//constructor initialises the grid array
public Level()
{
path_count = new int();
dijkstra = new Dijkstra();
astar = new AStar();
scentmap = new Scentmap();
tiles = new int[gridSize, gridSize];
for (int i = 0; i < gridSize; i++)
for (int j = 0; j < gridSize; j++)
tiles[i,j] = 0;
}
// Create a text file by flooding Dijkstra's for every cell.
public void Calculate(Level level)
{
int firstTile = level.tiles[0][0];
level.tiles[0][0] = 1;
Dijkstra dijkstra = new Dijkstra(level);
AiBotSimple bot = new AiBotSimple(0,0);
Player player = new Player(level.GridSizeX-1, level.GridSizeY-1);
Coord2 current = new Coord2(-1, -1);
dijkstra.Build(level, bot, player);
StreamWriter writer = new StreamWriter("precompute.txt", true);
for (int x = 0; x < level.GridSize; x++)
{
for (int y = 0; y < level.GridSize; y++)
{
for (int i = 0; i < level.GridSize; i++)
{
for (int j = 0; j < level.GridSize; j++)
{
if (new Coord2(i, j) == player.GridPosition)
writer.Write(0);
else if (level.ValidPosition(new Coord2(i, j)) && dijkstra.cost[i,j].ToString() != "2.147484E+09")
writer.Write(dijkstra.cost[i, j].ToString());
else
writer.Write("-");
string tab = "\t";
writer.Write(tab);
}
}
writer.WriteLine();
bot = new AiBotSimple(x, y);
player = new Player(0, 0);
dijkstra = new Dijkstra(level);
dijkstra.Build(level, bot, player);
}
}
writer.Close();
level.tiles[0][0] = firstTile;
}
public static List <Point> GetPath(List <Area> areas,
List <Section> horizontalSections,
List <Section> verticalSections,
int offset,
int intersectionWeight,
Vertex start,
Vertex end,
int orientation)
{
if (start.X == end.X && start.Y == end.Y || offset <= 0)
{
return(new List <Point>());
}
DoubleToInt(areas,
horizontalSections,
verticalSections,
offset,
out List <Rectangle> rectangles,
out List <Corridor> horizontalCorridors,
out List <Corridor> verticalCorridors);
List <List <Vertex> > outlines = GetOutlines(rectangles);
//outlines = CorrectOutlines(outlines, start, end);
CorrectCorridorsAndGaps(start,
end,
outlines,
horizontalCorridors,
verticalCorridors);
GetCoordinates(start,
end,
outlines,
horizontalCorridors,
verticalCorridors,
out HashSet <int> unsortedXs,
out HashSet <int> unsortedYs);
List <int> xs = unsortedXs.ToList();
xs.Sort();
List <int> ys = unsortedYs.ToList();
ys.Sort();
GetSides(outlines,
out Dictionary <int, List <Side> > horizontalSides,
out Dictionary <int, List <Side> > verticalSides);
var graph = new Graph(start,
end,
horizontalSides,
verticalSides,
horizontalCorridors,
verticalCorridors,
xs,
ys,
intersectionWeight,
orientation);
Node startNode;
{
int a = graph.AbscissaRedirects[start.X];
int o = graph.OrdinateRedirects[start.Y];
if (a >= 0 && o >= 0)
{
startNode = graph[a, o];
}
else
{
startNode = null;
}
}
Node endNode;
{
int a = graph.AbscissaRedirects[end.X];
int o = graph.OrdinateRedirects[end.Y];
if (a >= 0 && o >= 0)
{
endNode = graph[a, o];
}
else
{
endNode = null;
}
}
{
var points = new List <Point>();
if (startNode != null && endNode != null)
{
Dijkstra.FindShortPath(graph,
startNode,
endNode,
out List <Node> nodePath,
out List <Edge> edgePath);
SmoothPath(nodePath, edgePath, out List <Node> resultNodePath);
var vertices = new List <Vertex>();
if (resultNodePath != null && resultNodePath.Count > 0)
{
foreach (Node node in resultNodePath)
{
int x = xs[node.A];
int y = ys[node.O];
var vertex = new Vertex(x, y);
vertices.Add(vertex);
}
ClearIntermediateVertices(vertices);
foreach (Vertex vertex in vertices)
{
points.Add(new Point(vertex.X, vertex.Y));
}
}
}
return(points);
}
}
public Game1()
{
//constructor
graphics = new GraphicsDeviceManager(this);
graphics.PreferredBackBufferHeight = BackBufferHeight;
graphics.PreferredBackBufferWidth = BackBufferWidth;
Window.Title = "Pathfinder";
Content.RootDirectory = "Content";
this.IsMouseVisible = true;
this.IsFixedTimeStep = false;
elapsedTime = 0;
frameCounter = 0;
FPS = 60;
mouseState = Mouse.GetState();
lastMouseState = mouseState;
mouseClickPos = new Coord2(-1, -1);
scrollOffset = Vector2.Zero;
textColour = Color.BlueViolet;
//set frame rate
TargetElapsedTime = TimeSpan.FromTicks(TimeSpan.TicksPerSecond / TargetFrameRate);
//load level map
level = new Level();
string mapName = mapNumber.ToString();
//mapName = "eighty";
level.Loadmap("Content/" + mapName + ".txt");
//instantiate bot and player objects
BackBufferWidth = level.gridSquareSize * level.GridSizeX;
BackBufferHeight = level.GridSizeY * level.GridSquareSize;
graphics.PreferredBackBufferHeight = BackBufferHeight;
graphics.PreferredBackBufferWidth = BackBufferWidth;
graphics.ApplyChanges();
graphics.GraphicsDevice.Reset();
SetCharacters();
//bots = new List<AiBotBase>();
#if ASTARTEST
string heuristic = "Euclidean";
StreamWriter r = new StreamWriter("astarTest-" + mapName + "-" + heuristic + ".txt");
r.WriteLine("A Star Test values with " + heuristic);
r.WriteLine("Map size: {0}x{1}", level.GridSizeX, level.GridSizeY);
r.WriteLine("Times per build, in ms");
AStar aStar = new AStar(level);
aStar = new AStar(level);
Stopwatch timer = new Stopwatch();
Coord2 start = new Coord2(1, 1);
Coord2 end = new Coord2(level.GridSizeX-1, level.GridSizeY-1);
for (int i = 0; i < 1000; i++)
{
timer.Restart();
aStar.Build(level, start, end, false, heuristic);
timer.Stop();
r.WriteLine("{0:N3}", timer.Elapsed.TotalMilliseconds);
}
r.Close();
#endif
#if DIJKSTRASTEST
StreamWriter r = new StreamWriter("dijkstrasTest-" + mapName + ".txt");
string mapDescription = "";
r.WriteLine("Dijkstra's Test values");
r.WriteLine("Map size: {0}x{1}", level.GridSizeX, level.GridSizeY);
r.WriteLine(mapDescription);
r.WriteLine("Times per build, in ms");
Dijkstra dijkstras = new Dijkstra(level);
dijkstras = new Dijkstra(level);
Stopwatch timer = new Stopwatch();
AiBotAlgorithm bot = new AiBotAlgorithm(1, 1);
Player player = new Player(level.GridSizeX - 1, level.GridSizeY - 1);
for (int i = 0; i < 1000; i++)
{
timer.Restart();
dijkstras.Build(level, bot, player);
timer.Stop();
r.WriteLine("{0:N3}", timer.Elapsed.TotalMilliseconds);
}
r.Close();
#endif
#if PRECOMPUTETEST
StreamWriter r = new StreamWriter("precomputeTest-" + mapName + ".txt");
string mapDescription = "";
r.WriteLine("Precompute's Test values");
r.WriteLine("Map size: {0}x{1}", level.GridSizeX, level.GridSizeY);
r.WriteLine(mapDescription);
r.WriteLine("Times per build, in ms");
Precompute precompute = new Precompute(mapName);
precompute = new Precompute(mapName);
Stopwatch timer = new Stopwatch();
AiBotAlgorithm bot = new AiBotAlgorithm(1, 1);
Player player = new Player(level.GridSizeX - 1, level.GridSizeY - 1);
for (int i = 0; i < 1; i++)
{
timer.Restart();
precompute.Calculate(level);
timer.Stop();
r.WriteLine("{0:N3}", timer.Elapsed.TotalMilliseconds);
}
r.Close();
#endif
}
