static DirectionSet GetPossiblePositioning(IEnvironmentObject env, IntPoint3 p, MineActionType mineActionType)
{
DirectionSet pos;
var down = p + Direction.Down;
switch (mineActionType)
{
case MineActionType.Mine:
pos = DirectionSet.Planar;
if (EnvironmentHelpers.CanMoveFrom(env, down, Direction.Up))
pos |= DirectionSet.Down;
break;
case MineActionType.Stairs:
pos = DirectionSet.Planar | DirectionSet.Up;
if (EnvironmentHelpers.CanMoveFrom(env, down, Direction.Up))
pos |= DirectionSet.Down;
break;
case MineActionType.Channel:
pos = DirectionSet.Planar;
break;
default:
throw new Exception();
}
return pos;
}
public MineAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3 location, MineActionType mineActionType)
: base(parent)
{
m_environment = environment;
m_location = location;
m_mineActionType = mineActionType;
}
protected MoveBaseAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3 location)
: base(parent)
{
this.Environment = environment;
this.Location = location;
m_state = 0;
}
/* Parallel */
/// <summary>
/// Returns if dst can be reached from src
/// </summary>
public static bool CanReach(IEnvironmentObject env, IntVector3 src, IntVector3 dst, DirectionSet dstPositioning)
{
Debug.Assert(env != null);
// Do pathfinding to both directions simultaneously to detect faster if the destination is blocked
CancellationTokenSource cts = new CancellationTokenSource();
AStarResult resBackward = null;
AStarResult resForward = null;
var taskForward = new Task(delegate
{
resForward = Find(env, src, DirectionSet.Exact, dst, dstPositioning, 200000, cts.Token);
});
taskForward.Start();
var taskBackward = new Task(delegate
{
resBackward = Find(env, dst, dstPositioning.Reverse(), src, DirectionSet.Exact, 200000, cts.Token);
});
taskBackward.Start();
Task.WaitAny(taskBackward, taskForward);
cts.Cancel();
Task.WaitAll(taskBackward, taskForward);
if (resForward.Status == AStarStatus.Found || resBackward.Status == AStarStatus.Found)
return true;
else
return false;
}
/// <summary>
/// Find route from src to dst, using the given positionings
/// </summary>
public static AStarResult Find(IEnvironmentObject env, IntVector3 src, DirectionSet srcPositioning, IntVector3 dst, DirectionSet dstPositioning,
int maxNodeCount = 200000, CancellationToken? cancellationToken = null)
{
var initLocs = env.GetPositioningLocations(src, srcPositioning);
var target = new AStarDefaultTarget(env, dst, dstPositioning);
return Find(initLocs, target, maxNodeCount, cancellationToken);
}
public ConstructJob(IJobObserver parent, ConstructMode mode, IItemObject[] items, IEnvironmentObject environment, IntPoint3 location)
: base(parent)
{
m_mode = mode;
m_items = items;
m_environment = environment;
m_location = location;
m_state = 0;
DirectionSet positioning;
switch (mode)
{
case ConstructMode.Floor:
positioning = DirectionSet.Planar;
break;
case ConstructMode.Pavement:
positioning = DirectionSet.Exact;
break;
case ConstructMode.Wall:
positioning = DirectionSet.Planar;
break;
default:
throw new Exception();
}
AddSubJob(new FetchItems(this, m_environment, m_location, items, positioning));
}
public FellTreeParallelJob(IEnvironmentObject env, IntGrid3 area)
: base(null)
{
m_environment = env;
m_area = area;
AddNewJobs();
}
public ConstructAssignment(IJobObserver parent, ConstructMode mode, IEnvironmentObject environment, IntPoint3 location, IItemObject[] items)
: base(parent)
{
m_mode = mode;
m_environment = environment;
m_location = location;
m_items = items;
}
public MoveConstructAssignment(IJobObserver parent, ConstructMode mode, IItemObject[] items, IEnvironmentObject environment, IntVector3 location)
: base(parent, environment, items[0].Location)
{
m_mode = mode;
m_items = items;
m_environment = environment;
m_location = location;
}
public InstallItemJob(IJobObserver parent, IItemObject item, IEnvironmentObject env, IntPoint3 location)
: base(parent)
{
m_item = item;
m_location = location;
m_state = 0;
AddSubJob(new AssignmentGroups.FetchItemAssignment(this, env, location, item));
}
public FetchItemAssignment(IJobObserver parent, IEnvironmentObject env, IntVector3 location, IItemObject item, DirectionSet positioning)
: base(parent)
{
this.Item = item;
m_environment = env;
m_location = location;
m_state = State.None;
m_positioning = positioning;
this.LaborID = Dwarrowdelf.LaborID.Hauling;
}
public FetchItems(IJobObserver parent, IEnvironmentObject env, IntPoint3 location, IEnumerable<IItemObject> items, DirectionSet positioning)
: base(parent)
{
foreach (var item in items)
{
var job = new AssignmentGroups.FetchItemAssignment(this, env, location, item, positioning);
AddSubJob(job);
}
Debug.Assert(this.SubJobs.Count > 0);
}
public static IEnumerable<ILivingObject> FindEnemies(IEnvironmentObject env, IntPoint3 location, int range, LivingCategory categories)
{
int maxSide = 2 * range + 1;
var rect = new IntGrid2Z(location.X - maxSide / 2, location.Y - maxSide / 2, maxSide, maxSide, location.Z);
return env.GetContents(rect)
.OfType<ILivingObject>()
.Where(o => (o.LivingCategory & categories) != 0)
.OrderBy(o => (location - o.Location).Length);
}
public static ILivingObject FindNearestEnemy(IEnvironmentObject env, IntVector3 location, int range, LivingCategory categories)
{
int maxSide = 2 * range + 1;
var rect = new IntGrid2Z(location.X - maxSide / 2, location.Y - maxSide / 2, maxSide, maxSide, location.Z);
return env.GetContents(rect)
.OfType<ILivingObject>()
.Where(o => (o.LivingCategory & categories) != 0)
.OrderBy(o => (location - o.Location).Length)
.FirstOrDefault();
}
/// <summary>
/// Tile can be entered and stood upon
/// </summary>
public static bool CanEnter(IEnvironmentObject env, IntPoint3 location)
{
if (!env.Contains(location))
return false;
var td = env.GetTileData(location);
if (td.IsUndefined)
return false;
var terrain = Terrains.GetTerrain(td.TerrainID);
var interior = Interiors.GetInterior(td.InteriorID);
var itemBlocks = (td.Flags & TileFlags.ItemBlocks) != 0;
return terrain.IsSupporting && !terrain.IsBlocker && !interior.IsBlocker && !itemBlocks;
}
/// <summary>
/// Find route from src to dest, finding the route in parallel from both directions
/// </summary>
public static IEnumerable<Direction> Find(IEnvironmentObject env, IntVector3 src, IntVector3 dest, DirectionSet positioning)
{
AStarResult resBackward;
AStarResult resForward;
ParallelFind(env, src, dest, positioning, out resBackward, out resForward);
IEnumerable<Direction> dirs;
if (resForward.Status == AStarStatus.Found)
dirs = resForward.GetPath();
else if (resBackward.Status == AStarStatus.Found)
dirs = resBackward.GetPathReverse();
else
dirs = null;
return dirs;
}
/// <summary>
/// For PlanarUpDown directions, return Direction.None if the direction cannot be entered,
/// or the direction, adjusted by slopes (i.e. or'ed with Up or Down)
/// </summary>
public static Direction AdjustMoveDir(IEnvironmentObject env, IntPoint3 location, Direction dir)
{
Debug.Assert(dir.IsValid());
Debug.Assert(dir != Direction.None);
Debug.Assert(dir.IsPlanarUpDown());
if (EnvironmentHelpers.CanMoveFromTo(env, location, dir))
return dir;
if (dir == Direction.Up || dir == Direction.Down)
return Direction.None;
if (EnvironmentHelpers.CanMoveFromTo(env, location, dir | Direction.Up))
return dir | Direction.Up;
if (EnvironmentHelpers.CanMoveFromTo(env, location, dir | Direction.Down))
return dir | Direction.Down;
return Direction.None;
}
/// <summary>
/// Can the given tile be seen from any direction
/// </summary>
public static bool CanBeSeen(IEnvironmentObject env, IntPoint3 location)
{
bool hidden = true;
foreach (var d in DirectionExtensions.PlanarDirections)
{
var p = location + d;
if (env.Contains(p) && env.GetTileData(p).IsSeeThrough)
{
hidden = false;
break;
}
}
if (hidden)
{
var p = location + Direction.Up;
if (env.Contains(p) && env.GetTileData(p).IsSeeThroughDown)
hidden = false;
}
return !hidden;
}
public static IEnumerable<AStarResult> FindMany(IEnvironmentObject env,
IntVector3 src, DirectionSet srcPositioning, Func<IntVector3, bool> func,
int maxNodeCount = 200000, CancellationToken? cancellationToken = null)
{
var target = new AStarDelegateTarget(env, func);
return FindMany(env, src, srcPositioning, target, maxNodeCount, cancellationToken);
}
public void AddEnvironmentObjectToEnvironment(IEnvironmentObject obj)
{
environment.Add(obj);
}
public ConstructJob(IJobObserver parent, ConstructMode mode, IItemObject[] items, IEnvironmentObject environment, IntVector3 location)
: base(parent)
{
m_mode = mode;
m_items = items;
m_environment = environment;
m_location = location;
m_state = 0;
DirectionSet positioning;
switch (mode)
{
case ConstructMode.Floor:
positioning = DirectionSet.Planar;
break;
case ConstructMode.Pavement:
positioning = DirectionSet.Exact;
break;
case ConstructMode.Wall:
positioning = DirectionSet.Planar;
break;
default:
throw new Exception();
}
AddSubJob(new FetchItems(this, m_environment, m_location, items, positioning));
}
public MoveFellTreeAssignment(IJobObserver parent, IEnvironmentObject environment, IntPoint3 location)
: base(parent, environment, location)
{
}
public static double Tilt(this IEnvironmentObject environmentObject, double distanceTolerance = BH.oM.Geometry.Tolerance.Distance, double angleTolerance = BH.oM.Geometry.Tolerance.Angle)
{
return(environmentObject.Polyline().Tilt(distanceTolerance, angleTolerance));
}
public FellTreeAssignment(IJobObserver parent, IEnvironmentObject environment, IntPoint3 location)
: base(parent)
{
m_environment = environment;
m_location = location;
}
public MoveConstructAssignment(IJobObserver parent, ConstructMode mode, IItemObject[] items, IEnvironmentObject environment, IntVector3 location)
: base(parent, environment, items[0].Location)
{
m_mode = mode;
m_items = items;
m_environment = environment;
m_location = location;
}
public XYLocation getCurrentLocationFor(IEnvironmentObject eo)
{
return(envState.getCurrentLocationFor(eo));
}
public void addObjectToLocation(IEnvironmentObject eo, XYLocation loc)
{
moveObjectToAbsoluteLocation(eo, loc);
}
public static List <Line> ToLines(this IEnvironmentObject environmentObject)
{
return(ToLines(environmentObject as dynamic));
}
public AStarDelegateTarget(IEnvironmentObject env, Func <IntVector3, bool> func)
: base(env)
{
m_func = func;
}
public static double Tilt(this IEnvironmentObject environmentObject)
{
return(environmentObject.Polyline().Tilt());
}
protected AStarEnvTargetBase(IEnvironmentObject env)
{
m_env = env;
}
/// <summary>
/// Flood-find the nearest location for which func returns true
/// </summary>
public static AStarResult FindNearest(IEnvironmentObject env, IntVector3 src, Func<IntVector3, bool> func, int maxNodeCount = 200000)
{
var initLocs = env.GetPositioningLocations(src, DirectionSet.Exact);
var target = new AStarDelegateTarget(env, func);
return Find(initLocs, target, maxNodeCount);
}
static void ParallelFind(IEnvironmentObject env, IntVector3 src, IntVector3 dest, DirectionSet positioning, out AStarResult resBackward, out AStarResult resForward)
{
Debug.Assert(env != null);
// Do pathfinding to both directions simultaneously to detect faster if the destination is blocked
CancellationTokenSource cts = new CancellationTokenSource();
AStarResult rb = null;
AStarResult rf = null;
var taskForward = new Task(delegate
{
rf = Find(env, src, DirectionSet.Exact, dest, positioning, 200000, cts.Token);
});
taskForward.Start();
var taskBackward = new Task(delegate
{
rb = Find(env, dest, positioning.Reverse(), src, DirectionSet.Exact, 200000, cts.Token);
});
taskBackward.Start();
Task.WaitAny(taskBackward, taskForward);
cts.Cancel();
Task.WaitAll(taskBackward, taskForward);
resForward = rf;
resBackward = rb;
}
public static IEnvironmentObject ISetGeometry(this IEnvironmentObject environmentObject, ICurve curve)
{
return(SetGeometry(environmentObject as dynamic, curve as dynamic));
}
public virtual void RemoveEnvironmentObject(IEnvironmentObject eo)
{
envObjects.Remove(eo);
agents.Remove(eo as IAgent);
}
public static T FindFragment <T>(this IEnvironmentObject environmentObject, Type fragmentType)
{
return((T)System.Convert.ChangeType(environmentObject.Fragments.Where(x => x.GetType() == fragmentType).FirstOrDefault(), fragmentType));
}
public AStarAreaTarget(IEnvironmentObject env, IntGrid3 destination)
: base(env)
{
m_destination = destination;
}
public static double Height(this IEnvironmentObject environmentObject)
{
return(Height(environmentObject as dynamic));
}
public static double Tilt(this IEnvironmentObject environmentObject)
{
return(environmentObject.Tilt(BH.oM.Geometry.Tolerance.Distance, BH.oM.Geometry.Tolerance.Angle));
}
public MoveAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3 destination, DirectionSet positioning)
: base(parent, environment, positioning)
{
m_dest = destination;
}
public FetchItems(IJobObserver parent, IEnvironmentObject env, IntPoint3 location, IEnumerable<IItemObject> items)
: this(parent, env, location, items, DirectionSet.Exact)
{
}
public MyTarget(IEnvironmentObject env, VisionTrackerGlobalFOV tracker)
{
m_env = env;
m_tracker = tracker;
}
public void RemoveEnvironmentItem(IEnvironmentObject item)
{
environment.Remove(item);
}
/// <summary>
/// Return enterable positions around the given location, based on positioning
/// </summary>
public static IEnumerable <IntVector3> GetPositioningLocations(this IEnvironmentObject env, IntVector3 pos,
DirectionSet positioning)
{
return(positioning.ToSurroundingPoints(pos).Where(p => CanEnter(env, p)));
}
/// <summary>
/// Find route from src to dest, finding the route in parallel from both directions
/// </summary>
public static IEnumerable<Direction> Find(IEnvironmentObject env, IntVector3 src, IntVector3 dest, DirectionSet positioning,
out IntVector3 finalLocation)
{
AStarResult resBackward;
AStarResult resForward;
ParallelFind(env, src, dest, positioning, out resBackward, out resForward);
IEnumerable<Direction> dirs;
if (resForward.Status == AStarStatus.Found)
{
dirs = resForward.GetPath();
finalLocation = resForward.LastNode.Loc;
}
else if (resBackward.Status == AStarStatus.Found)
{
dirs = resBackward.GetPathReverse();
AStarNode n = resBackward.LastNode;
while (n.Parent != null)
n = n.Parent;
finalLocation = n.Loc;
}
else
{
dirs = null;
finalLocation = new IntVector3();
}
return dirs;
}
/// <summary>
/// Determine if a living can move from srcLoc to dir
/// </summary>
public static bool CanMoveFromTo(this IEnvironmentObject env, IntVector3 srcLoc, Direction dir)
{
var dstLoc = srcLoc + dir;
return(CanMoveFrom(env, srcLoc, dir) && CanMoveTo(env, dstLoc, dir));
}
public static IEnumerable<AStarResult> FindMany(IEnvironmentObject env,
IntVector3 src, DirectionSet srcPositioning, IAStarTarget target,
int maxNodeCount = 200000, CancellationToken? cancellationToken = null)
{
var initLocs = env.GetPositioningLocations(src, srcPositioning);
var astar = new AStar(initLocs, target);
astar.MaxNodeCount = maxNodeCount;
if (cancellationToken.HasValue)
astar.CancellationToken = cancellationToken.Value;
AStarStatus status;
while ((status = astar.Find()) == AStarStatus.Found)
yield return new AStarResult(status, astar.LastNode);
}
public static Polyline Polyline(this IEnvironmentObject environmentObject)
{
return(Polyline(environmentObject as dynamic));
}
public FellTreeAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3 location)
: base(parent)
{
m_environment = environment;
m_location = location;
}
public HaulAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3 destination, DirectionSet positioning, IItemObject hauledItem)
: base(parent, environment, positioning, hauledItem)
{
m_dest = destination;
}
public MoveMineAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3 location, MineActionType mineActionType)
: base(parent, environment, location)
{
m_mineActionType = mineActionType;
}
public static double Width(this IEnvironmentObject environmentObject)
{
return(Width(environmentObject as dynamic));
}
public PatrolAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3[] waypoints)
: base(parent)
{
m_environment = environment;
m_waypoints = waypoints;
}
public static double Azimuth(this IEnvironmentObject environmentObject, Vector refVector)
{
return(environmentObject.Polyline().Azimuth(refVector));
}
public HaulAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3 destination, DirectionSet positioning, IItemObject hauledItem)
: base(parent, environment, positioning, hauledItem)
{
m_dest = destination;
}
public MoveFellTreeAssignment(IJobObserver parent, IEnvironmentObject environment, IntVector3 location)
: base(parent, environment, location)
{
}
public FetchItemAssignment(IJobObserver parent, IEnvironmentObject env, IntVector3 location, IItemObject item)
: this(parent, env, location, item, DirectionSet.Exact)
{
}
public AStarDefaultTarget(IEnvironmentObject env, IntVector3 destination, DirectionSet positioning)
: base(env)
{
m_destination = destination;
m_positioning = positioning;
}
