static void Main(string[] args)
{
Map map;
//build the map
MapManager mapManager = new MapManager(10, 5);
map = mapManager.Create();
Console.WriteLine(map.ToString());
Console.ReadLine();
//PathSearcher ps = new PathSearcher(EHeuristicTypes.InfatedPythagorean, ALLOW_DIAGONAL);
PathSearcher psPythagDiag = new PathSearcher(EHeuristicTypes.Pythagorean, ALLOW_DIAGONAL);
PathSearcher psManhattanDiag = new PathSearcher(EHeuristicTypes.Manhattan, ALLOW_DIAGONAL);
PathSearcher psManhattanSQ = new PathSearcher(EHeuristicTypes.Manhattan, !ALLOW_DIAGONAL);
Map pythagPathMap = psPythagDiag.SearchPath(map);
Map manhattanDiagPathMap = psManhattanSQ.SearchPath(map);
Map manhattanSQPathMap = psManhattanSQ.SearchPath(map);
Console.WriteLine(pythagPathMap.ToString());
Console.WriteLine(manhattanDiagPathMap.ToString());
Console.WriteLine(manhattanSQPathMap.ToString());
Console.ReadLine();
}
private IEnumerable <Command> RepairStarship()
{
var nearSocket = Map.Walls.Where(x => x.Type.ToLower().Contains(color)).OrderBy(GetDistance).FirstOrDefault();
if (nearSocket == null)
{
return(new Command[0]);
}
var path = PathSearcher.FindPath(Map, OurCoordinates, nearSocket.DiscreteCoordinate);
if (path.Length == 0)
{
if (Map.CurrentPosition.X - nearSocket.AbsoluteCoordinate.X > Epsilon)
{
return(RobotLocator.GetCommandsByDirection(Direction.Left));
}
if (Map.CurrentPosition.X - nearSocket.AbsoluteCoordinate.X < -Epsilon)
{
return(RobotLocator.GetCommandsByDirection(Direction.Right));
}
if (Map.CurrentPosition.Y - nearSocket.AbsoluteCoordinate.Y > Epsilon)
{
return(RobotLocator.GetCommandsByDirection(Direction.Down));
}
if (Map.CurrentPosition.Y - nearSocket.AbsoluteCoordinate.Y < -Epsilon)
{
return(RobotLocator.GetCommandsByDirection(Direction.Up));
}
hasDetail = false;
return(new[] { Command.Act(CommandAction.Release) });
}
return(RobotLocator.GetCommandsByDirection(path.First()));
}
protected override IEnumerable <Command> FindNextCommands()
{
var path = PathSearcher.FindPath(Map, OurCoordinates, OpponentCoordinates);
var commands = path.Length == 0 ? GoBack() : RobotLocator.GetCommandsByDirection(path.First());
lastCommand = path.FirstOrDefault();
return(commands);
}
public void TwoVerticeGraphWithPath()
{
var graph = new AdjacencyGraph(2)
.AddArrow(0, 1);
var path = new PathSearcher(graph).FindPath(0, 1);
Assert.That(path, Is.EqualTo(new[] { 0, 1 }));
}
public void TwoVerticeGraphWithoutPath()
{
var graph = new AdjacencyGraph(2)
.AddArrow(0, 1);
var path = new PathSearcher(graph).FindPath(1, 0);
Assert.That(path, Is.Null);
}
protected override IEnumerable <Command> FindNextCommands()
{
while (currentCommand >= currentPath.Length)
{
var x = random.Next(1, 7);
var y = random.Next(1, 5);
currentPath = PathSearcher.FindPath(Map, OurCoordinates, new Point(x, y));
currentCommand = 0;
}
return(RobotLocator.GetCommandsByDirection(currentPath[currentCommand++]));
}
public void FourVerticeGraphWhereNotExistsPath()
{
var graph = new AdjacencyGraph(4)
.AddArrow(1, 0)
.AddArrow(2, 0)
.AddArrow(2, 1)
.AddArrow(2, 3);
var path = new PathSearcher(graph).FindPath(3, 0);
Assert.That(path, Is.Null);
}
public void FourVerticeGraphWithPathBetweenZeroAndThird()
{
var graph = new AdjacencyGraph(4)
.AddArrow(1, 0)
.AddArrow(2, 0)
.AddArrow(1, 2)
.AddArrow(2, 1)
.AddArrow(3, 2);
var path = new PathSearcher(graph).FindPath(3, 0);
Assert.That(path, Is.EqualTo(new[] { 3, 2, 0 }));
}
private IEnumerable <Command> GripDetail()
{
var nearDetail = Map.Details.OrderBy(GetDistance).FirstOrDefault();
if (nearDetail == null)
{
return(new Command[0]);
}
color = nearDetail.Type.Split(new[] { "Detail" }, StringSplitOptions.None).First().ToLower();
var path = PathSearcher.FindPath(Map, OurCoordinates, nearDetail.DiscreteCoordinate);
hasDetail = path.Length == 0;
return(hasDetail ? new[] { Command.Act(CommandAction.Grip) } : RobotLocator.GetCommandsByDirection(path.First()));
}
public void Update()
{
if (Input.GetKeyDown(KeyCode.R))
{
printMap();
}
if (Input.GetKeyDown(KeyCode.T))
{
Movement mov = ((Movement)FindObjectOfType(typeof(Movement)));
Unit unit = mov.gameObject.GetComponent <Unit> ();
if (!mov.hasPath())
{
PathSearcher searcher = new PathSearcher(this, unit);
Queue <Pair <int, int> > path = searcher.findPath(-1, -1, 0, 0);
mov.addPath(path);
}
}
}
public IEnumerable <Point> GetPath(Point from, Point to)
{
if (from == to)
{
return(null);
}
var key = Tuple.Create(from, to);
if (buffer.ContainsKey(key))
{
return(buffer[key]);
}
var path = PathSearcher.Search(@from, to, IsCellFree);
AddToBuffer(key, path);
return(path);
}
private static void Main(string[] args)
{
var server = new CvarcClient(args, Settings).GetServer <PositionSensorsData>();
var sensorData = server.Run().SensorsData;
var map = sensorData.BuildMap();
var robotLocator = new RobotLocator(map);
var path = PathSearcher.FindPath(map, map.GetDiscretePosition(map.CurrentPosition), new Point(2, 1));//(2, 1) - just random point
foreach (var direction in path)
{
foreach (var command in robotLocator.GetCommandsByDirection(direction))
{
sensorData = server.SendCommand(command);
robotLocator.Update(sensorData);
}
}
server.SendCommand(new Command {
Action = CommandAction.WaitForExit
});
}
IEnumerator GenerateGround()
{
TextAsset mapText = Resources.Load("map") as TextAsset;
StringReader reader = new StringReader(mapText.text);
Vector2 playerPos = new Vector3(0, 0);
//list for search path
int rowCount = 0;
string[] lines = mapText.text.Split(new string[] { Environment.NewLine }, StringSplitOptions.RemoveEmptyEntries);
rowCount = lines.Length;
int colCount = 0;
string[] firstLine = lines[0].Split(',');
colCount = firstLine.Length;
pathSearcher = new PathSearcher(colCount, rowCount);
int row = 0;
while (reader.Peek() > -1)
{
string line = reader.ReadLine();
string[] values = line.Split(',');
int col = 0;
GameObject g;
int num;
/*
* //for search path
* if(groundNodeList == null){
* groundNodeList = new GroundNode[lineCount, values.Length];
* }
*/
foreach (string i in values)
{
num = int.Parse(i);
if (num > 0)
{
//GameObject.Instantiate (Resources.Load ("Prefabs/Ground"), new Vector3(5 + -1 * col, -1, -5 + 1 * row), Quaternion.Euler (new Vector3(0.0f, 180.0f, 0.0f)));
g = (GameObject)GameObject.Instantiate(Resources.Load("Prefabs/Ground"), new Vector3(5 + -1 * col, 0, -5 + 1 * row), Quaternion.identity);
g.SendMessage("SetPos", new Vector2(col, row));
g.SendMessage("SetLife", num);
iTween.ColorFrom(g, iTween.Hash("a", 0, "time", 0.5f, "easetype", iTween.EaseType.easeInOutCubic));
iTween.MoveFrom(g, iTween.Hash("y", g.transform.position.y - 1, "time", 0.5f, "easetype", iTween.EaseType.easeInOutCubic)); yield return(new WaitForSeconds(0.02f));
switch (num)
{
case 5:
//playerPos = new Vector3(5 + -1 * col, 6, -5 + 1 * row);
playerPos = new Vector2(col, row);
break;
case 6:
GameObject.Instantiate(jewelPrefab, new Vector3(5 + -1 * col, 1.5f, -5 + 1 * row), Quaternion.identity);
break;
default:
break;
}
//groundNodeList[col, row] = new GroundNode(col, row, g);
pathSearcher.AddNode(col, row, g);
}
col++;
} //foreach
row++;
} //while
player = (GameObject)GameObject.Instantiate(playerPrefab, new Vector3(5 + -1 * playerPos.x, 6, -5 + 1 * playerPos.y), Quaternion.identity);
player.SendMessage("SetInitCoordinates", playerPos);
player.SendMessage("SetCurrentCoordinates", playerPos);
//set neighbor int ground nodes for search path
pathSearcher.init();
}
protected override IEnumerable <Command> FindNextCommands()
{
var path = PathSearcher.FindPath(Map, OurCoordinates, OpponentCoordinates);
return(path.Length == 0 || path.Length == 1 ? new Command[0] : RobotLocator.GetCommandsByDirection(path.First()));
}
