public Satellite(Satellite s)
: this(s.Pos.Lat, s.Pos.Lon, s.Speed, s.RotSpeed, s.MaxRot, s.Id)
{
CurrentRot = new Coords(s.CurrentRot);
CurrentTurn = s.CurrentTurn;
Range = new Range(s.Range);
}
public PartialSolution(float val, Range range, List<Snapshot> snaps, BitArray taken)
{
EstimatedValue = val;
CurrentRange = range;
Snapshots = snaps;
PicturesTaken = taken;
}
/// <summary>
/// assumes satellite is already at the right position
/// </summary>
public Snapshot TakePicture(Coords pict)
{
CurrentRot.Lat = pict.Lat - Pos.Lat;
CurrentRot.Lon = pict.Lon - Pos.Lon;
Range = new Range {DeltaLatMin = CurrentRot.Lat, DeltaLatMax = CurrentRot.Lat, DeltaLonMin = CurrentRot.Lon, DeltaLonMax = CurrentRot.Lon}; //reset range to zero around current direction
return new Snapshot(pict.Lat, pict.Lon, CurrentTurn, Id);
}
public static Solution Solve(Input input)
{
var tree = BuildTree(input);
var satellites = input.Satellites.OrderBy(s => s.MaxRot).ToArray();
var totalNbPic = tree.Count;
var solution = new List<Snapshot>();
var picturesConfirmed = new BitArray(totalNbPic);
for (int s = 0; s < satellites.Length; s++)
{
var satellite = satellites[s];
Console.WriteLine($"satellite {s+1}/{satellites.Length} (#{satellite.Id})");
var state = new List<PartialSolution> {new PartialSolution(picturesConfirmed)};
for (int t = 1; t < input.NbTurns; t++)
{
if (t % 20000 == 0) Console.WriteLine(t);
Step(state, satellite);
SimplifyRanges(state);
//look for pictures to take
var candidates = tree.RadialSearch(new float[] {satellite.Pos.Lat, satellite.Pos.Lon}, satellite.MaxRot*SQRT2, 150); //TOO SLOW !
Helper.Assert(() => candidates.Length < 145, candidates.Length);
candidates = candidates.Where(node => !picturesConfirmed.Get(node.Value.Item1 + node.Value.Item2.BasePicId) && node.Value.Item2.PictureCanBeTaken(t)).ToArray();
var stopIdx = state.Count; //we're gonna add more, but we don't want to browse'em
for (int st = 0; st < stopIdx; st++)
{
var sol = state[st];
var range = sol.CurrentRange;
foreach (var candidate in candidates)
{
var collec = candidate.Value.Item2;
var picIdx = candidate.Value.Item1;
if(sol.PicturesTaken.Get(collec.BasePicId + picIdx))
continue;
var picLoc = collec.Locations[picIdx];
if (picLoc.IsInRange(range, satellite.Pos))
{
var newScore = sol.EstimatedValue + Score(collec, sol);
var newRange = new Range(satellite.Pos, picLoc);
if (!WorthTaking(newScore, newRange, state))
continue;
var newCommands = new List<Snapshot>(sol.Snapshots);
newCommands.Add(new Snapshot(picLoc.Lat, picLoc.Lon, t, satellite.Id));
var taken = new BitArray(sol.PicturesTaken);
taken.Set(collec.BasePicId + picIdx, true);
state.Add(new PartialSolution (newScore, newRange, newCommands, taken));
}
}
}
}
PartialSolution best = null;
foreach (var partialSolution in state)
{
if (best == null || partialSolution.EstimatedValue > best.EstimatedValue)
best = partialSolution;
}
solution.AddRange(best.Snapshots);
picturesConfirmed.Or(best.PicturesTaken); //union
}
int score = 0;
foreach (var picCollection in input.Collections)
{
bool complete = true;
var stop = picCollection.BasePicId + picCollection.Locations.Count;
for (int i = picCollection.BasePicId; i < stop; i++)
{
if (!picturesConfirmed.Get(i))
{
complete = false;
break;
}
}
if (complete)
score += picCollection.Value;
}
return new Solution(solution, score);
}
public PartialSolution(BitArray taken)
{
CurrentRange = new Range();
Snapshots = new List<Snapshot>();
PicturesTaken = taken;
}
static bool WorthTaking(float newScore, Range newRange, List<PartialSolution> state)
{
bool take = true;
Parallel.ForEach(state, (sol, loop) =>
{
if (newScore <= sol.EstimatedValue && sol.CurrentRange.Contains(newRange))
{
take = false;
loop.Stop();
}
});
return take;
}
public Range(Range range)
{
DeltaLatMin = range.DeltaLatMin;
DeltaLatMax = range.DeltaLatMax;
DeltaLonMin = range.DeltaLonMin;
DeltaLonMax = range.DeltaLonMax;
}
public bool Contains(Range other)
{
return other.DeltaLatMin >= DeltaLatMin
&& other.DeltaLatMax <= DeltaLatMax
&& other.DeltaLonMin >= DeltaLonMin
&& other.DeltaLonMax <= DeltaLonMax;
}