public void InitialiseInstance(SolverNode parent, VectorInt2 playerBefore, VectorInt2 push, IBitmap crateMap, IBitmap moveMap)
{
base.Parent = parent;
base.Clear();
// Check init/use should have a NEW id to avoid same-ref bugs; it is effectively a new instance
solverNodeId = Interlocked.Increment(ref nextId);
this.playerBefore = new VectorByte2(playerBefore);
this.push = push switch
{
(0, 0) => (byte)0,
(0, -1) => (byte)1,
(0, 1) => (byte)2,
(-1, 0) => (byte)3,
(1, 0) => (byte)4,
_ => throw new ArgumentOutOfRangeException(push.ToString())
};
this.crateMap = crateMap;
this.moveMap = moveMap;
this.status = (byte)SolverNodeStatus.UnEval;
unchecked
{
var hashCrate = CrateMap.GetHashCode();
var hashMove = MoveMap.GetHashCode();
#if NET47
hash = hashCrate ^ (hashMove << (MoveMap.Width / 2));
#else
hash = HashCode.Combine(hashCrate, hashMove);
#endif
}
}
private void OnCollisionEnter2D(Collision2D collision)
{
if (collision.gameObject.tag == "Player")
{
Debug.Log("Map Move");
MoveMap?.Invoke(this, type);
}
}
private void OnTriggerEnter2D(Collider2D collision)
{
if (collision.tag == "Player")
{
Debug.Log("Map Move");
MoveMap?.Invoke(this, type);
}
}
private List <Vector2Int> moveTowardsPosition(Vector2Int pos)
{
MoveMap <GameObject> mm = master.staticMap;
int w = mm.getWidth();
int h = mm.getHeight();
Location[,] walkMap = new Location[w, h];
transposeMoveMapOntoWalkMap(ref mm, ref walkMap);
transposeMoveMapOntoWalkMap(ref master.entityMap, ref walkMap);
List <Location> nextToCheck = new List <Location>();
Location start = new Location(position);
start.state = Location.State.Closed;
nextToCheck.Add(start);
nextToCheck.AddRange(getAdjacentWalkable(ref walkMap, ref start, pos));
nextToCheck.Sort((loc1, loc2) => loc1.f.CompareTo(loc2.f));
for (int i = 0; i < nextToCheck.Count; i++)
{
Location loc = nextToCheck[i];
if (loc.point == pos)
{
//TODO THIS RETURN ISN'T RETURNING A WHOLE LIST
List <Vector2Int> path = new List <Vector2Int>();
Location curr = loc;
while (curr.prev != null)
{
path.Add(curr.point);
curr = curr.prev;
}
path.Reverse();
return(path);
}
else
{
if (search(ref walkMap, ref loc, pos))
{
//TODO THIS RETURN ISN'T RETURNING A WHOLE LIST
List <Vector2Int> path = new List <Vector2Int>();
Location curr = loc;
while (curr.prev != null)
{
path.Add(curr.point);
curr = curr.prev;
}
path.Reverse();
return(path);
}
}
}
return(null);
}
/// <summary>
/// マップ表示更新
/// </summary>
public void UpdateMapColor()
{
MonitorData monitor = MonitorData.GetInstance();
MoveMap moveMap = MoveMap.GetInstance();
for (int y = 0; y < dgvMap.Rows.Count; y++)
{
for (int x = 0; x < dgvMap.Columns.Count; x++)
{
dgvMap[x, y].Style.BackColor = moveMap.GetColor(x, y);
}
}
}
/// <summary>
/// 設定更新
/// </summary>
private void updateSettings()
{
SettingData setting = SettingData.GetInstance();
DoubleText doubleText = null;
// ロボットの縦
doubleText = (DoubleText)pnlSetting.Controls[0];
doubleText.Value = setting.RobotSize.Vertical;
// ロボットの横
doubleText = (DoubleText)pnlSetting.Controls[1];
doubleText.Value = setting.RobotSize.Horizontal;
// 畑の縦
doubleText = (DoubleText)pnlSetting.Controls[2];
doubleText.Value = setting.FarmSize.Vertical;
// 畑の横
doubleText = (DoubleText)pnlSetting.Controls[3];
doubleText.Value = setting.FarmSize.Horizontal;
// 草刈り開始時刻
usrKusakariStart.DayOfWeek = (int)setting.KusakariStart.DayOfWeek;
usrKusakariStart.Hour = setting.KusakariStart.Hour;
usrKusakariStart.Minute = setting.KusakariStart.Minulte;
// 夜警開始時刻
usrYakeiStart.DayOfWeek = (int)setting.YakeiStart.DayOfWeek;
usrYakeiStart.Hour = setting.YakeiStart.Hour;
usrYakeiStart.Minute = setting.YakeiStart.Minulte;
// 動作完了判定閾値
FloatText floatText = (FloatText)pnlSetting.Controls[4];
floatText.Value = setting.MoveEndRate * 100;
// エリアマップ生成
AreaMap areaMap = AreaMap.GetInstance();
areaMap.Allocate(setting.MapLength, setting.MapWidth);
// 動作マップ生成
MoveMap moveMap = MoveMap.GetInstance();
moveMap.Allocate(setting.MapLength, setting.MapWidth);
}
private void transposeMoveMapOntoWalkMap(ref MoveMap <GameObject> mm, ref Location[,] walkMap)
{
for (int x = 0; x < mm.getWidth(); x++)
{
for (int y = 0; y < mm.getHeight(); y++)
{
if (mm[x, y] != null)
{
if (walkMap[x, y] == null)
{
walkMap[x, y] = new Location(x, y);
}
walkMap[x, y].state = Location.State.Closed;
}
}
}
}
/// <summary>
/// モニタ更新
/// </summary>
private void updateMonitors()
{
foreach (Control control in pnlMonitor.Controls)
{
MonitorLabel label = (MonitorLabel)control;
label.UpdateValue();
}
foreach (Control control in pnlDetail.Controls)
{
MonitorLabel label = (MonitorLabel)control;
label.UpdateValue();
}
foreach (Control control in pnlSystemError.Controls)
{
MonitorLabel label = (MonitorLabel)control;
label.UpdateValue();
}
lblMovedRate.Text = string.Format("{0:F1}", MoveMap.GetInstance().MovedRate);
lblStateDateTime.Text = MonitorData.GetInstance().Commander.LastStartDate.ToString();
}
public void SelectMap(BaseTile root)
{
MoveMap.SelectMap((HexTile)root, Player);
AttackMap.SelectMap((HexTile)root, Player);
}
/*
* Request a PathMap given a MoveMap and starting position.
* Early exits a particular path after reaching maxTotalMove.
*/
public static PathMap RequestPathMap(MoveMap moveMap, Vector2Int startPosition, float maxTotalMove)
{
PathMap pathMap = new PathMap(startPosition);
// 'Priority queue' for tracking which nodes to move forward from
List <PathNode> frontier = new List <PathNode> ()
{
new PathNode(startPosition, 0)
};
//TODO: Can be simplified by using actual graph nodes instead of Vector2Int coordinates
// Neighbors could be gathered simply with 'currNode.neighbors', and be graph shape agnostic
// The cost of additional references may or may not outweigh the overhead of vector math below
Vector2Int[] neighborDirs = new Vector2Int[] { Vector2Int.up, Vector2Int.right, Vector2Int.down, Vector2Int.left };
while (frontier.Count > 0)
{
PathNode curr = frontier[0];
frontier.RemoveAt(0);
for (int i = 0; i < neighborDirs.Length; i++)
{
Vector2Int next = curr.location + neighborDirs[i];
// Unpathable, ignore completely
if (moveMap.GetMoveCost(next.x, next.y) == float.PositiveInfinity)
{
continue;
}
float totalMoveCost = curr.moveCost + moveMap.GetMoveCost(next.x, next.y);
// Not enough move left to push frontier
if (totalMoveCost > maxTotalMove)
{
continue;
}
// Either add new node or replace existing values
if (!pathMap.nodes.ContainsKey(next))
{
pathMap.nodes.Add(next, new PathNode(curr.location, totalMoveCost));
}
else if (pathMap.nodes.ContainsKey(next) && pathMap.nodes[next].moveCost > totalMoveCost)
{
pathMap.nodes[next] = new PathNode(curr.location, totalMoveCost);
}
// New totalMoveCost isn't good enough to push frontier
else
{
continue;
}
frontier.Add(new PathNode(next, totalMoveCost));
}
// Would possibly perform better if using a sorted list instead of resorting entire list each time
frontier.Sort((n1, n2) => n1.moveCost.CompareTo(n2.moveCost));
}
return(pathMap);
}
protected override void analyzeCore(byte[] data)
{
MoveMap moveMap = MoveMap.GetInstance();
moveMap.Update(data);
}
public override IoCommand GetReverseCommand()
{
Dictionary <string, string> reverseMap = MoveMap.ToDictionary(x => x.Value, x => x.Key);
return(new MoveFileCommand(reverseMap));
}
// Use this for initialization
void Start()
{
staticMap = new MoveMap <GameObject>(MAP_WIDTH, MAP_HEIGHT);
entityMap = new MoveMap <GameObject>(MAP_WIDTH, MAP_HEIGHT);
}
