internal static Direction DirectionTo(this Map map, MapPos position, MapPos otherPosition)
{
var cycle = DirectionCycleCW.CreateDefault();
foreach (var direction in cycle)
{
if (map.Move(position, direction) == otherPosition)
{
return(direction);
}
}
return(Direction.None);
}
public DirectionCycleCW(DirectionCycleCW other)
: base(other)
{
}
/// <summary>
/// Find the shortest path from start to end (using A*) considering that
/// the walking time for a serf walking in any direction of the path
/// should be minimized.Returns a malloc'ed array of directions and
/// the size of this array in length.
/// </summary>
/// <param name="map"></param>
/// <param name="start"></param>
/// <param name="end"></param>
/// <param name="buildingRoad"></param>
/// <returns></returns>
public static Road FindShortestPath(Map map, MapPos start, MapPos end, Road buildingRoad = null, int maxLength = int.MaxValue, bool endThere = false)
{
if (maxLength < 1)
{
return(new Road());
}
var startTime = DateTime.Now;
var open = new PriorityQueue <SearchNode>(new SearchNodeComparer());
var closed = new Dictionary <MapPos, SearchNode>();
var maxCost = (uint)maxLength * 511u; // 511 is the max road segment cost
// Create start node
var node = new SearchNode()
{
Position = end,
GScore = 0,
FScore = HeuristicCost(map, start, end)
};
open.Push(node);
while (open.Count != 0)
{
if ((DateTime.Now - startTime).TotalMilliseconds > 2 * Global.TICK_LENGTH)
{
return(new Road()); // tried too long
}
node = open.Pop();
if (node.Position == start)
{
// Construct solution
var solution = new Road();
solution.Start(start);
solution.Cost = node.GScore;
while (node.Parent != null)
{
var direction = node.Direction;
solution.Extend(map, direction.Reverse());
node = node.Parent;
}
return(solution);
}
// Put current node on closed list.
closed.Add(node.Position, node);
var cycle = DirectionCycleCW.CreateDefault();
foreach (var direction in cycle)
{
var newPosition = map.Move(node.Position, direction);
var cost = ActualCost(map, node.Position, direction);
if (node.GScore + cost > maxCost)
{
continue; // exceeded max length / max cost
}
// Check if neighbour is valid.
if (!map.IsRoadSegmentValid(node.Position, direction, endThere && node.Position == end) ||
(map.GetObject(newPosition) == Map.Object.Flag && newPosition != start))
{
continue;
}
if (buildingRoad != null && buildingRoad.HasPosition(map, newPosition) &&
newPosition != end && newPosition != start)
{
continue;
}
// Check if neighbour is in closed list.
if (closed.ContainsKey(newPosition))
{
continue;
}
// See if neighbour is already in open list.
bool inOpen = false;
foreach (var n in open)
{
if (n.Position == newPosition)
{
inOpen = true;
if (n.GScore > node.GScore + cost)
{
n.GScore = node.GScore + cost;
n.FScore = n.GScore + HeuristicCost(map, newPosition, start);
n.Parent = node;
n.Direction = direction;
// Move element to the back and heapify
open.Push(open.Pop());
}
break;
}
}
// If not found in the open set, create a new node.
if (!inOpen)
{
var newNode = new SearchNode();
newNode.Position = newPosition;
newNode.GScore = node.GScore + cost;
newNode.FScore = newNode.GScore + HeuristicCost(map, newPosition, start);
newNode.Parent = node;
newNode.Direction = direction;
open.Push(newNode);
}
}
}
return(new Road());
}
/// <summary>
/// Find the shortest existing connection between two arbitrary flags.
///
/// The returned collection contains the directions at each flag on
/// the path.
/// </summary>
/// <param name="map"></param>
/// <param name="start"></param>
/// <param name="end"></param>
/// <returns></returns>
public static List <Direction> FindShortestRoad(Map map, Flag start, Flag end, out uint totalCost)
{
if (start == end)
{
totalCost = 0;
return(new List <Direction>());
}
totalCost = uint.MaxValue;
var startTime = DateTime.Now;
var open = new PriorityQueue <FlagSearchNode>(new FlagSearchNodeComparer());
var closed = new Dictionary <Flag, FlagSearchNode>();
// Create start node
var node = new FlagSearchNode()
{
Flag = end,
GScore = 0,
FScore = HeuristicCost(map, start.Position, end.Position)
};
open.Push(node);
while (open.Count != 0)
{
if ((DateTime.Now - startTime).TotalMilliseconds > 2 * Global.TICK_LENGTH)
{
return(null); // tried too long
}
node = open.Pop();
if (node.Flag == start)
{
// Construct solution
var solution = new List <Direction>();
totalCost = node.GScore;
while (node.Parent != null)
{
solution.Add(node.Direction.Reverse());
node = node.Parent;
}
return(solution);
}
// Put current node on closed list.
closed.Add(node.Flag, node);
var cycle = DirectionCycleCW.CreateDefault();
foreach (var direction in cycle)
{
var newRoad = node.Flag.GetRoad(direction);
var newFlag = node.Flag.GetOtherEndFlag(direction);
// Check if neighbour is valid.
if (newFlag == null || newRoad == null)
{
continue;
}
uint cost = newRoad.Cost;
// Check if neighbour is in closed list.
if (closed.ContainsKey(newFlag))
{
continue;
}
// See if neighbour is already in open list.
bool inOpen = false;
foreach (var n in open)
{
if (n.Flag == newFlag)
{
inOpen = true;
if (n.GScore > node.GScore + cost)
{
n.GScore = node.GScore + cost;
n.FScore = n.GScore + HeuristicCost(map, newFlag, start);
n.Parent = node;
n.Direction = direction;
// Move element to the back and heapify
open.Push(open.Pop());
}
break;
}
}
// If not found in the open set, create a new node.
if (!inOpen)
{
var newNode = new FlagSearchNode();
newNode.Flag = newFlag;
newNode.GScore = node.GScore + cost;
newNode.FScore = newNode.GScore + HeuristicCost(map, newFlag, start);
newNode.Parent = node;
newNode.Direction = direction;
open.Push(newNode);
}
}
}
return(null);
}
public static MapPos FindNearestSpot(Map map, MapPos start, Func <Map, MapPos, bool> searchFunc,
Func <Map, MapPos, uint> costFunction = null, int maxDistance = int.MaxValue)
{
var startTime = DateTime.Now;
var open = new PriorityQueue <SimpleSearchNode>(new SimpleSearchNodeComparer());
var visited = new List <MapPos>();
// Create start node
var node = new SimpleSearchNode()
{
Position = start,
Distance = 0,
};
open.Push(node);
while (open.Count != 0)
{
if ((DateTime.Now - startTime).TotalMilliseconds > 2 * Global.TICK_LENGTH)
{
return(Global.INVALID_MAPPOS); // tried too long
}
node = open.Pop();
if (searchFunc(map, node.Position))
{
return(node.Position);
}
// Put current node on closed list.
visited.Insert(0, node.Position);
if (node.Distance >= maxDistance)
{
continue;
}
var cycle = DirectionCycleCW.CreateDefault();
foreach (var direction in cycle)
{
var newPosition = map.Move(node.Position, direction);
var distance = node.Distance + 1;
// Check if neighbour was already visited.
if (visited.Contains(newPosition))
{
continue;
}
// See if neighbour is already in open list.
bool inOpen = false;
foreach (var n in open)
{
if (n.Position == newPosition)
{
inOpen = true;
if (n.Distance > distance)
{
n.Distance = distance;
n.Parent = node;
// Move element to the back and heapify
open.Push(open.Pop());
}
break;
}
}
// If not found in the open set, create a new node.
if (!inOpen)
{
var newNode = new SimpleSearchNode();
newNode.Position = newPosition;
newNode.Distance = distance;
newNode.Parent = node;
newNode.Cost = (costFunction == null) ? 0u : costFunction(map, newPosition);
open.Push(newNode);
}
}
}
return(Global.INVALID_MAPPOS);
}
