void Start()
{
// A*
bFSearch = new BFSearch(width, height, depth, nodeSize, origin);
// Create main camera
Vector3 position = new Vector3(width * -6, height * 18, depth * -6);
Instantiate(cam, position, cam.transform.rotation);
grid = bFSearch.GetGrid();
// Add walls manually
//bFSearch.GetNode(2, 2, 2).SetWalkable(!bFSearch.GetNode(2, 2, 2).isWalkable);
// Draw walls
DrawWalls();
// Create visual nodes
stepVisual.Setup(grid);
// Show goal node
Object.Instantiate(goalObject, grid.GetPosition(goalX, goalY, goalZ) + new Vector3(5, 5, 5), new Quaternion());
Object.Instantiate(goalObject, grid.GetPosition(startX, startY, startZ) + new Vector3(5, 5, 5), new Quaternion());
}
public List <string> Get(string destination)
{
// run the search and return list
BFSearch search = new BFSearch();
return(search.goTo(destination));
}
public void BFSearchWorksCorrectly()
{
//Arrange
var tree = new Tree <int>();
int count = 0;
for (int i = 0; i < 10; i++)
{
var node = new Tree <int> .TreeNode(count);
count++;
tree.Add(node);
for (int j = 0; j < 10; j++)
{
var child = new Tree <int> .TreeNode(count);
count++;
tree.Add(child, node);
for (int k = 0; k < 10; k++)
{
var newChild = new Tree <int> .TreeNode(count);
count++;
tree.Add(newChild, child);
for (int f = 0; f < 20; f++)
{
var lastChild = new Tree <int> .TreeNode(count);
count++;
tree.Add(lastChild, newChild);
}
}
}
}
//Act
var search = new BFSearch <int>();
var result = search.BreadthFirstSearch(tree.Root);
var actual = new List <int>();
foreach (var item in tree)
{
actual.Add(item);
}
//Assert
CollectionAssert.AreEqual(result, actual);
}
public IEnumerator Solve(){
BFSearch searcher = new BFSearch(state_);
List<Move> moveList = searcher.GetMoveList(searcher.GetTerminalNode());
foreach(Move move in moveList){
SwapPiece(move);
//delay the moves to visualise the solving
yield return new WaitForSeconds(0.2f);
//yield return null;
}
}
public static IList <BFSearch.Cell> CreateRouteOf(this Vehicle vehicle, int pointCount, Point startPoint, BFSearch.Cell excludeCell = null)
{
var startCell = vehicle.GetCurrentCell(startPoint);
var terminateIndex = vehicle.Self.NextWaypointIndex;
var terminateCell = vehicle.GetCellByIndex(terminateIndex);
var route = (List <BFSearch.Cell>) new BFSearch(vehicle, startCell, terminateCell).Search(excludeCell: excludeCell);
while (route.Count < pointCount)
{
startCell = terminateCell;
terminateIndex++;
terminateCell = vehicle.GetCellByIndex(terminateIndex);
var nextRoute = new BFSearch(vehicle, startCell, terminateCell).Search(excludeCell: excludeCell);
route.AddRange(nextRoute);
}
return(route);
}
private bool ThereIsNoObstaclesForThrow(double angle, double distanceTo, Point carPoint)
{
bool result = true;
var stepLength = Game.TrackTileMargin * 1.5D;
var steps = Convert.ToInt32(Math.Floor(distanceTo / stepLength));
var startCell = this.GetCurrentCell(Self.CurrentPoint());
var route = new BFSearch(this, startCell, this.GetCurrentCell(carPoint)).Search();
var index = 0;
for (var i = 0; i < steps; i++)
{
var nx = Self.X + (i + 1) * stepLength * Math.Cos(angle);
var ny = Self.Y + (i + 1) * stepLength * Math.Sin(angle);
var cell = this.GetCurrentCell(new Point(nx, ny));
var currentIndex = route.IndexOf(cell);
if (currentIndex == -1 && !startCell.Equals(cell))
{
result = false;
break;
}
if (currentIndex - index > 1)
{
result = false;
break;
}
index = currentIndex;
}
return(result);
}
void SetupBFSearch()
{
bFSearch = new BFSearch(width, height, depth, nodeSize, origin);
bFSearchGrid = bFSearch.GetGrid();
// Add walls manually
bFSearch.GetNode(2, 2, 0).SetWalkable(!bFSearch.GetNode(2, 2, 0).isWalkable);
bFSearch.GetNode(2, 3, 0).SetWalkable(!bFSearch.GetNode(2, 3, 0).isWalkable);
bFSearch.GetNode(2, 4, 0).SetWalkable(!bFSearch.GetNode(2, 4, 0).isWalkable);
bFSearch.GetNode(3, 4, 0).SetWalkable(!bFSearch.GetNode(3, 4, 0).isWalkable);
bFSearch.GetNode(4, 4, 0).SetWalkable(!bFSearch.GetNode(4, 4, 0).isWalkable);
bFSearch.GetNode(5, 4, 0).SetWalkable(!bFSearch.GetNode(5, 4, 0).isWalkable);
bFSearch.GetNode(6, 4, 0).SetWalkable(!bFSearch.GetNode(6, 4, 0).isWalkable);
bFSearch.GetNode(6, 3, 0).SetWalkable(!bFSearch.GetNode(6, 3, 0).isWalkable);
bFSearch.GetNode(6, 2, 0).SetWalkable(!bFSearch.GetNode(6, 2, 0).isWalkable);
bFSearch.GetNode(1, 9, 0).SetWalkable(!bFSearch.GetNode(1, 9, 0).isWalkable);
bFSearch.GetNode(1, 8, 0).SetWalkable(!bFSearch.GetNode(1, 8, 0).isWalkable);
bFSearch.GetNode(3, 7, 0).SetWalkable(!bFSearch.GetNode(3, 7, 0).isWalkable);
bFSearch.GetNode(4, 7, 0).SetWalkable(!bFSearch.GetNode(4, 7, 0).isWalkable);
bFSearch.GetNode(5, 7, 0).SetWalkable(!bFSearch.GetNode(5, 7, 0).isWalkable);
bFSearch.GetNode(6, 7, 0).SetWalkable(!bFSearch.GetNode(6, 7, 0).isWalkable);
bFSearch.GetNode(7, 7, 0).SetWalkable(!bFSearch.GetNode(7, 7, 0).isWalkable);
bFSearch.GetNode(8, 7, 0).SetWalkable(!bFSearch.GetNode(8, 7, 0).isWalkable);
// Add weighted tiles manually
bFSearch.GetNode(0, 4, 0).SetWeighted(!bFSearch.GetNode(0, 4, 0).isWeighted);
bFSearch.GetNode(1, 4, 0).SetWeighted(!bFSearch.GetNode(1, 4, 0).isWeighted);
// Draw walls
for (int x = 0; x < bFSearchGrid.GetWidth(); x++)
{
for (int y = 0; y < bFSearchGrid.GetHeight(); y++)
{
for (int z = 0; z < bFSearchGrid.GetDepth(); z++)
{
Node node = bFSearchGrid.GetGridObject(x, y, z);
// If the node is not walkable draw a wall
if (!node.isWalkable)
{
Object.Instantiate(wallObject, bFSearchGrid.GetPosition(x, y, z) + new Vector3(5, 5, 5), new Quaternion());
}
if (node.isWeighted)
{
Object.Instantiate(weightedObject, bFSearchGrid.GetPosition(x, y, z) + new Vector3(5, 5, 5), new Quaternion());
}
}
}
}
// Create visual nodes
stepVisual.Setup(bFSearchGrid);
// Show goal node
Object.Instantiate(goalObject, bFSearchGrid.GetPosition(goalX, goalY, goalZ) + new Vector3(5, 5, 5), new Quaternion());
Object.Instantiate(goalObject, bFSearchGrid.GetPosition(startX, startY, startZ) + new Vector3(5, 5, 5), new Quaternion());
currentAlgorithm = "bFSearch";
}
public Node(PuzzleState s, BFSearch bfs){
parent_ = null;
searcher_ = bfs;
state_ = s;
expansions_ = 1;
}
