public ShipPositionInfo(Vector pos, int rotation, int speed)
{
this.pos = pos;
this.rotation = rotation;
this.speed = speed;
this.shipFront = this.pos + Vector.directions[this.rotation];
this.shipRight = this.pos + Vector.directions[(this.rotation + 5) % 6];
this.shipLeft = this.pos + Vector.directions[(this.rotation + 1) % 6];
this.shipBack = this.pos - Vector.directions[this.rotation];
this.minePos = this.pos - Vector.directions[this.rotation] * 2;
this.positionNode = PositionNode.GetPositionNode(pos, rotation, speed);
}
public static PositionNode GetLongestPath(Ship ship, int radius, bool fleeing = false)
{
HashSet <PositionNode> set = new HashSet <PositionNode>();
Queue <PositionNode> q = new Queue <PositionNode>();
List <PositionNode> nextExpand = new List <PositionNode>();
PositionNode shipNode = PositionNode.GetPositionNode(ship.pos, ship.rotation, ship.speed);
//shipNode.distance = 0;
shipNode.step = 0;
shipNode.parent = null;
set.Add(shipNode);
q.Enqueue(shipNode);
int step = 0;
int loops = 0;
PositionNode current = null;
// bfs loop
while (q.Count != 0)
{
current = q.Dequeue();
foreach (var pair in current.neighbours)
{
var neighbour = pair.Key;
var move = pair.Value;
int neighbourStep = step + 1;//current.step + 1;
neighbour.prevRotation = current.rotation;
if (!set.Contains(neighbour) && isPositionSafe(neighbour, ship, neighbourStep))
{
set.Add(neighbour);
neighbour.parent = current;
neighbour.moveType = move;
neighbour.step = neighbourStep;
nextExpand.Add(neighbour);
}
}
if (q.Count == 0 && nextExpand.Count > 0) //if bfs is done expanding current step and next expand has items
{
if (step >= radius)
{
break;
}
nextExpand.ForEach(n => q.Enqueue(n)); //put all list items into queue
nextExpand.Clear();
step++; //add 1 more step to count the distance
}
loops++;
}
if (step >= radius && nextExpand.Count > 0)
{
PositionNode first = null;
if (fleeing)
{
first = nextExpand.OrderByDescending(n => CombinedDistanceFromEnemy(n.pos)).FirstOrDefault();
}
else
{
first = nextExpand.OrderByDescending(n => n.pos.Distance(ship.pos)).FirstOrDefault();
}
return(first);
}
return(null);
}
public static PositionNode CalculateShortestPaths(Ship ship, Vector targetPosition)
{
float loopStartTime = Timer.TickCount;
HashSet <PositionNode> closedSet = new HashSet <PositionNode>();
HashSet <PositionNode> openSet = new HashSet <PositionNode>();
foreach (var node in Pathfinding.nodeTable.Values)
{
node.gScore = 9999;
node.fScore = 9999;
node.parent = null;
//prev.Add(stop, null);
}
List <PositionNode> nextExpand = new List <PositionNode>();
PositionNode shipNode = PositionNode.GetPositionNode(ship.pos, ship.rotation, ship.speed);
shipNode.gScore = 0;
shipNode.fScore = shipNode.pos.Distance(targetPosition);
shipNode.step = 0;
shipNode.parent = null;
openSet.Add(shipNode);
PositionNode current = null;
int step = 0;
int loops = 0;
while (openSet.Count > 0)
{
current = openSet.OrderBy(n => n.fScore).FirstOrDefault();
if (current.pos == targetPosition)
{
break;
}
openSet.Remove(current);
closedSet.Add(current);
foreach (var pair in current.neighbours)
{
var neighbour = pair.Key;
var move = pair.Value;
var distance = move == 0 ? 0 : 1;
distance += neighbour.speed;
var neighbourStep = current.step + 1;
if (closedSet.Contains(neighbour) || !isPositionSafe(neighbour, ship, neighbourStep))
{
continue;
}
var alternativeDistance = current.gScore + distance;
if (!openSet.Contains(neighbour))
{
//nextExpand.Add(neighbour);
openSet.Add(neighbour);
}
else if (alternativeDistance >= neighbour.gScore)
{
continue;
}
neighbour.parent = current;
neighbour.gScore = alternativeDistance;
neighbour.fScore = alternativeDistance + neighbour.pos.Distance(targetPosition);
neighbour.moveType = move;
neighbour.step = neighbourStep;
}
/*if (openSet.Count == 0 && nextExpand.Count > 0)
* {
* nextExpand.ForEach(n => openSet.Add(n)); //put all list items into queue
* nextExpand.Clear();
*
* step++; //add 1 more step to count the distance
* Console.Error.WriteLine("Loops: " + loops + " Steps: " + step);
* }*/
loops++;
}
//float loopTime = Timer.TickCount - loopStartTime;
//Console.Error.WriteLine("LoopTime: " + loopTime);
Console.Error.WriteLine("Loops: " + loops + " Steps: " + step);
return(current);
}
