protected internal override bool perform()
{
Bpoint from = new Bpoint{ x = p.LocX, y = p.LocY};
Bpoint to = new Bpoint { x = p.g.b.player.LocX, y = p.g.b.player.LocY};
p.trasa = p.g.b.GetShortestPath(from, to);
return true;
}
protected internal override bool perform()
{
if (Math.Abs(p.LocX - p.g.b.player.LocX) < 5 && Math.Abs(p.LocY - p.g.b.player.LocY) < 5)
{
Bpoint from = new Bpoint{ x = p.LocX, y = p.LocY};
Bpoint to = new Bpoint { x = p.g.b.player.LocX, y = p.g.b.player.LocY};
p.trasa = p.g.b.GetShortestPath(from, to);
}
else
{
int x = p.LocX;
int y = p.LocY;
Board.Board b = p.g.b;
if (p.InMove())
return true;
Random r = new Random();
for (int i = Math.Max(0,y-1); i <= Math.Min(y+1, b.Height -1); i++)
for (int j = Math.Max(x - 1, 0); j <= Math.Min(x + 1, b.Width - 1); j++)
{
if ((j == x || i == y) && !(i == y && j == x))
{
if (!p.g.b.IsFree(j, i)) continue;
int los = r.Next() % 4;
if (los == 0)
{
p.gotox = j;
p.gotoy = i;
return true;
}
}
}
}
return true;
}
public static bool equals(Bpoint a, Bpoint b)
{
if (a.x != b.x)
return false;
if (a.y != b.y)
return false;
return true;
}
public List<Bpoint> ReconstructPath(Bpoint[,] come_from, Bpoint goal)
{
List<Bpoint> path = new List<Bpoint>();
Bpoint precedence = come_from[goal.y, goal.x];
if (precedence != null)
path.AddRange(ReconstructPath(come_from, precedence));
path.Add(goal);
return path;
}
public int HeuristicEstimate(Bpoint from, Bpoint to)
{
double diffx = Math.Abs(from.x - to.x);
double diffy = Math.Abs(from.y - to.y);
return (int)(diffx + diffy); // metryka taksówkowa
//return (int)Math.Sqrt(diffx * diffx + diffy * diffy);
}
public List<Bpoint> GetShortestPath(Bpoint from, Bpoint to)
{
List<Bpoint> path = new List<Bpoint>();
List<Bpoint> closedset = new List<Bpoint>();
List<Bpoint> openset = new List<Bpoint>();
int[,] g_score = new int[Height, Width];
int[,] h_score = new int[Height, Width];
int[,] f_score = new int[Height, Width];
Bpoint[,] come_from = new Bpoint[Height,Width];
Bpoint[,] nodes = new Bpoint[Height, Width];
for (int i = 0; i < Height; i++)
for (int j = 0; j < Width; j++)
{
nodes[i, j] = new Bpoint { x = j, y = i };
}
openset.Add(nodes[from.y, from.x]);
g_score[from.y, from.x] = 0;
h_score[from.y, from.x] = HeuristicEstimate(from, to);
f_score[from.y,from.x] = g_score[from.y, from.x] + h_score[from.y, from.x];
while (openset.Count != 0)
{
int koszt_minimalny = int.MaxValue;
Bpoint current = null;
// znajdź element z najmniejszym kosztem
for (int i = 0; i < Height; i++)
for (int j = 0; j < Width; j++)
{
if (openset.Contains(nodes[i,j]))
{
if (koszt_minimalny > f_score[i, j])
{
koszt_minimalny = f_score[i, j];
current = nodes[i, j];
}
}
}
// mamy current
if (current == nodes[to.y, to.x])
{
// zrekonstruuj path
path = ReconstructPath(come_from, nodes[to.y, to.x]);
return path;
}
bool tentative_is_better = false;
openset.Remove(current);
closedset.Add(current);
for (int i = Math.Max(current.y - 1, 0); i <= Math.Min(current.y + 1, Height - 1); i++)
for (int j = Math.Max(current.x - 1, 0); j <= Math.Min(current.x + 1, Width - 1); j++)
{
if (i == current.y && j == current.x)
continue;
if (i == current.y || j == current.x)
{
// łapią się wszyscy sąsiedzi
if (IsFree(j, i))
{
Bpoint neighbour = nodes[i, j];
if (closedset.Contains(neighbour))
continue;
int tentative_g_score = g_score[current.y, current.x] + 1;
if (!openset.Contains(neighbour))
{
openset.Add(neighbour);
h_score[neighbour.y, neighbour.x] = HeuristicEstimate(neighbour, to);
tentative_is_better = true;
}
else
{
if (tentative_g_score < g_score[neighbour.y, neighbour.x])
tentative_is_better = true;
else
tentative_is_better = false;
}
if (tentative_is_better)
{
come_from[neighbour.y, neighbour.x] = current;
g_score[neighbour.y, neighbour.x] = tentative_g_score;
f_score[neighbour.y, neighbour.x] = g_score[neighbour.y, neighbour.x]
+ h_score[neighbour.y, neighbour.x];
}
}
}
}
}
return null;
}
