// Update is called once per frame
void Update()
{
if (path == null && search.Finished())
{
Debug.Log("Visited: " + search.problem.GetVisited().ToString());
Debug.Log("Expanded: " + search.problem.GetExpanded().ToString());
path = search.GetActionPath();
if (path != null)
{
Debug.Log("Path Length: " + path.Count.ToString());
Debug.Log("[" + string.Join(",", path.ConvertAll <string> (Actions.ToString).ToArray()) + "]");
}
}
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
search.StartRunning();
}
if (path == null && search.Finished())
{
Debug.Log("Visited: " + search.problem.GetVisited().ToString());
Debug.Log("Expanded: " + search.problem.GetExpanded().ToString());
LOGGER.Log("Visited: {0}", search.problem.GetVisited().ToString());
LOGGER.Log("Expanded: {0}", search.problem.GetExpanded().ToString());
LOGGER.Log("Building solution path");
path = search.GetActionPath();
total_actions = path.Count;
LOGGER.Log("Saving path!");
savePath(path);
LOGGER.Log("done.. !");
LOGGER.Log("[{0}]", string.Join(",", path.ConvertAll <string> (Actions.ToString).ToArray()));
if (path != null)
{
Debug.Log("Path Length (Number of Actions): " + path.Count.ToString());
Debug.Log("[" + string.Join(",", path.ConvertAll <string> (Actions.ToString).ToArray()) + "]");
}
// if on batchmode terminate the application
if (batchmode)
{
LOGGER.Log("Finished.");
LOGGER.Flush();
Application.Quit();
}
}
visitedText.text = "Visited: " + search.problem.GetVisited().ToString();
expandedText.text = "Expanded: " + search.problem.GetExpanded().ToString();
LOGGER.Flush();
}
// Update is called once per frame
void Update()
{
if (!isDead)
{
if ((Input.GetKeyDown(KeyCode.Space) || autorun) && !agentRunning)
{
agentRunning = true;
search.StartRunning();
uniText = GameObject.Find(GridMap.instance.prefixUiText + this.name).GetComponent <Text> ();
uniText.text = this.name + ": Searching... ";
//print (GridMap.instance.NodeFromWorldPoint(search.startPos));
}
if (debugExpandedNodes && search.GetRunning() && !search.Finished())
{
GridMap.instance.ColorNodes(search.GetVisitedNodes(), agentColor);
nodesExpanded = search.GetNumberOfNodesExpanded();
nodesVisited = search.GetVisitedNodes().Count;
pathCost = search.pathCost;
uniText.text = this.name + ": Searching... ";
uniText.text += "expanded: " + nodesExpanded + " visited: " + nodesVisited;
}
if (search.Finished() && !algorithmFinished)
{
uniText.text = this.name + ": Moving... ";
nodesExpanded = search.GetNumberOfNodesExpanded();
nodesVisited = search.GetVisitedNodes().Count;
pathCost = search.pathCost;
uniText.text += "expanded: " + nodesExpanded + " visited: " + nodesVisited + " pathcost: " + pathCost;
if (path == null)
{
if (search.FoundPath())
{
path = search.RetracePath();
TestWriter.writeResultLine(search.FoundPath(), (int)search.Solution.f, search.numberOfVisited, search.numberOfExpandedNodes, search.maxListSize, search.currentState.depth, search.getExtra());
if (debugPath)
{
GridMap.instance.ColorNodes(path, agentColor);
}
}
else
{
algorithmFinished = true;
}
}
if (targets.Count > 0 && moveToNext)
{
// clear visited nodes
if (debugExpandedNodes)
{
GridMap.instance.ClearColorNodes(search.GetVisitedNodes());
}
//move to next target
GridMap.instance.ClearColorNode(GridMap.instance.NodeFromWorldPoint(search.targetPos));
UpdateStartTargetPositions();
search.StartRunning();
path = null;
currentCost = 0;
moveToNext = false;
isAtTarget = false;
}
if (targets.Count == 0 && search.Finished() && search.FoundPath() && path != null)
{
TestSceneControl.ChangeScene();
}
}
if (!isMoving)
{
UpdateEnergy();
if (isAtTarget && IsFullyLoaded())
{
moveToNext = true;
}
}
}
}
private void computeCosts()
{
if (!search.GetRunning() && (!search.Finished() && !search.FoundPath()))
{
Debug.Log("[ComputeCosts] Start search for: " + keys[currentStartPos] + " -> " + keys[currentTargetPos]);
search.StartRunning();
uniText = GameObject.Find(GridMap.instance.prefixUiText + this.name).GetComponent <Text>();
}
if (search.GetRunning())
{
uniText.text = this.name + ": Searching... ";
uniText.text += "expanded: " + nodesExpanded + " visited: " + nodesVisited;
}
// generate list of lists of costs
if (search.FoundPath())
{
Dictionary <string, int> novo = new Dictionary <string, int>();
path = search.RetracePath();
novo.Add(keys[currentTargetPos], 0 + search.GetPathCost());
if (dMatrix.ContainsKey(keys[currentStartPos]))
{
dMatrix[keys[currentStartPos]].Add(keys[currentTargetPos], 0 + search.GetPathCost());
}
else
{
dMatrix.Add(keys[currentStartPos], novo);
}
//Debug.Log(dMatrix);
//Debug.Log("Ended! cost : "+ dMatrix[keys[currentStartPos]][keys[currentTargetPos]] +
// " search for: " + keys[currentStartPos] + "-> " + keys[currentTargetPos]);
currentTargetPos++;
if (currentTargetPos == keys.Count)
{
currentTargetPos = 0;
currentStartPos++;
if (currentStartPos == keys.Count)
{
costsNotComputed = false; // computed!
exportCosts();
search.setRunning(false);
search.setFinished(false);
path = null;
Debug.Log("Computed and exported to: " +
(Application.dataPath + "/Resources/Maps/" + GridMap.instance.mapCosts.name + "costs.csv"));
return;
}
}
search.startPos = allTargets[currentStartPos].transform.position;
search.targetPos = allTargets[currentTargetPos].transform.position;
Debug.Log("[ComputeCosts] Start search for: " + keys[currentStartPos] + " -> " + keys[currentTargetPos]);
search.StartRunning();
}
}