarchicalNode.Merge(n.rect);
}
highLevelNodes.Add(hierarchicalNode);
}
}
// now set up the neighbors of the high level nodes
// we check the neighbors of the low-level nodes, and check the high-level node they are part of
// if they are part of a different high-level node, that high-level node is reachable from this high-level node, thus it is a neighbor
for (int k = 0; k <= 15; k++)
{
foreach (Node hierarchicalNode in highLevelNodes)
{
foreach (Node n in hierarchicalNode.children)
{
foreach (Connection conn in n.neighbors)
{
Node neighbor = conn.neighbor as Node;
if (neighbor.parent == null)
{
throw new Exception("Node without a parent.");
}
if (neighbor.parent != hierarchicalNode)
{
Connection existingConnection = hierarchicalNode.getNeighbor(neighbor.parent);
if (existingConnection == null)
{
hierarchicalNode.addNeighbor(neighbor.parent, conn.settings);
}
}
}
}
}
}
Node node = nodeLists[beginz][beginx, beginy];
sw.Stop();
Console.WriteLine("Create hierarchical stuff: {0}ms", sw.Elapsed.TotalMilliseconds);
SQLiteConnection sqlconn = new SQLiteConnection(String.Format("Data Source={0};Version=3;", "nodes.db"));
sqlconn.Open();
SQLiteCommand command;
command = new SQLiteCommand("CREATE TABLE Doors(x INTEGER, y INTEGER, z INTEGER, condition STRING)", sqlconn);
command.ExecuteNonQuery();
command = new SQLiteCommand("CREATE TABLE SpecialConnections(id INTEGER PRIMARY KEY AUTOINCREMENT, x1 INTEGER, y1 INTEGER, z1 INTEGER, x2 INTEGER, y2 INTEGER, z2 INTEGER, name STRING, cost INTEGER)", sqlconn);
command.ExecuteNonQuery();
command = new SQLiteCommand("CREATE TABLE HierarchicalNode(id INTEGER PRIMARY KEY AUTOINCREMENT, x INTEGER, y INTEGER, z INTEGER, width INTEGER, height INTEGER)", sqlconn);
command.ExecuteNonQuery();
command = new SQLiteCommand("CREATE TABLE HierarchicalConnections(nodeid INTEGER, nodeid2 INTEGER, specialid INTEGER)", sqlconn);
command.ExecuteNonQuery();
using (SQLiteTransaction transaction = sqlconn.BeginTransaction()) {
for (int i = 0; i < doors.Count; i++)
{
foreach (var value in doors[i])
{
command = new SQLiteCommand(String.Format("INSERT INTO Doors(x, y, z, condition) VALUES ({0},{1},{2},{3})", value.Key.Item1, value.Key.Item2, i, value.Value == null ? "NULL" : String.Format("'{0}'", value.Value)), sqlconn, transaction);
command.ExecuteNonQuery();
}
}
foreach (Node n in highLevelNodes)
{
command = new SQLiteCommand(String.Format("INSERT INTO HierarchicalNode(x, y, z, width, height) VALUES ({0},{1},{2},{3},{4})", n.rect.X, n.rect.Y, n.z, n.rect.Width, n.rect.Height), sqlconn, transaction);
command.ExecuteNonQuery();
command.CommandText = "select last_insert_rowid()";
int rowid = (int)(long)command.ExecuteScalar();
n.weight = rowid;
}
foreach (Node n in highLevelNodes)
{
foreach (Connection c in n.neighbors)
{
int special_id = -1;
if (c.settings != null)
{
SpecialConnection connection = c.settings;
command = new SQLiteCommand(String.Format("INSERT INTO SpecialConnections(x1, y1, z1, x2, y2, z2, name, cost) VALUES ({0}, {1}, {2}, {3}, {4}, {5}, '{6}', {7});", connection.source.rect.X, connection.source.rect.Y, connection.source.z, connection.destination.rect.X, connection.destination.rect.Y, connection.destination.z, connection.name.Replace("'", "''"), connection.cost), sqlconn, transaction);
command.ExecuteNonQuery();
command.CommandText = "select last_insert_rowid()";
special_id = (int)(long)command.ExecuteScalar();
}
command = new SQLiteCommand(String.Format("INSERT INTO HierarchicalConnections(nodeid, nodeid2, specialid) VALUES ({0},{1}, {2})", n.weight, (c.neighbor as Node).weight, special_id), sqlconn, transaction);
command.ExecuteNonQuery();
}
}
transaction.Commit();
}
}
public List <SpecialConnection> CreateSpecialConnections(List <Node[, ]> nodeLists)
{
Stopwatch sw;
List <SpecialConnection> specialConnections = new List <SpecialConnection>();
sw = Stopwatch.StartNew();
// Add connections between floors created by stairs/rope holes (these are added if both image (i) and image (i + 1) have the color yellow at a pixel)
for (int x = 0; x < mapImages[7].Width; x++)
{
for (int y = 0; y < mapImages[7].Height; y++)
{
for (int i = 0; i < 15; i++)
{
if (nodeLists[i][x, y] != null && nodeLists[i][x, y].color == stairsColor)
{
Node other = null;
if (nodeLists[i + 1][x, y] != null && nodeLists[i + 1][x, y].color == stairsColor)
{
other = nodeLists[i + 1][x, y];
}
else if (nodeLists[i + 1][x + 1, y] != null && nodeLists[i + 1][x + 1, y].color == stairsColor)
{
other = nodeLists[i + 1][x + 1, y];
}
else if (nodeLists[i + 1][x - 1, y] != null && nodeLists[i + 1][x - 1, y].color == stairsColor)
{
other = nodeLists[i + 1][x - 1, y];
}
else if (nodeLists[i + 1][x, y - 1] != null && nodeLists[i + 1][x, y - 1].color == stairsColor)
{
other = nodeLists[i + 1][x, y - 1];
}
else if (nodeLists[i + 1][x, y + 1] != null && nodeLists[i + 1][x, y + 1].color == stairsColor)
{
other = nodeLists[i + 1][x, y + 1];
}
if (other != null)
{
SpecialConnection connection = new SpecialConnection {
source = nodeLists[i][x, y], destination = other, cost = 50, name = "Stairs"
};
SpecialConnection connection2 = new SpecialConnection {
source = other, destination = nodeLists[i][x, y], cost = 50, name = "Stairs"
};
specialConnections.Add(connection);
specialConnections.Add(connection2);
nodeLists[i][x, y].addNeighbor(other, connection);
other.addNeighbor(nodeLists[i][x, y], connection2);
}
}
}
}
}
// Add connections that are stored in the teleports.xml file
// These are teleports that cannot be deduced from the image files themselves (i.e. actual teleporters, boats)
using (StreamReader str = new StreamReader("teleports.xml")) {
using (XmlReader reader = XmlReader.Create(str)) {
Node startNode = null, endNode = null;
string currentNode = null;
string startName = "";
Dictionary <string, string> attributes = new Dictionary <string, string>();
while (reader.Read())
{
switch (reader.NodeType)
{
case XmlNodeType.Element:
currentNode = reader.Name;
attributes.Clear();
if (currentNode == "Destination")
{
attributes.Add("Name", reader.GetAttribute("Name"));
attributes.Add("Cost", reader.GetAttribute("Cost"));
}
break;
case XmlNodeType.Text:
if (currentNode == "Name")
{
startName = reader.Value;
}
else if (currentNode == "Start")
{
string[] split = reader.Value.Split(',');
int x = int.Parse(split[0]);
int y = int.Parse(split[1]);
int z = int.Parse(split[2]);
startNode = nodeLists[z][x, y];
}
else if (currentNode == "Destination")
{
string name = startName + " to " + attributes["Name"];
int cost = int.Parse(attributes["Cost"]);
string[] split = reader.Value.Split(',');
int x = int.Parse(split[0]);
int y = int.Parse(split[1]);
int z = int.Parse(split[2]);
endNode = nodeLists[z][x, y];
SpecialConnection connection = new SpecialConnection {
source = startNode, destination = endNode, cost = cost, name = name
};
SpecialConnection connection2 = new SpecialConnection {
source = endNode, destination = startNode, cost = cost, name = ReverseName(name)
};
specialConnections.Add(connection);
specialConnections.Add(connection2);
startNode.addNeighbor(endNode, connection);
endNode.addNeighbor(startNode, connection2);
}
break;
case XmlNodeType.XmlDeclaration:
case XmlNodeType.ProcessingInstruction:
case XmlNodeType.Comment:
break;
case XmlNodeType.EndElement:
currentNode = null;
if (reader.Name == "Teleport")
{
startNode = null;
}
break;
}
}
}
}
// Add connections that are stored in the 'teleports' file
using (StreamReader reader = new StreamReader("teleports")) {
string line;
while ((line = reader.ReadLine()) != null)
{
string[] split = line.Split('-');
if (split.Length != 3)
{
continue;
}
string[] source = split[0].Split(',');
string[] dest = split[1].Split(',');
string name = split[2];
bool one_way = false;
if (name.Contains(" ONE WAY"))
{
one_way = true;
name = name.Replace(" ONE WAY", "");
}
int x, y, z;
x = int.Parse(source[0]);
y = int.Parse(source[1]);
z = int.Parse(source[2]);
Node startNode = nodeLists[z][x, y];
x = int.Parse(dest[0]);
y = int.Parse(dest[1]);
z = int.Parse(dest[2]);
Node endNode = nodeLists[z][x, y];
if (startNode == null || endNode == null)
{
Console.WriteLine(String.Format("Warning: {0}", line));
continue;
}
SpecialConnection connection;
if (!startNode.hasNeighbor(endNode))
{
connection = new SpecialConnection {
source = startNode, destination = endNode, cost = 100, name = name
};
specialConnections.Add(connection);
startNode.addNeighbor(endNode, connection);
}
if (!one_way)
{
if (!endNode.hasNeighbor(startNode))
{
connection = new SpecialConnection {
source = endNode, destination = startNode, cost = 100, name = ReverseName(name)
};
specialConnections.Add(connection);
endNode.addNeighbor(startNode, connection);
}
}
}
}
sw.Stop();
Console.WriteLine("Create teleports: {0}ms", sw.Elapsed.TotalMilliseconds);
return(specialConnections);
}
public Connection(NormalNode neighbor, SpecialConnection settings = null)
{
this.neighbor = neighbor;
this.settings = settings;
}
public void addNeighbor(Node node, SpecialConnection settings = null, bool possibleDuplicate = false)
{
if (!possibleDuplicate && this.neighbors.Find(o => o.neighbor == node) != null) {
throw new Exception("");
}
this.neighbors.Add(new Connection(node, settings));
}