public static SearchResult BestFirstSearch(Grid grid, Grid.Point startPos, Grid.Point endPos)
{
FakePriorityQueue <Grid.Point> queue = new FakePriorityQueue <Grid.Point>();
Dictionary <Grid.Point, float> distanceMap = new Dictionary <Grid.Point, float>();
Dictionary <Grid.Point, Grid.Point> visitedMap = new Dictionary <Grid.Point, Grid.Point>();
queue.Enqueue(startPos, 0);
distanceMap.Add(startPos, 0);
visitedMap.Add(startPos, null);
while (!queue.Empty)
{
Grid.Point current = queue.Dequeue();
if (current.Equals(endPos))
{
return(new SearchResult
{
Path = GeneratePath(visitedMap, current),
Visited = new List <Grid.Point>(visitedMap.Keys)
});
}
foreach (Grid.Point neighbour in grid.GetAdjacentCells(current))
{
if (!visitedMap.ContainsKey(neighbour))
{
float priority = Heuristic(endPos, neighbour);
queue.Enqueue(neighbour, priority);
visitedMap.Add(neighbour, current);
distanceMap.Add(neighbour, distanceMap[current] + grid.GetCostOfEnteringCell(neighbour));
}
}
}
return(new SearchResult());
}
public static SearchResult DijkstraPriority(Grid grid, Grid.Point startPos, Grid.Point endPos)
{
FakePriorityQueue <Grid.Point> queue = new FakePriorityQueue <Grid.Point>();
Dictionary <Grid.Point, float> distanceMap = new Dictionary <Grid.Point, float>();
Dictionary <Grid.Point, Grid.Point> visitedMap = new Dictionary <Grid.Point, Grid.Point>();
queue.Enqueue(startPos, 0);
distanceMap.Add(startPos, 0);
visitedMap.Add(startPos, null);
while (!queue.Empty)
{
Grid.Point current = queue.Dequeue();
if (current.Equals(endPos))
{
return(new SearchResult
{
Path = GeneratePath(visitedMap, current),
Visited = new List <Grid.Point>(visitedMap.Keys)
});
}
foreach (Grid.Point adj in grid.GetAdjacentCells(current))
{
float newDist = distanceMap[current] + grid.GetCostOfEnteringCell(adj);
if (!distanceMap.ContainsKey(adj) || newDist < distanceMap[adj])
{
distanceMap[adj] = newDist;
visitedMap[adj] = current;
queue.Enqueue(adj, newDist);
}
}
}
return(new SearchResult());
}
public static SearchResult Dijkstra(Grid grid, Grid.Point startPos, Grid.Point endPos)
{
List <Grid.Point> unfinishedVertices = new List <Grid.Point>();
Dictionary <Grid.Point, float> distanceMap = new Dictionary <Grid.Point, float>();
Dictionary <Grid.Point, Grid.Point> visitedMap = new Dictionary <Grid.Point, Grid.Point>();
unfinishedVertices.Add(startPos);
distanceMap.Add(startPos, 0);
visitedMap.Add(startPos, null);
while (unfinishedVertices.Count > 0)
{
Grid.Point vertex = GetClosestVertex(unfinishedVertices, distanceMap);
unfinishedVertices.Remove(vertex);
if (vertex.Equals(endPos))
{
return(new SearchResult
{
Path = GeneratePath(visitedMap, vertex),
Visited = new List <Grid.Point>(visitedMap.Keys)
});
}
foreach (Grid.Point adj in grid.GetAdjacentCells(vertex))
{
if (!visitedMap.ContainsKey(adj))
{
unfinishedVertices.Add(adj);
}
float adjDist = distanceMap.ContainsKey(adj) ? distanceMap[adj] : int.MaxValue;
float vDist = distanceMap.ContainsKey(vertex) ? distanceMap[vertex] : int.MaxValue;
if (adjDist > vDist + grid.GetCostOfEnteringCell(adj))
{
if (distanceMap.ContainsKey(adj))
{
distanceMap[adj] = vDist + grid.GetCostOfEnteringCell(adj);
}
else
{
distanceMap.Add(adj, vDist + grid.GetCostOfEnteringCell(adj));
}
if (visitedMap.ContainsKey(adj))
{
visitedMap[adj] = vertex;
}
else
{
visitedMap.Add(adj, vertex);
}
}
}
}
return(new SearchResult());
}
public static SearchResult AStarSearch(Grid grid, Grid.Point startPos, Grid.Point endPos)
{
List <Grid.Point> openSet = new List <Grid.Point>();
Dictionary <Grid.Point, float> costSoFar = new Dictionary <Grid.Point, float>();
Dictionary <Grid.Point, float> priorityMap = new Dictionary <Grid.Point, float>();
Dictionary <Grid.Point, Grid.Point> cameFrom = new Dictionary <Grid.Point, Grid.Point>();
openSet.Add(startPos);
priorityMap.Add(startPos, 0);
costSoFar.Add(startPos, 0);
cameFrom.Add(startPos, null);
while (openSet.Count > 0)
{
Grid.Point current = GetClosestVertex(openSet, priorityMap);
openSet.Remove(current);
if (current.Equals(endPos))
{
return(new SearchResult
{
Path = GeneratePath(cameFrom, current),
Visited = new List <Grid.Point>(cameFrom.Keys)
});
}
foreach (Grid.Point neighbour in grid.GetAdjacentCells(current))
{
float newCost = costSoFar[current] + grid.GetCostOfEnteringCell(neighbour);
if (!costSoFar.ContainsKey(neighbour) || newCost < costSoFar[neighbour])
{
costSoFar[neighbour] = newCost;
float priority = newCost + Heuristic(endPos, neighbour);
openSet.Add(neighbour);
priorityMap[neighbour] = priority;
cameFrom[neighbour] = current;
}
}
}
return(new SearchResult());
}
public static SearchResult BreadthFirstSearch(Grid grid, Grid.Point startPos, Grid.Point endPos)
{
if (startPos.Equals(endPos))
{
return(new SearchResult());
}
Dictionary <Grid.Point, Grid.Point> visitedMap = new Dictionary <Grid.Point, Grid.Point>();
Queue <Grid.Point> queue = new Queue <Grid.Point>();
queue.Enqueue(startPos);
while (queue.Count > 0)
{
Grid.Point node = queue.Dequeue();
foreach (Grid.Point adj in grid.GetAdjacentCells(node))
{
if (!visitedMap.ContainsKey(adj))
{
visitedMap.Add(adj, node);
queue.Enqueue(adj);
if (adj.Equals(endPos))
{
return(new SearchResult
{
Path = GeneratePath(visitedMap, adj),
Visited = new List <Grid.Point>(visitedMap.Keys)
});
}
}
}
if (!visitedMap.ContainsKey(node))
{
visitedMap.Add(node, null);
}
}
return(new SearchResult());
}
public static SearchResult DepthFirstSearch(Grid grid, Grid.Point startPos, Grid.Point endPos)
{
if (startPos.Equals(endPos))
{
return(new SearchResult());
}
Dictionary <Grid.Point, Grid.Point> visitedMap = new Dictionary <Grid.Point, Grid.Point>();
Stack <Grid.Point> stack = new Stack <Grid.Point>();
stack.Push(startPos);
while (stack.Count > 0)
{
Grid.Point node = stack.Pop();
foreach (Grid.Point adj in grid.GetAdjacentCells(node))
{
if (!visitedMap.ContainsKey(adj))
{
visitedMap.Add(adj, node);
stack.Push(adj);
if (adj.Equals(endPos))
{
return(new SearchResult
{
Path = GeneratePath(visitedMap, adj),
Visited = new List <Grid.Point>(visitedMap.Keys)
});
}
}
}
if (!visitedMap.ContainsKey(node))
{
visitedMap.Add(node, null);
}
}
return(new SearchResult());
}
public static SearchResult BestFirstSearch2(Grid grid, Grid.Point startPos, Grid.Point endPos)
{
List <Grid.Point> openSet = new List <Grid.Point>();
Dictionary <Grid.Point, float> distanceMap = new Dictionary <Grid.Point, float>();
Dictionary <Grid.Point, float> priorityMap = new Dictionary <Grid.Point, float>();
Dictionary <Grid.Point, Grid.Point> visitedMap = new Dictionary <Grid.Point, Grid.Point>();
openSet.Add(startPos);
priorityMap.Add(startPos, 0);
distanceMap.Add(startPos, 0);
visitedMap.Add(startPos, null);
while (openSet.Count > 0)
{
Grid.Point current = GetClosestVertex(openSet, priorityMap);
openSet.Remove(current);
if (current.Equals(endPos))
{
return(new SearchResult
{
Path = GeneratePath(visitedMap, current),
Visited = new List <Grid.Point>(visitedMap.Keys)
});
}
foreach (Grid.Point neighbour in grid.GetAdjacentCells(current))
{
if (!visitedMap.ContainsKey(neighbour))
{
float priority = Heuristic(endPos, neighbour);
openSet.Add(neighbour);
visitedMap.Add(neighbour, current);
priorityMap.Add(neighbour, priority);
distanceMap.Add(neighbour, distanceMap[current] + grid.GetCostOfEnteringCell(neighbour));
}
}
}
return(new SearchResult());
}
public static SearchResult AStarSearchPriority(Grid grid, Grid.Point startPos, Grid.Point endPos)
{
FakePriorityQueue <Grid.Point> queue = new FakePriorityQueue <Grid.Point>();
Dictionary <Grid.Point, float> costSoFar = new Dictionary <Grid.Point, float>();
Dictionary <Grid.Point, Grid.Point> cameFrom = new Dictionary <Grid.Point, Grid.Point>();
queue.Enqueue(startPos, 0);
costSoFar[startPos] = 0;
cameFrom[startPos] = null;
while (!queue.Empty)
{
Grid.Point current = queue.Dequeue();
if (current.Equals(endPos))
{
return(new SearchResult
{
Path = GeneratePath(cameFrom, current),
Visited = new List <Grid.Point>(cameFrom.Keys)
});
}
foreach (Grid.Point neighbour in grid.GetAdjacentCells(current))
{
float newCost = costSoFar[current] + grid.GetCostOfEnteringCell(neighbour);
if (!costSoFar.ContainsKey(neighbour) || newCost < costSoFar[neighbour])
{
costSoFar[neighbour] = newCost;
float priority = newCost + Heuristic(endPos, neighbour);
queue.Enqueue(neighbour, priority);
cameFrom[neighbour] = current;
}
}
}
return(new SearchResult());
}