private void Generate()
{
HierarchicalMapFactory factory = new HierarchicalMapFactory();
HierarchicalMap hierarchicalMap = factory.CreateHierarchicalMap(m_concreteMap, m_clusterSize, m_maxLevel);
List <PathNode> path = HierarchicalSearch.Search(factory, hierarchicalMap, m_maxLevel, m_startNode.Pos, m_goalNode.Pos);
for (int i = 0; i < path.Count; i++)
{
var node = m_concreteMap.Get(path[i].Pos);
node.SetSearchType(SearchType.Path);
}
}
public void CreateHierarchicalMap_WhenCreating_Return()
{
var abstractMapFactory = new HierarchicalMapFactory();
var passability = new Program.ExamplePassability();
var concreteMap = ConcreteMapFactory.CreateConcreteMap(40, 40, passability);
var hierarchicalMap = abstractMapFactory.CreateHierarchicalMap(concreteMap, 10, 2, EntranceStyle.EndEntrance);
Assert.AreEqual(16, hierarchicalMap.Clusters.Count);
Assert.AreEqual(10, hierarchicalMap.ClusterSize);
Assert.AreEqual(40, hierarchicalMap.Height);
Assert.AreEqual(40, hierarchicalMap.Width);
Assert.AreEqual(2, hierarchicalMap.MaxLevel);
Assert.AreEqual(AbsType.ABSTRACT_OCTILE, hierarchicalMap.Type);
Assert.NotNull(hierarchicalMap.AbstractGraph);
}
public static List <PathNode> Search(HierarchicalMapFactory factory, HierarchicalMap map, int maxLevel, Vector2Int startPos, Vector2Int goalPos, int maxRefineCount = int.MaxValue)
{
//首先插入起点和终点到图中
var startAbsId = factory.InsertAbstractNode(map, startPos);
var goalAbsId = factory.InsertAbstractNode(map, goalPos);
var path = SearchImpl(map, startAbsId, goalAbsId, maxLevel, maxRefineCount);
//可以在这里应用路径平滑
//搜索完毕后就移除起点和终点（如果常用，也可以留着）
factory.RemoveAbstractNode(map, goalAbsId);
factory.RemoveAbstractNode(map, startAbsId);
return(path);
}
private static List <IPathNode> HierarchicalSearch(HierarchicalMap hierarchicalMap, int maxLevel, ConcreteMap concreteMap, Position startPosition, Position endPosition)
{
var factory = new HierarchicalMapFactory();
var startAbsNode = factory.InsertAbstractNode(hierarchicalMap, startPosition);
var targetAbsNode = factory.InsertAbstractNode(hierarchicalMap, endPosition);
var maxPathsToRefine = int.MaxValue;
var hierarchicalSearch = new HierarchicalSearch();
var abstractPath = hierarchicalSearch.DoHierarchicalSearch(hierarchicalMap, startAbsNode, targetAbsNode, maxLevel, maxPathsToRefine);
var path = hierarchicalSearch.AbstractPathToLowLevelPath(hierarchicalMap, abstractPath, hierarchicalMap.Width, maxPathsToRefine);
var smoother = new SmoothWizard(concreteMap, path);
path = smoother.SmoothPath();
factory.RemoveAbstractNode(hierarchicalMap, targetAbsNode);
factory.RemoveAbstractNode(hierarchicalMap, startAbsNode);
return(path);
}
public static void Main2(string[] args)
{
const int clusterSize = 8;
const int maxLevel = 2;
const int height = 128;
const int width = 128;
Position startPosition = new Position(17, 38);
Position endPosition = new Position(16, 18);
// Prepare the abstract graph beforehand
IPassability passability = new FakePassability(width, height);
var concreteMap = ConcreteMapFactory.CreateConcreteMap(width, height, passability);
var abstractMapFactory = new HierarchicalMapFactory();
var absTiling = abstractMapFactory.CreateHierarchicalMap(concreteMap, clusterSize, maxLevel, EntranceStyle.EndEntrance);
var watch = Stopwatch.StartNew();
var regularSearchPath = RegularSearch(concreteMap, startPosition, endPosition);
var regularSearchTime = watch.ElapsedMilliseconds;
watch = Stopwatch.StartNew();
var hierarchicalSearchPath = HierarchicalSearch(absTiling, maxLevel, concreteMap, startPosition, endPosition);
var hierarchicalSearchTime = watch.ElapsedMilliseconds;
var pospath = hierarchicalSearchPath.Select(p =>
{
if (p is ConcretePathNode)
{
var concretePathNode = (ConcretePathNode)p;
return(concreteMap.Graph.GetNodeInfo(concretePathNode.Id).Position);
}
var abstractPathNode = (AbstractPathNode)p;
return(absTiling.AbstractGraph.GetNodeInfo(abstractPathNode.Id).Position);
}).ToList();
#if !DEBUG
Console.WriteLine("Regular search: " + regularSearchTime + " ms");
Console.WriteLine("Number of nodes: " + regularSearchPath.Count);
Console.WriteLine("Hierachical search: " + hierarchicalSearchTime + " ms");
Console.WriteLine("Number of nodes: " + hierarchicalSearchPath.Count);
#endif
#if DEBUG
//Console.WriteLine("Regular search: " + regularSearchTime + " ms");
//Console.WriteLine($"{regularSearchPath.Count} path nodes");
//PrintFormatted(concreteMap, absTiling, clusterSize, regularSearchPath);
//Console.WriteLine();
//Console.WriteLine();
//Console.WriteLine();
Console.WriteLine("Hierachical search: " + hierarchicalSearchTime + " ms");
Console.WriteLine($"{hierarchicalSearchPath.Count} path nodes");
PrintFormatted(concreteMap, absTiling, clusterSize, pospath);
Console.WriteLine();
Console.WriteLine();
Console.WriteLine();
Console.WriteLine("Press any key to quit...");
Console.ReadKey();
#endif
}
public static void Main(string[] args)
{
const int clusterSize = 8;
const int maxLevel = 2;
const int height = 128;
const int width = 128;
//IPassability passability = new ExamplePassability();
IPassability passability = new FakePassability(width, height);
var concreteMap = ConcreteMapFactory.CreateConcreteMap(width, height, passability);
var abstractMapFactory = new HierarchicalMapFactory();
var absTiling = abstractMapFactory.CreateHierarchicalMap(concreteMap, clusterSize, maxLevel, EntranceStyle.EndEntrance);
//var edges = absTiling.AbstractGraph.Nodes.SelectMany(x => x.Edges.Values)
// .GroupBy(x => x.Info.Level)
// .ToDictionary(x => x.Key, x => x.Count());
Func <Position, Position, List <IPathNode> > doHierarchicalSearch = (startPosition, endPosition)
=> HierarchicalSearch(absTiling, maxLevel, concreteMap, startPosition, endPosition);
Func <Position, Position, List <IPathNode> > doRegularSearch = (startPosition, endPosition)
=> RegularSearch(concreteMap, startPosition, endPosition);
Func <List <IPathNode>, List <Position> > toPositionPath = (path) =>
path.Select(p =>
{
if (p is ConcretePathNode)
{
var concretePathNode = (ConcretePathNode)p;
return(concreteMap.Graph.GetNodeInfo(concretePathNode.Id).Position);
}
var abstractPathNode = (AbstractPathNode)p;
return(absTiling.AbstractGraph.GetNodeInfo(abstractPathNode.Id).Position);
}).ToList();
//Position startPosition2 = new Position(18, 0);
//Position endPosition2 = new Position(20, 0);
var points = Enumerable.Range(0, 2000).Select(_ =>
{
var pos1 = ((FakePassability)passability).GetRandomFreePosition();
var pos2 = ((FakePassability)passability).GetRandomFreePosition();
while (Math.Abs(pos1.X - pos2.X) + Math.Abs(pos1.Y - pos2.Y) < 10)
{
pos2 = ((FakePassability)passability).GetRandomFreePosition();
}
return(Tuple.Create(pos1, pos2));
}).ToArray();
var searchStrategies = new[] { doRegularSearch, doHierarchicalSearch };
foreach (var searchStrategy in searchStrategies)
{
var watch = Stopwatch.StartNew();
for (int i = 0; i < points.Length; i++)
{
Position startPosition2 = points[i].Item1;
Position endPosition2 = points[i].Item2;
var regularSearchPath = searchStrategy(startPosition2, endPosition2);
var posPath1 = toPositionPath(regularSearchPath);
}
var regularSearchTime = watch.ElapsedMilliseconds;
Console.WriteLine(regularSearchTime);
}
}
