private void CreateGoalPriority(Level level, GoalGraph goalGraph, CancellationToken cancel)
{
Dictionary <GoalNode, Dictionary <GoalNode, List <GoalNode> > > nodeGraphs = new Dictionary <GoalNode, Dictionary <GoalNode, List <GoalNode> > >();
foreach (var goal in level.Goals)
{
GoalNode node = goalGraph.GetGoalNodeFromPosition(goal.Ent.Pos);
nodeGraphs.Add(node, CreateDirectedEdgesToStart(node));
}
Graph groupedGraph = Graph.CreateSimplifiedGraph <EmptyEdgeInfo>(goalGraph);
//GraphShower.ShowGraph(groupedGraph);
List <List <GoalNode> > boxGroups = new List <List <GoalNode> >();
List <List <GoalNode> > agentGroups = new List <List <GoalNode> >();
foreach (var iNode in groupedGraph.Nodes)
{
var node = (Node <NodeGroup, EmptyEdgeInfo>)iNode;
var boxes = node.Value.Nodes.Cast <GoalNode>().Where(x => x.Value.EntType == EntityType.BOX);
if (boxes.Any())
{
boxGroups.Add(boxes.ToList());
}
var agents = node.Value.Nodes.Cast <GoalNode>().Where(x => x.Value.EntType == EntityType.AGENT);
if (agents.Any())
{
agentGroups.Add(agents.ToList());
}
}
HashSet <Entity> toIgnore = new HashSet <Entity>();
HashSet <GoalNode> toIgnoreNodes = new HashSet <GoalNode>();
Dictionary <GoalNode, (int pathsCount, Dictionary <GoalNode, int> pathNodes)> cachedPathResults = new Dictionary <GoalNode, (int pathsCount, Dictionary <GoalNode, int> pathNodes)>();
while (toIgnore.Count < level.Goals.Length)
{
Dictionary <GoalNode, float> nodeCounter = new Dictionary <GoalNode, float>();
foreach (var inode in goalGraph.Nodes)
{
var node = (GoalNode)inode;
if (node.Value.EntType.IsGoal() && !toIgnore.Contains(node.Value.Ent))
{
nodeCounter.Add((GoalNode)node, 0);
}
}
foreach (Goal goal in level.Goals)
{
cancel.ThrowIfCancellationRequested();
if (toIgnore.Contains(goal.Ent))
{
continue;
}
GoalNode start = goalGraph.GetGoalNodeFromPosition(goal.Ent.Pos);
(int pathsCount, Dictionary <GoalNode, int> pathNodes)pathResult;
if (!cachedPathResults.TryGetValue(start, out pathResult) || toIgnoreNodes.Any(x => pathResult.pathNodes.ContainsKey(x)))
{
Dictionary <GoalNode, int> shortestPathsVisitedNodesCount = new Dictionary <GoalNode, int>();
int pathsCount = 0;
if (goal.EntType == EntityType.AGENT_GOAL)
{
foreach (var agentGroup in agentGroups)
{
cancel.ThrowIfCancellationRequested();
int agentsWithSameType = 0;
foreach (var agentNode in agentGroup)
{
if (agentNode.Value.Ent.Type == goal.Ent.Type)
{
agentsWithSameType++;
}
}
if (agentsWithSameType > 0)
{
pathsCount += GetShortestPathsData(agentGroup.First(), nodeGraphs[start], shortestPathsVisitedNodesCount, toIgnore, agentsWithSameType);
}
}
}
else if (goal.EntType == EntityType.BOX_GOAL)
{
foreach (var boxGroup in boxGroups)
{
cancel.ThrowIfCancellationRequested();
int boxesWithSameType = 0;
foreach (var boxNode in boxGroup)
{
if (boxNode.Value.Ent.Type == goal.Ent.Type)
{
boxesWithSameType++;
}
}
if (boxesWithSameType > 0)
{
pathsCount += GetShortestPathsData(boxGroup.First(), nodeGraphs[start], shortestPathsVisitedNodesCount, toIgnore, boxesWithSameType);
}
}
}
else
{
throw new Exception($"Unknown entity type: {goal.EntType}");
}
pathResult = (pathsCount, shortestPathsVisitedNodesCount);
cachedPathResults[start] = pathResult;
}
foreach (var pathNode in pathResult.pathNodes)
{
nodeCounter[pathNode.Key] += (1f / (pathResult.pathsCount)) * pathNode.Value;
}
}
//foreach (var stuff in nodeCounter)
//{
// Console.WriteLine("Key: " + stuff.Key + " Priotity: " + stuff.Value);
//}
//Console.ReadLine();
GoalNode[] newPriorityGroup = nodeCounter.GroupBy(x => x.Value).OrderBy(x => x.First().Value).First().Select(x => x.Key).ToArray();
PriorityLayers.Add(newPriorityGroup);
foreach (var priorityNode in newPriorityGroup)
{
toIgnore.Add(priorityNode.Value.Ent);
toIgnoreNodes.Add(goalGraph.GetGoalNodeFromPosition(priorityNode.Value.Ent.Pos));
}
}
}
public GoalPriority(Level level, GoalGraph goalGraph, CancellationToken cancel)
{
CreateGoalPriority(level, goalGraph, cancel);
}