// Checks for collision between two nodes and their children
public static bool CheckCollision(Node n1, Node n2, NodeProvider provider, SpaceState state, bool noisy = false, int deep = 0)
{
if (deep > 5)
{
return(false);
}
int x = (n1.x + n2.x) / 2;
int y = (n1.y + n2.y) / 2;
int t = (n1.t + n2.t) / 2;
Node n3 = provider.GetNode(t, x, y);
// Noisy calculation
if (state.enemies != null && ((Cell)n3.cell).noisy)
{
foreach (Enemy enemy in state.enemies)
{
Vector3 dupe = enemy.positions [t];
dupe.x = (dupe.x - state.floorMin.x) / state.tileSize.x;
dupe.y = n3.t;
dupe.z = (dupe.z - state.floorMin.z) / state.tileSize.y;
// This distance is in number of cells size radius i.e. a 10 tilesize circle around the point
if (Vector3.Distance(dupe, n3.GetVector3()) < 10)
{
return(true);
}
}
}
return(!n3.cell.IsWalkable() || CheckCollision(n1, n3, provider, state, noisy, deep + 1) || CheckCollision(n2, n3, provider, state, noisy, deep + 1));
}
/// <summary>
/// Validate given solution
/// </summary>
/// <param name="tour">Tour to check</param>
private void ValidateTour(ITour tour)
{
if (tour == null)
{
throw new ArgumentNullException("tour");
}
if (tour.Dimension != tour.Nodes.Count)
{
throw new TourInvalidException("Tour dimension does not match number of nodes on a list");
}
HashSet <int> identifiers = new HashSet <int>();
foreach (int nodeId in tour.Nodes)
{
if (identifiers.Contains(nodeId))
{
throw new TourInvalidException("Tour is invalid, has a node " + nodeId + " multiple times");
}
if (null == NodeProvider.GetNode(nodeId))
{
throw new TourInvalidException("Tour is invalid, has a node " + nodeId + " which is not present in a problem");
}
identifiers.Add(nodeId);
}
}
// Checks for collision between two nodes and their children
public static bool CheckCollision(Node n1, Node n2, NodeProvider provider, SpaceState state, bool noisy = false, int deep = 0)
{
if (deep > 5)
return false;
int x = (n1.x + n2.x) / 2;
int y = (n1.y + n2.y) / 2;
int t = (n1.t + n2.t) / 2;
Node n3 = provider.GetNode (t, x, y);
// Noisy calculation
if (state.enemies != null && ((Cell)n3.cell).noisy) {
foreach (Enemy enemy in state.enemies) {
Vector3 dupe = enemy.positions [t];
dupe.x = (dupe.x - state.floorMin.x) / state.tileSize.x;
dupe.y = n3.t;
dupe.z = (dupe.z - state.floorMin.z) / state.tileSize.y;
// This distance is in number of cells size radius i.e. a 10 tilesize circle around the point
if (Vector3.Distance (dupe, n3.GetVector3 ()) < 10)
return true;
}
}
return !(n3.cell.safe || !(n3.cell.blocked || n3.cell.seen)) || CheckCollision (n1, n3, provider, state, noisy, deep + 1) || CheckCollision (n2, n3, provider, state, noisy, deep + 1);
}
/// <summary>
/// Gets tour distance for a given problem
/// </summary>
/// <param name="tour">Tour to check</param>
/// <returns>Tour distance</returns>
public override double TourDistance(ITour tour)
{
ValidateTour(tour);
double distance = 0;
for (int i = -1; i + 1 < tour.Nodes.Count; i++)
{
INode first = i == -1 ? NodeProvider.GetNode(tour.Nodes.Last()) : NodeProvider.GetNode(tour.Nodes[i]);
INode second = NodeProvider.GetNode(tour.Nodes[i + 1]);
double weight = EdgeWeightsProvider.GetWeight(first, second);
distance += weight;
}
return(distance);
}
/// <summary>
/// Validate given solution
/// </summary>
/// <param name="tour">Tour to check</param>
private void ValidateTour(ITour tour)
{
if (tour == null)
{
throw new ArgumentNullException("tour");
}
if (tour.Dimension != tour.Nodes.Count)
{
throw new TourInvalidException("Tour dimension does not match number of nodes on a list");
}
// Fast check for the sake of speed.
var set = new HashSet <int>(tour.Nodes);
set.UnionWith(NodeProvider.GetNodes().Select(n => n.Id));
if (set.Count == tour.Nodes.Count)
{
return;
}
// Slow check for a more detailed exception message.
var identifiers = new HashSet <int>();
foreach (var nodeId in tour.Nodes)
{
if (identifiers.Contains(nodeId))
{
throw new TourInvalidException("Tour is invalid, has a node " + nodeId + " multiple times");
}
if (null == NodeProvider.GetNode(nodeId))
{
throw new TourInvalidException("Tour is invalid, has a node " + nodeId + " which is not present in a problem");
}
identifiers.Add(nodeId);
}
}
