public IEnumerable <ICommand> Solve()
{
for (int i = 0; i < N - 1; i++)
{
for (int k = 0; k < i; k++)
{
yield return(new Wait());
}
yield return(new Fission(new NearDifference(new Vec(0, 0, 1)), N - i - 2));
}
pos = new Vec[N];
regions = new Region[N];
for (int i = 0; i < N; i++)
{
pos[i] = new Vec(0, 0, i);
regions[i] = Region.ForShift(new Vec(i % Nx * BlockSizeX, 0, i / Nx * BlockSizeZ), new Vec(BlockSizeX - 1, R - 1, BlockSizeZ - 1));
}
for (int i = N - 1; i >= 0; i--)
{
var volatiles = pos.ToHashSet();
var target = regions[i].Start;
var commands = new PathFinder(state, pos[i], target, volatiles, null).TryFindPath();
if (commands == null)
{
throw new InvalidOperationException($"Failed to find path from {pos[i]} to {target}");
}
foreach (var command in commands)
{
for (int k = 0; k < i; k++)
{
yield return(new Wait());
}
yield return(command);
for (int k = i + 1; k < N; k++)
{
yield return(new Wait());
}
}
pos[i] = target;
}
var enumerators = new IEnumerator <ICommand> [N];
while (true)
{
for (int bot = 0; bot < N; bot++)
{
if (enumerators[bot] == null)
{
enumerators[bot] = SolveSingle(bot).GetEnumerator();
}
}
var tickCommands = new ICommand[N];
for (int bot = 0; bot < N; bot++)
{
if (enumerators[bot].MoveNext())
{
tickCommands[bot] = enumerators[bot].Current;
}
else
{
enumerators[bot].Dispose();
enumerators[bot] = null;
}
}
if (tickCommands.All(c => c == null))
{
break;
}
foreach (var tickCommand in tickCommands)
{
yield return(tickCommand ?? new Wait());
}
}
for (int bot = N - 1; bot >= 1; bot--)
{
var parentPos = pos[bot - 1];
List <ICommand> commands = null;
foreach (var near in parentPos.GetNears().OrderBy(n => n.MDistTo(pos[bot])))
{
if (near.IsInCuboid(R) && !state.Get(near))
{
var pathFinder = new PathFinder(state, pos[bot], near, null, null);
commands = pathFinder.TryFindPath();
if (commands != null)
{
pos[bot] = near;
break;
}
}
}
if (commands == null)
{
throw new InvalidOperationException($"Couldn't find path for fusion from {pos[bot]} to near of {parentPos}");
}
foreach (var command in commands)
{
for (int k = 0; k < bot; k++)
{
yield return(new Wait());
}
yield return(command);
}
for (int k = 0; k < bot - 1; k++)
{
yield return(new Wait());
}
yield return(new FusionP(new NearDifference(pos[bot] - parentPos)));
yield return(new FusionS(new NearDifference(parentPos - pos[bot])));
}
var cmds = new List <ICommand>();
Move(0, Vec.Zero, cmds);
foreach (var command in cmds)
{
yield return(command);
}
yield return(new Halt());
}
