public void GotoSameTileTest()
{
network = new SamplePathNetwork(dataA);
IPathNode start = network.GetNode(0, 0);
IPathNode goal = network.GetNode(0, 0);
Path <SampleNode> p = solver.FindPath(start, goal, network);
Assert.AreEqual(PathStatus.ALREADY_THERE, p.status);
}
public Path <PointTileNode> FindPath(WorldCoordinate pStart, WorldCoordinate pEnd)
{
TileNode start = GetRoom(pStart.roomName).GetTile(pStart.localPosition);
TileNode end = GetRoom(pEnd.roomName).GetTile(pEnd.localPosition);
return(_pathSolver.FindPath(start, end, this));
}
public void FindPath_ThrowsIfGraphNotBuilt()
{
var solver = new PathSolver <Point, PathTestOption>(_testMap);
PathResult <Point> pathResult = null;
Assert.ThrowsException <PathfindingException>(() => pathResult = solver.FindPath(_startPt, _reachableEndPt, PathTestOption.Normal));
}
public void FindPathManyRooms()
{
Room[] rooms = LoadFromFile();
PrintWorld(rooms, Path <TileNode> .EMPTY);
TileNode start = null, goal = null;
foreach (Room r in rooms)
{
GameTypes.IntPoint localStart = r.WorldToLocalPoint(new GameTypes.IntPoint(-8, 1));
GameTypes.IntPoint localGoal = r.WorldToLocalPoint(new GameTypes.IntPoint(17, 6));
if (r.GetTileType(localStart) == TileType.FLOOR)
{
start = r.GetTile(localStart);
}
if (r.GetTileType(localGoal) == TileType.FLOOR)
{
goal = r.GetTile(localGoal);
}
}
Assert.NotNull(start);
Assert.NotNull(goal);
PathSolver <TileNode> solver = new PathSolver <TileNode>();
MultiRoomNetwork roomNetwork = new MultiRoomNetwork(rooms);
var foundPath = solver.FindPath(start, goal, roomNetwork);
Assert.AreEqual(PathStatus.FOUND_GOAL, foundPath.status);
PrintWorld(rooms, foundPath);
}
public List <PathSolver.PathFinderNode> Search(Position Start, Position End)
{
try
{
lock (_mapObjects)
{
if (Grid.GetLength(0) == 0 || Grid.GetLength(1) == 0)
{
return(null);
}
if (!Client.MapLoaded)
{
return(null);
}
nodes = new PathSolver.PathNode[Width, Height];
for (short y = 0; y < Height; y++)
{
for (short x = 0; x < Width; x++)
{
nodes[x, y] = new PathSolver.PathNode()
{
HasReactor = false,
IsBlock = this[x, y] == 1,
Steps = 0,
IsDoor = false
};
}
}
foreach (var obj in MapObjects)
{
if (obj.Type == MapObjectType.Monster ||
obj.Type == MapObjectType.Aisling ||
obj.Type == MapObjectType.NPC)
{
nodes[obj.ServerPosition.X, obj.ServerPosition.Y].IsBlock = true;
}
}
SetPassable(Start);
SetPassable(End);
nodes[Start.X, Start.Y].IsBlock = false;
nodes[End.X, End.Y].IsBlock = false;
var usingpath = PathSolver.FindPath(ref nodes, Start, End);
return(usingpath);
}
}
catch
{
return(null);
}
}
public void FindPath_ThrowsIfEmptyDestinationList()
{
var solver = new PathSolver <Point, PathTestOption>(_testMap);
solver.BuildAdjacencyGraph(_startPt);
PathResult <Point> pathResult = null;
var destList = new List <Point>();
Assert.ThrowsException <PathfindingException>(() => pathResult = solver.FindPath(_startPt, destList, PathTestOption.Normal));
}
public void FindPath_ThrowsIfDestNodeNotInGraph()
{
var solver = new PathSolver <Point, PathTestOption>(_testMap);
solver.BuildAdjacencyGraph(_startPt);
PathResult <Point> pathResult = null;
var ptOutsideOfGraph = new Point(-1, -1);
Assert.ThrowsException <PathfindingException>(() => pathResult = solver.FindPath(_startPt, ptOutsideOfGraph, PathTestOption.Normal));
}
public void FindPath_ZeroLengthPathToSelf()
{
var solver = new PathSolver <Point, PathTestOption>(_testMap);
solver.BuildAdjacencyGraph(new Point[] { _startPt, _reachableEndPt, _unreachableEndPt });
var solution = solver.FindPath(_startPt, _startPt, PathTestOption.Normal);
Assert.IsTrue(solution.PathCost == 0);
Assert.IsNotNull(solution.Path);
Assert.IsTrue(solution.Path.Count == 0);
StringAssert.Contains(solution.PerformanceSummary(), "Zero-length path");
}
public void PerformanceSummary_HasInfo()
{
var solver = new PathSolver <Point, PathTestOption>(_testMap);
solver.BuildAdjacencyGraph(new Point[] { _startPt, _reachableEndPt, _unreachableEndPt });
var solution = solver.FindPath(_startPt, _reachableEndPt, PathTestOption.Normal);
var summary = solver.PerformanceSummary();
Assert.IsNotNull(summary);
StringAssert.Contains(summary, "pathCount=1;");
}
public void FindPath_NoPathToUnreachable()
{
// In this case, _startPt and _unreachableEndPt are disconnected in the adjacency graph.
var solver = new PathSolver <Point, PathTestOption>(_testMap);
solver.BuildAdjacencyGraph(new Point[] { _startPt, _reachableEndPt, _unreachableEndPt });
var solution = solver.FindPath(_startPt, _unreachableEndPt, PathTestOption.Normal);
Assert.IsTrue(solution.PathCost == double.PositiveInfinity);
Assert.IsNull(solution.Path);
StringAssert.Contains(solution.PerformanceSummary(), "Path not found");
}
public void FindPath_NoPathIfAllInfiniteCosts()
{
// In this case, the start and end points are connected in the adjacency graph, but all possible paths
// have an infinite cost. PathSolver treats that as unreachable.
var solver = new PathSolver <Point, PathTestOption>(_testMap);
solver.BuildAdjacencyGraph(new Point[] { _startPt, _reachableEndPt, _unreachableEndPt });
var solution = solver.FindPath(_startPt, _reachableEndPt, PathTestOption.InfiniteCost);
Assert.IsTrue(solution.PathCost == double.PositiveInfinity);
Assert.IsNull(solution.Path);
StringAssert.Contains(solution.PerformanceSummary(), "Path not found");
}
public void FindPath_GoodPathToReachable()
{
var solver = new PathSolver <Point, PathTestOption>(_testMap);
solver.BuildAdjacencyGraph(new Point[] { _startPt, _reachableEndPt, _unreachableEndPt });
var solution = solver.FindPath(_startPt, _reachableEndPt, PathTestOption.Normal);
Assert.IsTrue(solution.PathCost >= _testMap.EstimatedCost(_startPt, _reachableEndPt, PathTestOption.Normal));
Assert.IsNotNull(solution.Path);
Assert.IsTrue(solution.Path.Count > 0);
Assert.IsTrue(solution.Path[solution.Path.Count - 1] == _reachableEndPt);
Assert.IsFalse(solution.Path.Contains(_startPt));
Assert.IsTrue(solution.NodesReprocessedCount == 0);
StringAssert.Contains(solution.PerformanceSummary(), $"Path from {_startPt}");
}
public void FindPath_GoodPathEvenWithOverestimate()
{
// If we give PathSolver a bad estimate, we should still get a path, but it won't always be optimal.
// NodesReprocessedCount can only be > 0 in this case.
var solver = new PathSolver <Point, PathTestOption>(_testMap);
solver.BuildAdjacencyGraph(new Point[] { _startPt, _reachableEndPt, _unreachableEndPt });
var solution = solver.FindPath(_startPt, _reachableEndPt, PathTestOption.OverEstimateRemainingDistance);
Assert.IsNotNull(solution.Path);
Assert.IsTrue(solution.Path.Count > 0);
Assert.IsTrue(solution.Path[solution.Path.Count - 1] == _reachableEndPt);
Assert.IsFalse(solution.Path.Contains(_startPt));
Assert.IsTrue(solution.NodesReprocessedCount > 0);
StringAssert.Contains(solution.PerformanceSummary(), $"Path from {_startPt}");
}
public void ClearAdjacencyGraph_InvalidatesOldNodes()
{
var solver = new PathSolver <Point, PathTestOption>(_testMap);
// Build a graph based on all three points.
solver.BuildAdjacencyGraph(new Point[] { _startPt, _reachableEndPt, _unreachableEndPt });
// Clear the graph, and then rebuild it with just one point.
solver.ClearAdjacencyGraph();
solver.BuildAdjacencyGraph(_startPt);
// Try to find a path to _unreachableEndPt. PathSolver should complain that it doesn't know about that point.
PathResult <Point> pathResult = null;
Assert.ThrowsException <PathfindingException>(() => pathResult = solver.FindPath(_startPt, _unreachableEndPt, PathTestOption.Normal));
}
private static void Demo()
{
// Create a tile map. In this case we're doing it from hard-coded strings, but it
// would be trivial to get it from a file instead.
var map = new Map(_demoMapStrings);
// Create an instace of an IPathGraph. This is a class that the caller provides
// that answers which tiles are adjacent to which, and what the cost is to move from
// one to the next.
var tileGraph = new TileGraph(map);
// Create a PathSolver instance. The first type parameter here is Point2D. It's whatever
// we're using to identify nodes (tile in this case). The second one - int here - is a dummy
// type since we don't care about callerData/passthrough values in this example.
var solver = new PathSolver <Point2D, int>(tileGraph);
var allImportantPoints = _demoGoalPts.Concat(_demoStartPts);
// Pre-build the PathSolver's data structures. We're telling it to build a graph of all of the points
// reachable from the ones we give it here.
solver.BuildAdjacencyGraph(allImportantPoints);
// Create a path and draw the map for each point in _demoStartPts.
foreach (var startPt in _demoStartPts)
{
// Find the shortest path from startPt to any of points listed in _interestingGoals. Of course,
// you could just give it one ending point. The third parameter, 0 here, is unused in this example.
var pathResult = solver.FindPath(startPt, _demoGoalPts, 0);
// Write the map out as a grid characters, with a couple extra bits:
// O is the starting point for our path.
// X is one of the ending points for our path.
// . is a tile we moved through on the path.
var startPtsArray = new Point2D[] { startPt };
var mapStrings = map.RowStrings(pathResult.Path, startPtsArray, _demoGoalPts);
Console.WriteLine();
foreach (var mapRow in mapStrings)
{
Console.WriteLine(mapRow);
}
// Write performance info.
Console.WriteLine(pathResult.PerformanceSummary());
}
}
public List <PathSolver.PathFinderNode> Search(Position Start, Position End)
{
lock (_mapObjects)
{
if (Grid.GetLength(0) == 0 || Grid.GetLength(1) == 0)
{
return(null);
}
if (!Client.MapLoaded)
{
return(null);
}
var usingpath = PathSolver.FindPath(Grid, Start, End);
return(usingpath);
}
}
/// <summary>
/// Plot a path between the given stars for a particular ship type, and write that path out to the console.
/// </summary>
private static void WritePath(StarMap map,
PathSolver <string, ShipCharacteristics> solver,
string fromStar,
string toStar,
ShipCharacteristics ship)
{
// Find the best path between our stars. The third parameter here, ship, gets passed through
// to StarMap's Cost and EstimatedCost methods.
var pathInfo = solver.FindPath(fromStar, toStar, ship);
if (pathInfo.Path == null)
{
Console.WriteLine($"{ship.ShipClass}: no path found from {fromStar} to {toStar}");
return;
}
// Write out a string indicating each step in the path and its cost.
var buff = new System.Text.StringBuilder();
buff.Append(ship.ShipClass).Append(": ").Append(fromStar);
string currentStar = fromStar;
int i = 0;
while (i < pathInfo.Path.Count)
{
string nextStar = pathInfo.Path[i];
var cost = map.Cost(currentStar, nextStar, ship);
buff.AppendFormat(" -({0:N1})-> ", cost);
buff.Append(nextStar);
i += 1;
currentStar = nextStar;
}
Console.WriteLine(buff.ToString());
// Write out debug/performance stats.
Console.WriteLine(" " + pathInfo.PerformanceSummary());
}
/// <summary>
/// Search for a whole lot of paths using a large map.
/// </summary>
private static void Benchmark()
{
// Build the necessary pieces (as above in Demo()).
var map = new Map(_benchmarkMapStrings);
var tileGraph = new TileGraph(map);
var solver = new PathSolver <Point2D, int>(tileGraph);
// Init the solver's graph. (This step is included in solver.LifetimeSolutionTimeMS, by the way.)
solver.BuildAdjacencyGraph(_benchmarkPts);
// Solve a path for every combination of 1 starting point and 2 destination points. (So if P is the number of
// points, then we're solving P*(P-1)*(P-2)/2 paths.)
for (var startIdx = 0; startIdx < _benchmarkPts.Length; ++startIdx)
{
var startPt = _benchmarkPts[startIdx];
for (var endIdx1 = 0; endIdx1 < _benchmarkPts.Length; ++endIdx1)
{
if (endIdx1 == startIdx)
{
continue;
}
for (var endIdx2 = endIdx1 + 1; endIdx2 < _benchmarkPts.Length; ++endIdx2)
{
if (endIdx2 == startIdx)
{
continue;
}
var endPts = new[] { _benchmarkPts[endIdx1], _benchmarkPts[endIdx2] };
var pathResult = solver.FindPath(startPt, endPts, 0);
}
}
}
// Write out a summary of the PathSolver's lifetime statistics.
Console.WriteLine(solver.PerformanceSummary());
}
public void BasicUsage()
{
{
RelayTwo relay = new RelayTwo();
relay.CreateTable(Room.TABLE_NAME);
RoomRunner roomRunner = new RoomRunner(relay);
foreach (string s in roomRunner.Preload())
{
;
}
Room r1 = roomRunner.CreateRoom <Room>("r1");
Room r2 = roomRunner.CreateRoom <Room>("r2");
PointTileNode door1 = null;
PointTileNode door2 = null;
for (int i = 0; i < 100; i++)
{
int x = i % 10;
int y = i / 10;
if (x == 9 && y == 9)
{
door1 = new PointTileNode(new IntPoint(9, 9), r1);
r1.AddTile(door1);
}
else
{
r1.AddTile(new PointTileNode(new IntPoint(x, y), r1));
}
}
for (int i = 0; i < 100; i++)
{
int x = i % 10;
int y = i / 10;
if (x == 0 && y == 0)
{
door2 = new PointTileNode(new IntPoint(0, 0), r2);
r2.AddTile(door2);
}
else
{
r2.AddTile(new PointTileNode(new IntPoint(x, y), r2));
}
}
r1.worldPosition = new IntPoint(50, 0);
door1.teleportTarget = door2;
door2.teleportTarget = door1;
relay.SaveAll("room_test.json");
}
{
RelayTwo relay = new RelayTwo("room_test.json");
RoomRunner roomRunner = new RoomRunner(relay);
foreach (string s in roomRunner.Preload())
{
;
}
Room r1 = roomRunner.GetRoom("r1");
Room r2 = roomRunner.GetRoom("r2");
r1.GetTile(9, 9).teleportTarget = r2.GetTile(0, 0);
r2.worldPosition = new IntPoint(0, 0);
PointTileNode start = r1.GetTile(new IntPoint(0, 5));
PointTileNode goal = r2.GetTile(new IntPoint(9, 5));
D.isNull(start);
D.isNull(goal);
PathSolver <PointTileNode> pathSolver = new PathSolver <PointTileNode>();
Path <PointTileNode> path = pathSolver.FindPath(start, goal, roomRunner);
Assert.AreEqual(PathStatus.FOUND_GOAL, path.status);
Console.WriteLine("path resolved using " + path.pathSearchTestCount + " node tests");
Console.WriteLine("path tile count " + path.nodes.Length);
}
}
// Returns true if the character should start walking again
private bool TilePathfindToTargetPositionInRoom()
{
#if PROFILE
Stopwatch sw = new Stopwatch();
sw.Start();
#endif
_tilePath = Path.EMPTY;
_startTileNode = _character.tile;
if (_startTileNode == null)
{
TryToFindAlternativeStartingTile();
if (_startTileNode != null)
{
//D.Log (_character + " has no start tile, will set his pos to alternative start tile " + _startTileNode);
_character.StartAction("", null, 0f, 0f);
_character.position = _startTileNode.position;
}
else
{
//D.Log (_character + " has no start tile but didn't find alternative start tile");
}
}
Room finalRoom = _roomRunner.GetRoom(_character.finalTargetPosition.roomName);
if (_character.room == finalRoom)
{
if (_character.finalTargetTing != null)
{
// Try to go to the closest interaction point instead of straight to the actual ting position
// (which will lead to an error)
#if LOG
s_logger.Log(_character + " with timetable " + _character.timetable + " will tilepathfind to closest interaction point of " + _character.finalTargetTing + " at position " + _character.finalTargetTing.position);
#endif
bool ignoreCharacters = (_character.finalTargetTing is Door || _character.finalTargetTing is Portal);
IntPoint closestInteractionPoint;
if (_character.finalTargetTing.interactionPointsTryTheseFirst != null &&
GetClosestInteractionPoint(_roomRunner, finalRoom, _character.tile, _character.finalTargetTing.interactionPointsTryTheseFirst, out closestInteractionPoint, _character, ignoreCharacters))
{
_character.finalTargetPosition = new WorldCoordinate(_character.finalTargetPosition.roomName, closestInteractionPoint);
#if LOG
s_logger.Log("Found a closest target position for " + _character.name + ": " + _character.finalTargetPosition);
#endif
}
else if (GetClosestInteractionPoint(_roomRunner, finalRoom, _character.tile, _character.finalTargetTing.interactionPoints, out closestInteractionPoint, _character, ignoreCharacters))
{
_character.finalTargetPosition = new WorldCoordinate(_character.finalTargetPosition.roomName, closestInteractionPoint);
#if LOG
s_logger.Log("Found a closest target position B for " + _character.name + ": " + _character.finalTargetPosition);
#endif
}
else
{
//Console.WriteLine(_character.name + " can't find closest target position for ting " + _character.finalTargetTing + " at pos " + _character.finalTargetTing.position);
_character.CancelWalking();
_character.timetableTimer = Randomizer.GetValue(5.0f, 10.0f); // how long to wait? (used to be 0)
return(false);
}
}
// The target in the room should be the same as the final target position
_character.targetPositionInRoom = _character.finalTargetPosition;
}
else
{
// In this case the target position in the room should be already set by MimanPathfinding
}
_goalTileNode = _character.room.GetTile(_character.targetPositionInRoom.localPosition);
if (_goalTileNode == null)
{
TryToFindAlternativeGoalTile();
}
if (_goalTileNode == null)
{
#if LOG
s_logger.Log("Tilepathfinding for " + _character.name + " failed, can't find a goal tile node");
#endif
return(false);
}
if (_startTileNode.group > -1 && _goalTileNode.group > -1 &&
_startTileNode.group != _goalTileNode.group)
{
_character.CancelWalking();
_character.timetableTimer = Randomizer.GetValue(5.0f, 10.0f); // how long to wait? (used to be 0)
#if LOG
s_logger.Log("Tilepathfinding for " + _character.name + " failed, startTileNode at " + _startTileNode.position + " has group " + _startTileNode.group + " while _goalTileNode at " + _goalTileNode.position + " has group " + _goalTileNode.group);
#endif
return(false);
}
/*
* if(_character.HasRecentlyMadeAFailedPathFindingSearch(_startTileNode, _goalTileNode)) {
* _character.logger.Log(_character.name + " will not pathfind; has recently made a failed path finding search between " + _character.tile + " and " + _goalTileNode);
* _character.CancelWalking();
* return false;
* }
*/
#if LOG
s_logger.Log(_character.name + " will pathfind from " + _character.tile + " to " + _goalTileNode);
#endif
_character.room.Reset();
_tilePath = _tilePathSolver.FindPath(_startTileNode, _goalTileNode, _roomRunner, false);
foreach (var tilePathNode in _tilePath.nodes)
{
Fence fence = tilePathNode.GetOccupantOfType <Fence>();
if (fence != null)
{
//s_logger.Log("There is a Fence on the path of " + _character + ", will interact with that instead");
_character.CancelWalking();
_character.WalkToTingAndInteract(fence);
return(false);
}
}
#if LOG
s_logger.Log("Tile path solve from " + _startTileNode + " to " + _goalTileNode + ": " + _tilePath.status); // + ", PATH NODES " + _tilePath);
#endif
#if PROFILE
sw.Stop();
if (sw.Elapsed.TotalSeconds > 0.001f)
{
D.Log("TilePathFinding for " + _character + " from " + _startTileNode + " to " + _goalTileNode + " took " + sw.Elapsed.TotalSeconds + " s.");
}
#endif
if (_tilePath.status == PathStatus.DESTINATION_UNREACHABLE)
{
#if LOG
s_logger.Log("The destination was unreachable so we'll register it and cancel walking");
#endif
//_character.RegisterFailedPathFindingSearch(_startTileNode, _goalTileNode);
#if LOG
s_logger.Log(_character.name + ": The destination " + _goalTileNode.position + " was unreachable from " + _startTileNode.position);
#endif
//_character.CancelWalking();
return(false);
}
else if (_tilePath.status == PathStatus.ALREADY_THERE)
{
#if LOG
s_logger.Log("Already there, analyze tile");
#endif
AnalyzeNewTile();
return(false);
}
else if (_tilePath.status == PathStatus.FOUND_GOAL)
{
#if LOG
s_logger.Log("Found goal at " + _goalTileNode);
s_logger.Log("Path for " + _character + ": " + string.Join(", ", _tilePath.nodes.Select(t => t.ToString()).ToArray()));
#endif
return(true);
}
else
{
#if LOG
s_logger.Log("This case should really not happen");
#endif
}
return(false);
}
