/// <summary>
/// AStar Constructor.
/// </summary>
/// <param name="G">The graph on which AStar will perform the search.</param>
public AStar(Graph G)
{
_Graph = G;
_Open = new SortableList();
_Closed = new SortableList();
ChoosenHeuristic = EuclidianHeuristic;
DijkstraHeuristicBalance = 0.5;
}
private static string ListNodesAndArcs(Graph GraphToDescribe)
{
StringBuilder SB = new StringBuilder("Description of the Graph:\n\tNodes> ");
foreach (Node N in GraphToDescribe.Nodes) SB.Append( N.ToString()+"; " );
SB.Append("\n\tArcs> ");
foreach (Arc A in GraphToDescribe.Arcs) SB.Append( A.ToString()+"; " );
return SB.ToString();
}
// 0 1 2 3 4
// 0 __ __ __ N6 __
// 1 N3 __ N5 __ __
// 2 __ N2 __ N4 __
// 3 __ __ N1 __ __
// 4 __ __ __ __ __
//
// Begin:N1
// Goal:N6
// Links of Nodes: N3<-N2<-N1->N4->N5->N6
// Result way:N1->N4->N5->N6
public static void Main()
{
try
{
var G = new Graph();
Node N1 = G.AddNode(2,3,0);
Node N2 = G.AddNode(1,2,0);
Node N3 = G.AddNode(0,1,0);
Node N4 = G.AddNode(3,2,0);
Node N5 = G.AddNode(2, 1, 0);
Node N6 = G.AddNode(3, 0, 0);
G.AddArc(N1,N2,1);
G.AddArc(N2,N3,1);
G.AddArc(N1,N4,1);
G.AddArc(N4,N5,1);
G.AddArc(N5, N6, 1);
Console.WriteLine( ListNodesAndArcs(G) );
Console.WriteLine("Start:"+N1.ToString());
Console.WriteLine("Goal:" + N6.ToString());
AStar AS = new AStar(G);
if (AS.SearchPath(N1, N6))
{
foreach (Arc A in AS.PathByArcs)
Console.WriteLine(A.ToString());
}
else
{
Console.WriteLine("No result !");
}
}
catch(Exception e)
{
Console.Write( "Error :\n\n"+e.ToString() );
}
Console.ReadLine();
}
private void Route(string s1, string s2, float maxrange, int mode)
{
Stopwatch sw = new Stopwatch();
if (lastJumprange != maxrange)
{
G = new Graph();
PrepareNodes(G, out nodes, maxrange, mode);
//Console.WriteLine("Prepare nodes time: {0}", sw.Elapsed);
lastJumprange = maxrange;
}
AStar AS = new AStar(G);
Node start, stop;
start = nodes.FirstOrDefault(x => x.System.SearchName == s1.ToLower());
stop = nodes.FirstOrDefault(x => x.System.SearchName == s2.ToLower());
bool res;
if (start == null)
{
AppendText("Start system: " + s1 + " unknown");
return;
}
if (stop == null)
{
AppendText("Destination system: " + s2 + " unknown");
return;
}
sw = new Stopwatch();
sw.Start();
res = AS.SearchPath(start, stop);
sw.Stop();
AppendText("Searching route from " + s1 + " to " + s2 + Environment.NewLine);
AppendText("Find route Time: " + sw.Elapsed.TotalSeconds.ToString("0.000s") + Environment.NewLine);
AppendText("Total distance: " + SystemData.Distance(s1, s2).ToString("0.00") + Environment.NewLine);
AppendText("Max jumprange:" + maxrange + Environment.NewLine);
double totdist = 0;
int jumps = 0;
if (res)
{
foreach (Arc A in AS.PathByArcs)
{
double dist = SystemData.Distance(A.StartNode.System.name, A.EndNode.System.name);
AppendText(A.EndNode.System.name + " \tDist: " + dist.ToString("0.00") + " ly" + Environment.NewLine);
totdist += dist;
jumps++;
Console.WriteLine(A.ToString());
}
// JArray ja = Path2JSON(AS);
}
else Console.WriteLine("No result !");
AppendText("Total distance: " + totdist.ToString("0.00") + Environment.NewLine);
AppendText("Jumps: " + jumps + Environment.NewLine);
}
private void PrepareNodes(Graph G, out List<Node> nodes, float maxrange, int mode)
{
List<SystemClass> systems = SystemData.SystemList;
nodes = new List<Node>();
SystemClass arcsystem;
float distance, maxrangex2 = maxrange * maxrange;
Node N2;
float weight = 1;
float dx, dy, dz;
Stopwatch sw = new Stopwatch();
sw.Start();
SystemClass system;
Node N1;
for (int ii = 0; ii < systems.Count; ii++)
{
system = systems[ii];
N1 = new Node(system.x, system.y, system.z, system);
G.AddNodeWithNoChk(N1);
nodes.Add(N1);
}
sw.Stop();
AppendText("Add stars: " + sw.Elapsed.TotalSeconds.ToString("0.000s") + Environment.NewLine);
sw.Restart();
for (int ii = 0; ii < systems.Count; ii++)
{
system = systems[ii];
N1 = nodes[ii];
for (int jj = ii; jj < systems.Count; jj++)
{
arcsystem = systems[jj];
dx = (float)(system.x - arcsystem.x);
dy = (float)(system.y - arcsystem.y);
dz = (float)(system.z - arcsystem.z);
distance = dx * dx + dy * dy + dz * dz;
//distance = (float)((system.x - arcsystem.x) * (system.x - arcsystem.x) + (system.y - arcsystem.y) * (system.y - arcsystem.y) + (system.z - arcsystem.z) * (system.z - arcsystem.z));
if (distance > 0 && distance <= maxrangex2)
{
N2 = nodes[jj];
if (mode == 1)
weight = (float)(1 / distance);
G.AddArcWithNoChk(N1, N2, weight);
G.AddArcWithNoChk(N2, N1, weight);
}
}
}
sw.Stop();
//Console.WriteLine("Create arcs: {0}", sw.Elapsed);
AppendText("Create arcs: " + sw.Elapsed.TotalSeconds.ToString("0.000s") + Environment.NewLine);
}
private static void ParseDataIntoGraph()
{
g = new Graph();
// LOAD NODES
for (int y = 0; y <= squareSize_1; y++)
{
for (int x = 0; x <= squareSize_1; x++)
{
g.AddNode(nodes[x, y]);
}
}
// LOAD ARCS
for (int y = 0; y <= squareSize_1; y++)
{
for (int x = 0; x <= squareSize_1; x++)
{
// check up
if (y > 0)
{
g.AddArc(nodes[x, y], nodes[x, y - 1], fileNodes[x, y - 1]);
}
// check down
if (y < squareSize_1)
{
g.AddArc(nodes[x, y], nodes[x, y + 1], fileNodes[x, y + 1]);
}
// check left
if (x >0)
{
g.AddArc(nodes[x, y], nodes[x - 1, y], fileNodes[x - 1, y]);
}
// check right
if (x < squareSize_1)
{
g.AddArc(nodes[x, y], nodes[x + 1, y], fileNodes[x + 1, y]);
}
}
}
}
/// <summary>
/// Build level graph
/// </summary>
/// <param name="l"></param>
public void LoadData(LevelMapData l)
{
level = l;
//make graph based on map
try
{
MapGraph = new Graph();
MapNodes = new Node[level.Height * level.Width];
// put nodes in graph and array
for (int i = 0; i < level.Height * level.Width; i++)
{
if (level.GetSquareAt(i % level.Width, i / level.Width).type == MapSquareType.Open)
{
MapNodes[i] = MapGraph.AddNode((i % level.Width) * 16 -8, (i / level.Width) * 16 -8, 0);
}
}
for (int i = 0; i < level.Height * level.Width; i++)
{
//updown
if (i / level.Width > 0)
{
if (MapNodes[i - level.Width] != null && MapNodes[i] != null)
MapGraph.Add2Arcs(MapNodes[i], MapNodes[i - level.Width], 1);
}
//leftright
if (i % level.Width > 0)
{
if (MapNodes[i - 1] != null && MapNodes[i] != null)
MapGraph.Add2Arcs(MapNodes[i], MapNodes[i - 1], 1);
}
//top left diag
if (i % level.Width > 0 && i / level.Width > 0)
{
if (MapNodes[i - level.Width - 1] != null && MapNodes[i] != null && MapNodes[i - level.Width] != null && MapNodes[i - 1] != null)
MapGraph.Add2Arcs(MapNodes[i], MapNodes[i - level.Width - 1], 1);
}
//top right diag
if (i % level.Width < level.Width - 1 && i / level.Width > 0)
{
if (MapNodes[i - level.Width + 1] != null && MapNodes[i] != null && MapNodes[i + 1] != null && MapNodes[i - level.Width] != null)
MapGraph.Add2Arcs(MapNodes[i], MapNodes[i - level.Width + 1], 1);
}
}
}
catch (Exception e) { throw e; }
}
private void Route(string s1, string s2, float maxrange, int mode)
{
EDDiscovery2.DB.ISystem ds1 = SystemData.GetSystem(s1);
EDDiscovery2.DB.ISystem ds2 = SystemData.GetSystem(s2);
if (ds1 == null) // warn here, quicker to complain than waiting for nodes to populate.
{
AppendText("Start system: " + s1 + " unknown");
return;
}
if (ds2 == null)
{
AppendText("Destination system: " + s2 + " unknown");
return;
}
double earea = 10.0; // add a little to the box for first/end points allowing out of box systems
Point3D minpos = new EMK.LightGeometry.Point3D(
Math.Min(ds1.x, ds2.x) - earea,
Math.Min(ds1.y, ds2.y) - earea,
Math.Min(ds1.z, ds2.z) - earea );
Point3D maxpos = new EMK.LightGeometry.Point3D(
Math.Max(ds1.x, ds2.x) + earea,
Math.Max(ds1.y, ds2.y)+ earea,
Math.Max(ds1.z, ds2.z) + earea );
AppendText("Bounding Box " + minpos.X + "," + minpos.Y + "," + minpos.Z + " to " + maxpos.X + "," + maxpos.Y + "," + maxpos.Z + Environment.NewLine);
Stopwatch sw = new Stopwatch();
G = new Graph(); // need to compute each time as systems in range changes each time
PrepareNodes(G, maxrange, mode,minpos,maxpos);
AStar AS = new AStar(G);
Node start, stop;
start = G.GetNodes.FirstOrDefault(x => x.System.SearchName == s1.ToLower());
stop = G.GetNodes.FirstOrDefault(x => x.System.SearchName == s2.ToLower());
bool res;
sw = new Stopwatch();
sw.Start();
res = AS.SearchPath(start, stop);
sw.Stop();
AppendText("Searching route from " + ds1.name + " to " + ds2.name + Environment.NewLine);
AppendText("Find route Time: " + sw.Elapsed.TotalSeconds.ToString("0.000s") + Environment.NewLine);
AppendText("Total distance: " + SystemData.Distance(s1, s2).ToString("0.00") + Environment.NewLine);
AppendText("Max jumprange:" + maxrange + Environment.NewLine);
if (res)
{
AppendText(Environment.NewLine + "Depart " + ds1.name + Environment.NewLine);
double totdist = 0;
int jumps = 0;
foreach (Arc A in AS.PathByArcs)
{
double dist = SystemData.Distance(A.StartNode.System.name, A.EndNode.System.name);
AppendText(string.Format("{0,-30}Dist: {1:0.00} ly" + Environment.NewLine, A.EndNode.System.name, dist));
totdist += dist;
jumps++;
Console.WriteLine(A.ToString());
}
AppendText(Environment.NewLine + "Total distance: " + totdist.ToString("0.00") + Environment.NewLine);
AppendText("Jumps: " + jumps + Environment.NewLine);
// JArray ja = Path2JSON(AS);
}
else
AppendText(Environment.NewLine + "NO Solution found - jump distance is too small or not enough star data between systems" + Environment.NewLine);
}
private void PrepareNodes(Graph G, float maxrange, int mode, Point3D minpos , Point3D maxpos)
{
List<SystemClass> systems = SystemData.SystemList;
float distance, maxrangex2 = maxrange * maxrange;
Node N1,N2;
float weight = 1;
float dx, dy, dz;
Stopwatch sw = new Stopwatch();
sw.Start();
SystemClass system;
for (int ii = 0; ii < systems.Count; ii++)
{
system = systems[ii];
// screening out stars reduces number and makes the arc calculator much quicker.
if (system.x >= minpos.X && system.x <= maxpos.X &&
system.y >= minpos.Y && system.y <= maxpos.Y &&
system.z >= minpos.Z && system.z <= maxpos.Z )
{
N1 = new Node(system.x, system.y, system.z, system);
G.AddNodeWithNoChk(N1);
}
}
sw.Stop();
AppendText("Add stars: " + sw.Elapsed.TotalSeconds.ToString("0.000s") + Environment.NewLine);
AppendText("No stars within bounds " + G.Count + Environment.NewLine);
sw.Restart();
for (int ii = 0; ii < G.Count; ii++)
{
N1 = G.GetN(ii);
for (int jj = ii; jj < G.Count; jj++)
{
N2 = G.GetN(jj);
dx = (float)(N1.X - N2.X);
dy = (float)(N1.Y - N2.Y);
dz = (float)(N1.Z - N2.Z);
distance = dx * dx + dy * dy + dz * dz;
if (distance > 0 && distance <= maxrangex2)
{
if (mode == 1)
weight = (float)(1 / distance);
G.AddArcWithNoChk(N1, N2, weight);
G.AddArcWithNoChk(N2, N1, weight);
}
}
}
sw.Stop();
//Console.WriteLine("Create arcs: {0}", sw.Elapsed);
AppendText("Create arcs: " + sw.Elapsed.TotalSeconds.ToString("0.000s") + Environment.NewLine);
}
