コード例 #1
0
ファイル: Graph.cs プロジェクト: blaavogn-games/fishtank
    public bool ColorPath(Vector3 start, Vector3 end, out List <Vector3> path) //Dijkstra
    {
        C5.IntervalHeap <Vertex> openList = new C5.IntervalHeap <Vertex>();
        path = new List <Vector3>(); //Possibly should be null when return false;
        Vertex begin  = Vertices[start];
        Vertex target = Vertices[end];

        begin.Predecessor = null;
        graphSearch++;
        openList.Add(begin);
        bool pathFound = false;
        int  count     = 0;

        while (!openList.IsEmpty)
        {
            Vertex v = openList.DeleteMin();
            count++;
            if (v == target)
            {
                pathFound = true;
                break;
            }
            v.searchEnd = graphSearch;
            foreach (Vertex n in v.Neighbors)
            {
                if (n.searchEnd == graphSearch)
                {
                    continue;
                }
                if (n.searchInit < graphSearch)
                {
                    n.SearchVal  = float.PositiveInfinity;
                    n.Heur       = Vector3.Distance(n.Pos, end);
                    n.searchInit = graphSearch;
                }
                float pathVal = v.SearchVal + Vector3.Distance(v.Pos, n.Pos);
                if (pathVal < n.SearchVal)
                {
                    n.SearchVal   = pathVal;
                    n.Predecessor = v;
                    openList.Add(n);
                }
            }
        }
        if (!pathFound)
        {
            return(false);
        }
        //Color - Collecting path
        Vertex cur = target;

        while (cur != null)
        {
            path.Add(cur.Pos);
            //cur.Rep.GetComponent<Renderer>().material.color = Color.green;
            cur = cur.Predecessor;
        }
        path.Reverse();
        return(true);
    }
コード例 #2
0
    public static List <GridLocation> run(Bitmap bitmap, GridLocation start, GridLocation goal,
                                          ComputeCost computeCost)
    {
        //Debug.LogWarning("GS: setup dictionaries");
        Dictionary <GridLocation, GridLocation> cameFrom  = new Dictionary <GridLocation, GridLocation>();
        Dictionary <GridLocation, double>       costSoFar = new Dictionary <GridLocation, double>();

        //Debug.LogWarning("GS: setup interval heap");
        var frontier = new C5.IntervalHeap <GridLocation>();

        start.priority = 0;
        frontier.Add(start);
        cameFrom[start]  = null;
        costSoFar[start] = 0;

        //Debug.LogWarning("GS: while loop BEGIN");
        float exitLoopTime = Time.time + 5f;

        while (!frontier.IsEmpty)
        {
            if (Time.time > exitLoopTime)
            {
                Debug.LogWarning("GS: grid search timeout");
                return(null);
            }

            //Debug.LogWarning("GS: while loop entered");
            var current = frontier.DeleteMin();
            if (current.Equals(goal))
            {
                //Debug.LogWarning("GS: current == goal");
                return(RebuildPath(goal, cameFrom));
            }
            foreach (GridLocation next in bitmap.Neighbours(current))
            {
                bool   usingLOS     = false;
                double computedCost = computeCost(current, next, cameFrom, costSoFar, ref usingLOS, bitmap);
                if (!costSoFar.ContainsKey(next) || computedCost < costSoFar[next])
                {
                    if (usingLOS)
                    {
                        cameFrom[next] = cameFrom[current];
                    }
                    else
                    {
                        cameFrom[next] = current;
                    }
                    costSoFar[next] = computedCost;
                    double p = computedCost + next.distanceTo(goal);
                    next.priority = p;
                    frontier.Add(next);
                }
            }
        }

        Debug.LogWarning("GS: returning null");
        return(null);
    }
コード例 #3
0
ファイル: ThetaStarSearch.cs プロジェクト: dtbinh/drone-sim
    private List <GridLocation> LazyRun(Bitmap bitmap, GridLocation start, GridLocation goal)
    {
        //Debug.LogWarning("TS: setup dictionaries");
        Dictionary <GridLocation, GridLocation> cameFrom  = new Dictionary <GridLocation, GridLocation>();
        Dictionary <GridLocation, double>       costSoFar = new Dictionary <GridLocation, double>();

        //Debug.LogWarning("TS: setup interval heap");
        var frontier = new C5.IntervalHeap <GridLocation>();

        start.priority = 0;
        frontier.Add(start);
        cameFrom[start]  = null;
        costSoFar[start] = 0;

        //Debug.LogWarning("TS: while loop BEGIN");
        float exitLoopTime = Time.time + 5f;

        while (!frontier.IsEmpty)
        {
            if (Time.time > exitLoopTime)
            {
                Debug.LogWarning("TS: theta star timeout");
                return(null);
            }

            //Debug.LogWarning("TS: while loop entered");
            GridLocation current = frontier.DeleteMin();
            //Debug.LogWarning("TS: while loop SetVertex");
            SetVertex(bitmap, cameFrom, costSoFar, current);
            if (current.Equals(goal))
            {
                //Debug.LogWarning("TS: current == goal");
                return(GridSearch.RebuildPath(goal, cameFrom));
            }

            closedSet.Add(current);
            foreach (GridLocation next in bitmap.Neighbours(current))
            {
                double computedCost = lazyComputeCost(cameFrom, costSoFar, current, next);
                if (!costSoFar.ContainsKey(next) || computedCost < costSoFar[next])
                {
                    cameFrom[next]  = cameFrom[current];
                    costSoFar[next] = computedCost;
                    double p = computedCost + next.distanceTo(goal);
                    next.priority = p;
                    frontier.Add(next);
                }
            }
        }

        Debug.LogWarning("TS: returning null");
        return(null);
    }