private void ButtonSolveClick(object sender, RoutedEventArgs e)
{
if (_currentPolyLine.Points.Count >= 2)
{
_currentPolyLine.Points.Add(_currentPolyLine.Points[0]);
}
var initialState = new PathFindingState(new Search.Types.Point(100, 100));
var goalState = new PathFindingState(new Search.Types.Point(800, 600));
var environment = new PathFindingEnvironment();
foreach (var polyLine in _polyLines)
{
var points = polyLine.Points.Select(p => p).Distinct().ToList();
for (int i = 0; i < points.Count; i++)
{
for (int j = i + 1; j < points.Count; j++)
{
if (i == j)
{
continue;
}
var pointLine = new PointLine(
new Point(points[i].X, points[i].Y),
new Point(points[j].X, points[j].Y));
environment.PointLines.Add(pointLine);
}
}
}
var actionFunction = new PathFindingActionFunction(environment, goalState);
var resultFunction = new PathFindingResultFunction();
var goalTest = new PathFindingGoalTest(goalState);
var stepCost = new PathFindingStepCost();
var searchAlgorithm = new GraphSearch <PathFindingState, PathFindingAction>();
var problem = new Problem <PathFindingState, PathFindingAction>(initialState, actionFunction, resultFunction, goalTest, stepCost);
var solution = searchAlgorithm.Search(problem);
for (int i = 1; i < solution.Count; i++)
{
AddLine(
solution[i - 1].State.Point.X,
solution[i - 1].State.Point.Y,
solution[i].State.Point.X,
solution[i].State.Point.Y);
}
}
public void GraphSearchPerformanceTest()
{
int graphSize = 1024;
int iteration = 100;
float density = 0.5f;
PathGrid graph = new PathGrid(0, 0, graphSize, graphSize, graphSize, graphSize);
var picks = new int[graphSize * graphSize];
for (int i = 0; i < picks.Length; ++i)
{
picks[i] = i;
}
Random random = new Random(0);
int obstacleCount = (int)(density * graphSize * graphSize);
while (obstacleCount > 0)
{
var i = random.Next(obstacleCount);
graph.Mark(picks[i] % graphSize, picks[i] / graphSize);
obstacleCount--;
picks[i] = picks[obstacleCount];
}
int walkables = picks.Length - obstacleCount;
GraphSearch search = new GraphSearch();
List <int> result = new List <int>();
int[] array = new int[graphSize * graphSize];
GC.Collect();
Stopwatch watch = new Stopwatch();
watch.Start();
for (int i = 0; i < iteration; ++i)
{
result.Clear();
search.Search(graph, picks[random.Next(walkables)], picks[random.Next(walkables)], result);
}
watch.Stop();
Trace.WriteLine("Max searches per frame (60 FPS): " + iteration / watch.Elapsed.TotalSeconds / 60.0);
}
private void ButtonSolveClick(object sender, RoutedEventArgs e)
{
if (_currentPolyLine.Points.Count >= 2)
{
_currentPolyLine.Points.Add(_currentPolyLine.Points[0]);
}
var initialState = new PathFindingState(new Search.Types.Point(100, 100));
var goalState = new PathFindingState(new Search.Types.Point(800, 600));
var environment = new PathFindingEnvironment();
foreach (var polyLine in _polyLines)
{
var points = polyLine.Points.Select(p => p).Distinct().ToList();
for (int i = 0; i < points.Count; i++)
{
for (int j = i + 1; j < points.Count; j++)
{
if (i == j) continue;
var pointLine = new PointLine(
new Point(points[i].X, points[i].Y),
new Point(points[j].X, points[j].Y));
environment.PointLines.Add(pointLine);
}
}
}
var actionFunction = new PathFindingActionFunction(environment, goalState);
var resultFunction = new PathFindingResultFunction();
var goalTest = new PathFindingGoalTest(goalState);
var stepCost = new PathFindingStepCost();
var searchAlgorithm = new GraphSearch<PathFindingState, PathFindingAction>();
var problem = new Problem<PathFindingState, PathFindingAction>(initialState, actionFunction, resultFunction, goalTest, stepCost);
var solution = searchAlgorithm.Search(problem);
for (int i = 1; i < solution.Count; i++)
{
AddLine(
solution[i - 1].State.Point.X,
solution[i - 1].State.Point.Y,
solution[i].State.Point.X,
solution[i].State.Point.Y);
}
}
