public IEnumerable <RobotAction> GetNextActions(Robot robot)
{
// find the closest unwrapped cells
var finder = new SimpleTargetSelector(Problem.Map);
var targets = finder.GetPotentialTargets(robot.Position, 1);
// sort them by moves
var bestScore = int.MaxValue;
Queue <RobotAction> bestRoute = null;
if (targets.Count == 0)
{
return new[] { RobotAction.Done }
}
;
foreach (var p in targets)
{
var route = AStarPathFinder.GetRouteTo(robot.Position, p, Problem.Map);
if (route.Count <= bestScore)
{
bestScore = route.Count;
bestRoute = route;
robot.Target = p;
}
}
if (robot.PriorTarget != null && robot.Target != robot.PriorTarget)
{
var priorRoute = AStarPathFinder.GetRouteTo(robot.Position, robot.PriorTarget.Value, Problem.Map);
if (priorRoute.Count != 0)
{
if (priorRoute.Count <= bestScore)
{
return(priorRoute);
}
}
}
robot.PriorTarget = robot.Target;
return(bestRoute);
}
}
public IEnumerable <RobotAction> GetNextActions(Robot robot)
{
robot.Targets = null;
robot.Target = null;
// gimme all the empty cells within x moves
var empties = DijkstraPathfinder.FindUnwrappedCellsWithin(robot.Position, Problem.Map, 10, false);
if (empties.Count == 0)
{
return(NextController.GetNextActions(robot));
}
var islands = new Dictionary <Point, HashSet <Point> >();
var notIslands = new HashSet <Point>();
foreach (var t in empties)
{
// point is not in an island cluster
if (notIslands.Contains(t))
{
continue;
}
// point is already in an island
bool found = false;
foreach (var island in islands.Values)
{
if (island.Contains(t))
{
found = true;
break;
}
}
if (found)
{
continue;
}
var np = DijkstraPathfinder.FindUnwrappedCellsWithin(t, Problem.Map, 100, true);
if (np.Count > 50)
{
np.ToList().ForEach(x => notIslands.Add(x)); // not an island, mark 'em
}
else
{
// found a new island
islands.Add(t, new HashSet <Point>(np));
}
}
// no islands, do something else
if (islands.Count == 0)
{
return(NextController.GetNextActions(robot));
}
// paint islands
robot.Targets = new HashSet <Point>(islands.Values.SelectMany(x => x));
// find the closest point in the smallest island
var closestScore = int.MaxValue;
IEnumerable <RobotAction> closestRoute = null;
foreach (var target in islands.OrderBy(x => x.Value.Count).First().Value)
{
var result = AStarPathFinder.GetRouteTo(robot.Position, target, Problem.Map, closestScore);
if (result != null && result.Count < closestScore)
{
closestScore = result.Count;
closestRoute = result;
robot.Target = target;
}
}
// go to there
return(closestRoute.Take(1));
}