public Maybe <Path> CalculateDijkstraPath <T>(BaseTile <T> source, BaseTile <T> destination, float z) where T : BaseTile <T>, IHaveMovementCost
{
var frontier = new SimplePriorityQueue <BaseTile <T> >();
var cameFrom = new Dictionary <BaseTile <T>, BaseTile <T> >();
var costSoFar = new Dictionary <BaseTile <T>, int>();
costSoFar.Add(source, 0);
frontier.Enqueue(source, 0);
while (frontier.Any())
{
var current = frontier.Dequeue();
if (current == destination)
{
break;
}
current.ForEachCardinalNeighbor(next =>
{
var newCost = costSoFar[current] + next.MovementCost;
if ((!cameFrom.ContainsKey(next) || newCost < costSoFar[next]) && next.IsWalkable)
{
costSoFar[next] = newCost;
frontier.Enqueue(next, newCost);
cameFrom[next] = current;
}
});
}
return(ConstructPath(cameFrom, source, destination, z));
}
private static int Reduce(List <Rule> rules, string molecule)
{
// Dictionary with number of steps to molecule
Dictionary <string, int> moleculeToSteps = new Dictionary <string, int>()
{
{ molecule, 0 }
};
// Remember processed molecules
HashSet <string> seen = new HashSet <string>();
// Queue with molecules to process
SimplePriorityQueue <string> toProcess = new SimplePriorityQueue <string>();
toProcess.Enqueue(molecule, molecule.Length);
// Randomizator, because otherwise we get stuck
Random rng = new Random();
while (toProcess.Any())
{
// Get another molecule to process
string oldMolecule = toProcess.Dequeue();
//Console.WriteLine(oldMolecule);
if (oldMolecule == "e")
{
break;
}
// Do all possible reductions
foreach (Rule rule in rules.OrderBy(x => rng.Next()))
{
foreach (int index in oldMolecule.IndiciesOf(rule.To))
{
// Do reduction
string newMolecule = oldMolecule.Substring(0, index) + rule.From + oldMolecule.Substring(index + rule.To.Length);
// Calculate steps
int steps = moleculeToSteps[oldMolecule] + 1;
// Save progress
if (!moleculeToSteps.TryGetValue(newMolecule, out int oldSteps) || oldSteps > steps)
{
moleculeToSteps[newMolecule] = steps;
}
// Do more reductions
if (!seen.Contains(newMolecule))
{
toProcess.Enqueue(newMolecule, newMolecule.Length);
seen.Add(newMolecule);
}
}
}
}
return(moleculeToSteps["e"]);
}
// Returns true if goal node is found. Returns false if no goal node is found.
public bool hSearch()
{
worldNode currentNode;
setup();
while (fringe.Any())
{
currentNode = fringe.Dequeue();
if (currentNode == worldNodes[endx, endy])
{
sw.Stop();
return(true);
}
expandNode(currentNode);
}
sw.Stop();
return(false);
}
/// <summary>
/// Find the closest objective to go on. Dijkstra Pathfinding
/// </summary>
/// <returns>Next to tile to go on and the cost to go on that tile. Postion is null and cost is equal to NO_COST if path find.</returns>
//http://www.redblobgames.com/pathfinding/a-star/introduction.html Python -> C#
public Tuple <Coordinates, int> GetDirection()
{
// We make sure that we still have a possible target.
if (!IHaveAGoalRemaning())
{
return(Tuple.Create(currentTile.Position, 0));
}
SimplePriorityQueue <Tile> frontier = new SimplePriorityQueue <Tile>();
frontier.Enqueue(currentTile, 0);
Dictionary <Tile, Tile> cameFrom = new Dictionary <Tile, Tile>();
Dictionary <Tile, int> costSoFar = new Dictionary <Tile, int> {
{ currentTile, 0 }
};
Tile current = currentTile, last = currentTile;
// While we still have tiles to go.
while (frontier.Any())
{
current = frontier.Dequeue();
// If the tile is an objective, we stop the search.
if (IsGoal(current))
{
break;
}
foreach (Tile next in GetNeighbors(current))
{
int newCost = costSoFar[current] + 1;
// We update or add the cost of the tile so far.
if (!costSoFar.ContainsKey(next) || newCost < costSoFar[next])
{
costSoFar[next] = newCost;
frontier.Enqueue(next, newCost);
cameFrom[next] = current;
}
}
}
// We reconstruct the path the find the next tile to go on.
int cost = costSoFar[cameFrom[current]] + 1;
while (!current.Equals(currentTile))
{
last = current;
current = cameFrom[current];
}
return(Tuple.Create(last.Position, cost));
}
public static ISearchResult FindShortestPath(Point startingPoint, Point destinationPoint, Predicate <Point> isWalkable, Func <Point, Point, int> estimateH)
{
GuardAgainstUnwakableStartingPoint(startingPoint, isWalkable);
// Bootstrap
var startingNode = Node.CreateTheStartingNodeWith(startingPoint);
var openList = new SimplePriorityQueue <Point>();
openList.Enqueue(startingPoint, 0);
var nodesByPoint = new Dictionary <Point, Node> {
{ startingPoint, startingNode }
};
var closedSet = new HashSet <Point>();
int EstimateHFromFor(Point point) => estimateH(point, destinationPoint);
while (openList.Any())
{
var currentPoint = openList.Dequeue();
var currentNode = nodesByPoint[currentPoint];
if (currentPoint.Equals(destinationPoint))
{
return(FoundSolution.CreateSolutionFor(currentNode));
}
nodesByPoint.Remove(currentPoint);
var availableAdjacentPoints = GetAvailableAdjacentPointsTo(currentPoint, isWalkable, closedSet);
foreach (var adjacentPoint in availableAdjacentPoints)
{
Node availableNode;
if (nodesByPoint.TryGetValue(adjacentPoint.Point, out availableNode))
{
availableNode.UpdateGiven(currentNode, adjacentPoint.FromParentMoveCost);
openList.UpdatePriority(adjacentPoint.Point, availableNode.F);
}
else
{
var h = EstimateHFromFor(adjacentPoint.Point);
availableNode = Node.CreateNodeWith(currentNode, adjacentPoint, h);
nodesByPoint.Add(adjacentPoint.Point, availableNode);
openList.Enqueue(adjacentPoint.Point, availableNode.F);
}
}
closedSet.Add(currentPoint);
}
return(new NotFoundSolution());
}
public static Stack <TileNode> Astar(TileGraph tg, TileNode start, TileNode end)
{
frontier = new SimplePriorityQueue <TileNode, float>();
frontier.Enqueue(start, 0f);
//node_dict = new Dictionary<TileNode, NodeInfo>();
node_dict = DijkstraInitialDictLoad(start, tg);
List <TileNode> Expanded = new List <TileNode>();
TileNode v;
TileNode other;
float cost_so_far;
float edge_weight;
float dist_to_node;
float manhattanDistance;
while (frontier.Count > 0)
{
v = frontier.Dequeue();
cost_so_far = node_dict[v].dist;
Expanded.Add(v);
List <Edge> experiment = tg.getAdjacentEdges(v) as List <Edge>;
foreach (Edge adj_edge in tg.getAdjacentEdges(v))
{
other = adj_edge.getNeighbor(v);
edge_weight = adj_edge.weight;
dist_to_node = node_dict[other].dist;
manhattanDistance = Mathf.Abs(end.transform.position.z - other.transform.position.z) + Mathf.Abs(end.transform.position.x - other.transform.position.x);
if (cost_so_far + edge_weight < dist_to_node)
{
node_dict[other].dist = cost_so_far + edge_weight;
node_dict[other].heuristic = node_dict[other].dist + manhattanDistance;
node_dict[other].parent = v;
}
if (!Expanded.Any(node => node.isEqual(other)) && !frontier.Any(node => node.isEqual(other)))
{
frontier.Enqueue(other, node_dict[other].heuristic);
}
}
}
Path = NodeDictToPath(node_dict, start, end);
return(Path);
}
public static Stack <TileNode> Dijkstra(TileGraph tg, TileNode start, TileNode end)
{
frontier = new SimplePriorityQueue <TileNode, float>();
frontier.Enqueue(start, 0f);
node_dict = DijkstraInitialDictLoad(start, tg);
List <TileNode> Expanded = new List <TileNode>();
TileNode v;
TileNode other;
float edge_weight;
float dist_to_node;
float cost_so_far;
while (frontier.Count > 0)
{
v = frontier.Dequeue();
cost_so_far = node_dict[v].dist;
Expanded.Add(v);
//List<Edge> experiment = tg.getAdjacentEdges(v) as List<Edge>;
foreach (Edge adj_edge in tg.getAdjacentEdges(v))
{
other = adj_edge.getNeighbor(v);
edge_weight = adj_edge.weight;
dist_to_node = node_dict[other].dist;
if (cost_so_far + edge_weight < dist_to_node)
{
node_dict[other].dist = cost_so_far + edge_weight;
node_dict[other].parent = v;
}
if (!Expanded.Any(node => node.isEqual(other)) && !frontier.Any(node => node.isEqual(other)))
{
frontier.Enqueue(other, node_dict[other].dist);
}
}
}
Path = NodeDictToPath(node_dict, start, end);
return(Path);
}
public Dictionary <int, int> MainAlgorithm(int source)
{
SimplePriorityQueue <int> priorityQueue = new SimplePriorityQueue <int>();
InitiateLenghts(source);
priorityQueue.Enqueue(source, 0);
while (priorityQueue.Any())
{
int operatedVertex = priorityQueue.First();
priorityQueue.Dequeue();
foreach (var item in calculatedGraph.vertices[operatedVertex].outgoingEdges)
{
int newLenght = lenghts[operatedVertex] + item.Value;
if (lenghts[item.Key] > newLenght)
{
lenghts[item.Key] = newLenght;
priorityQueue.Enqueue(item.Key, newLenght);
}
}
}
return(lenghts);
}
public bool Contains(Predicate <T> predicate)
{
return(_queue.Any(predicate.Invoke));
}
//for more info check video 92, 93, 94 in Mosh data-structure course part II
public WeightedGraph GetMinSpanningTree()
{
// tree basically is a graph but without cycle (cycle links)
var tree = new WeightedGraph();
SimplePriorityQueue <Edge> edges = new SimplePriorityQueue <Edge>();
if (Count == 0)
{
// if graph has zero nodes then return empty tree
return(tree);
}
using (var nodesEnumerator = _nodes.Values.GetEnumerator())
{
if (!nodesEnumerator.MoveNext())
{
return(tree);
}
var startNode = nodesEnumerator.Current;
foreach (var edge in startNode.Edges)
{
edges.Enqueue(edge, edge.Weight);
}
tree.AddNode(startNode.Label);
if (!edges.Any())
{
// if graph has no edges then return empty tree
return(tree);
}
while (tree.Count < Count)
{
// we will get edge with min-weight
var minEdge = edges.Dequeue();
var nextNode = minEdge.To;
if (tree.ContainsNode(nextNode.Label))
{
// if the edge is connected to existing node in min-spanning-tree
// then we skip it & pick the next minEdge
continue;
}
//we will add nextNode to tree
tree.AddNode(nextNode.Label);
tree.AddEdge(minEdge.From.Label, nextNode.Label, minEdge.Weight);
// add only connected Edges to "Edges" queue
foreach (var edge in nextNode.Edges)
{
// we only add connected-node if it is not added to min-spanning-tree before
if (!tree.ContainsNode(edge.To.Label))
{
edges.Enqueue(edge, edge.Weight);
}
}
}
}
return(tree);
}
public override bool Empty()
{
return(!_queue.Any());
}
//There is no need to aggressively early exit for now, we are in no need for such optimization
public static bool TryFindPath(Coordinate start,
Coordinate goal,
Map map,
out IList <Coordinate> path,
int maxCost = int.MaxValue,
bool includeStartingTile = false)
{
var tileToDiscover = new SimplePriorityQueue <Coordinate, float>();
var cameFrom = new Dictionary <Coordinate, Coordinate>();
var distanceToTile = new Dictionary <Coordinate, float> {
[start] = 0f
};
tileToDiscover.Enqueue(start, Heuristic(start, goal));
path = null;
while (tileToDiscover.Any())
{
var current = tileToDiscover.Dequeue();
if (current == goal)
{
path = new List <Coordinate>();
while (current != start)
{
path.Add(current);
current = cameFrom[current];
}
//we ignore the starting tile when calculating the cost
var pathCost = path.Select(map.Get <Tile>).Sum(t => t.Data.Weight);
if (includeStartingTile)
{
path.Add(start);
}
path = path.Reverse().ToList();
return(pathCost <= maxCost);
}
foreach (var neighbour in map.GetNeighbours <Tile>(current).Values)
{
if (neighbour == null)
{
//ignore tiles that does not exist(e.g. when current is at the top/bottom edge of the map)
continue;
}
var currentDistanceToNeighbour = distanceToTile[current] + neighbour.Data.Weight;
var neighbourCoordinate = neighbour.Coordinate;
if (!distanceToTile.TryGetValue(neighbourCoordinate, out var previousDistanceToNeighbour))
{
previousDistanceToNeighbour = float.PositiveInfinity;
}
if (currentDistanceToNeighbour > previousDistanceToNeighbour)
{
continue;
}
var newScoreForNeighbour = currentDistanceToNeighbour + Heuristic(neighbourCoordinate, goal);
cameFrom[neighbourCoordinate] = current;
distanceToTile[neighbourCoordinate] = currentDistanceToNeighbour;
if (!tileToDiscover.TryUpdatePriority(neighbourCoordinate, newScoreForNeighbour))
{
tileToDiscover.Enqueue(neighbourCoordinate, newScoreForNeighbour);
}
}
}
return(false);
}
public void Update()
{
UpdateAttack();
UpdateMovement();
void UpdateWeapon()
{
if (weapon == null || !actor.Inventory.Contains(weapon) || weapon.Gun.AmmoLeft + weapon.Gun.ClipLeft == 0)
{
weapon = actor.Inventory.FirstOrDefault(i => i.Gun != null && i.Gun.AmmoLeft + i.Gun.ClipLeft > 0);
}
}
void UpdateAttack()
{
if (attack == null || attack.Done())
{
UpdateWeapon();
if (weapon == null)
{
return;
}
var enemies = new HashSet <Entity>();
foreach (var point in actor.World.entities.space.Keys)
{
if (((XYZ)point - actor.Position).Magnitude < 100)
{
enemies.UnionWith(actor.World.entities[point].OfType <ICharacter>());
}
}
enemies.Remove(actor);
enemies = enemies.Where(e => (e.Position - actor.Position).Magnitude < weapon.Gun.range).ToHashSet();
if (enemies.Any())
{
var target = enemies.First();
attack = new ShootAction(actor, weapon, new TargetEntity(target));
actor.Actions.Add(attack);
}
}
}
void UpdateMovement()
{
if (movement == null || movement.Done())
{
UpdateWeapon();
if (weapon == null)
{
var weapons = new HashSet <IItem>();
foreach (var point in actor.World.entities.space.Keys)
{
if (((XYZ)point - actor.Position).Magnitude < 100)
{
weapons.UnionWith(actor.World.entities[point].OfType <IItem>());
}
}
if (!weapons.Any())
{
UpdateWander();
return;
}
var target = weapons.OrderBy(w => (w.Position - actor.Position).Magnitude2).First();
Dictionary <(int, int, int), (int, int, int)> prev = new Dictionary <(int, int, int), (int, int, int)>();
var points = new SimplePriorityQueue <XYZ, double>();
//Truncate to integer coordinates so we don't get confused by floats
(int, int, int)start = target.Position.i;
(int, int, int)actorPos = actor.Position.i;
prev[start] = start;
points.Enqueue(start, 0);
int seen = 0;
bool success = false;
while (points.Any() && seen < 500 && !success)
{
var point = points.Dequeue();
foreach (var offset in new XYZ[] { new XYZ(0, 1), new XYZ(1, 0), new XYZ(0, -1), new XYZ(-1, 0) })
{
var next = point + offset;
if (prev.ContainsKey(next))
{
continue;
}
else if (CanOccupy(next))
{
prev[next] = point;
//Truncate to integer coordinates so we don't get confused by floats
if (next.Equals(actorPos))
{
success = true;
break;
}
else
{
points.Enqueue(next, (next - actorPos).Magnitude);
}
}
}
}
if (success)
{
LinkedList <XYZ> path = new LinkedList <XYZ>();
XYZ p = prev[actor.Position];
path.AddLast(p);
while (!p.Equals(start))
{
p = prev[p];
path.AddLast(p);
}
movement = new CompoundAction(new FollowPath(actor, path), new TakeItem(actor, target));
actor.Actions.Add(movement);
}
else
{
UpdateWander();
}
}
else
{
UpdateWander();
}
}
}
void UpdateWander()
{
HashSet <(int, int, int)> known = new HashSet <(int, int, int)>();
HashSet <XYZ> accessible = new HashSet <XYZ>();
Dictionary <(int, int, int), (XYZ, int)> prev = new Dictionary <(int, int, int), (XYZ, int)>();
Queue <XYZ> points = new Queue <XYZ>();
var start = actor.Position.i;
points.Enqueue(start);
prev[start] = (null, 0);
int seen = 0;
while (points.Count > 0 && seen < 500)
{
var point = points.Dequeue().i;
known.Add(point);
seen++;
if (CanOccupy(point))
{
accessible.Add(point);
foreach (var offset in new XYZ[] { new XYZ(0, 1), new XYZ(1, 0), new XYZ(0, -1), new XYZ(-1, 0) })
{
var next = point + offset;
var dist = prev[point].Item2 + 1;
if (known.Add(next))
{
prev[next] = (point, dist);
points.Enqueue(next);
}
else if (prev.TryGetValue(next, out (XYZ, int)v) && v.Item2 > dist)
{
prev[next] = (point, dist);
}
}
}
}
var dest = accessible.OrderByDescending(xyz => (actor.Position - xyz).Magnitude2).ElementAt(new Random().Next(0, 4));
var path = new LinkedList <XYZ>();
while (dest != null)
{
path.AddFirst(dest);
XYZ next;
(next, _) = prev[dest];
dest = next;
}
movement = new FollowPath(actor, path);
actor.Actions.Add(movement);
}
bool CanOccupy(XYZ position)
{
var v = actor.World.voxels.Try(position);
var below = actor.World.voxels.Try(position.PlusZ(-1));
return(v is Air || v is Floor || below?.Collision == VoxelType.Solid);
}
}
