public MazeArc(MazeNode from, MazeNode to)
{
this.from = from;
this.to = to;
Weight = new Segment2D(from.position, to.position).Length;
}
public void AddArc(MazeNode from, MazeNode to)
{
MazeArc newArc = new MazeArc(from, to);
if (!mazeGraphArcs.Contains(newArc))
{
mazeGraphArcs.Add(newArc);
from.addOutgoingGraphArc(newArc);
to.addIncommingGraphArc(newArc);
}
}
public void RemoveNode(MazeNode node)
{
mazeGraphNodes.Remove(node);
ArrayList arcsToRemove = new ArrayList();
foreach (MazeArc arc in mazeGraphArcs)
if (arc.from == node || arc.to == node)
arcsToRemove.Add(arc);
foreach (MazeArc arc in arcsToRemove)
this.RemoveArc(arc);
}
public void AddNode(MazeNode node)
{
if (!mazeGraphNodes.Contains(node))
mazeGraphNodes.Add(node);
}
public void LoadAll(String filename)
{
JToken tempJObject;
StreamReader reader = File.OpenText(filename);
JObject o = (JObject)JToken.ReadFrom(new JsonTextReader(reader));
if (o.TryGetValue("name", out tempJObject))
worldName = o.GetValue("name").ToString();
if (o.TryGetValue("timeout", out tempJObject))
iWorldTimeout = (int)o.GetValue("timeout");
mazeWalls = new ArrayList();
Hashtable mazeWallsById = new Hashtable();
mazeRobots = new ArrayList();
mazeVictims = new ArrayList();
mazeSpaces = new ArrayList();
Hashtable mazeSpacesById = new Hashtable();
mazeGraph = new MazeGraph();
mazeNodeNodes = new ArrayList();
mazeSpaceNode = new ArrayList();
mazeSpaceRobots = new ArrayList();
foreach (JObject jObject in o.GetValue("walls").Children())
{
MazeWall mazeWall = new MazeWall(
new Point2D((double)((JObject)jObject.GetValue("from")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("from")).GetValue("y") * 100),
new Point2D((double)((JObject)jObject.GetValue("to")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("to")).GetValue("y") * 100),
(float)jObject.GetValue("width") * 100,
(float)jObject.GetValue("height") * 100,
Color.FromArgb(Convert.ToInt32((string)jObject.GetValue("color"), 16)));
if (mazeWall.Color.A == 0)
mazeWall.Color = Color.LightGray;
mazeWall.ID = (string)jObject.GetValue("id");
mazeWalls.Add(mazeWall);
mazeWallsById.Add((string)jObject.GetValue("id"), mazeWall);
}
if (o.GetValue("gates") != null)
{
foreach (JObject jObject in o.GetValue("gates").Children())
{
MazeWall mazeWall = new MazeWall(
new Point2D((double)((JObject)jObject.GetValue("from")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("from")).GetValue("y") * 100),
new Point2D((double)((JObject)jObject.GetValue("to")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("to")).GetValue("y") * 100),
0, 0, Color.Black);
mazeWall.MazeWallType = MazeWallType.gate;
string kind = (string)jObject.GetValue("kind");
mazeWall.MazeDoorType = (kind == "door" ? MazeGateType.door : (kind == "passage" ? MazeGateType.passage : MazeGateType.doorOneWayFromTo)); //doorOneWayFromTo will be changed later
mazeWall.blocked = (double)jObject.GetValue("blocked");
mazeWall.ID = (string)jObject.GetValue("id");
mazeWalls.Add(mazeWall);
mazeWallsById.Add((string)jObject.GetValue("id"), mazeWall);
}
}
if (o.GetValue("robots") != null)
{
JToken tmp;
Point2D? target;
foreach (JObject jObject in o.GetValue("robots").Children())
{
if (jObject.TryGetValue("target", out tmp))
target = new Point2D((double)((JObject)jObject.GetValue("target")).GetValue("x"), (double)((JObject)jObject.GetValue("target")).GetValue("y"));
else
target = null;
MazeRobot mazeRobot = new MazeRobot(
(string)jObject.GetValue("type"),
(string)jObject.GetValue("id"),
new Point2D((double)((JObject)jObject.GetValue("location")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("location")).GetValue("y") * 100),
(float)((JObject)jObject.GetValue("location")).GetValue("z") * 100,
//new Point2D((double)((JObject)jObject.GetValue("target")).GetValue("x"),(double)((JObject)jObject.GetValue("target")).GetValue("y"))
target
);
mazeRobot.ID = (string)jObject.GetValue("id");
mazeRobots.Add(mazeRobot);
}
}
if (o.GetValue("victims") != null)
{
foreach (JObject jObject in o.GetValue("victims").Children())
{
MazeVictim mazeVictim = new MazeVictim(
new Point2D((double)((JObject)jObject.GetValue("position")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("position")).GetValue("y") * 100));
mazeVictim.ID = (string)jObject.GetValue("id");
mazeVictims.Add(mazeVictim);
}
}
Hashtable wallsBySpaceId = new Hashtable();
if (o.GetValue("space-walls") != null)
{
foreach (JObject jObject in o.GetValue("space-walls").Children())
{
string spaceId = (string)jObject.GetValue("spaceId");
string wallId = (string)jObject.GetValue("wallId");
if (wallsBySpaceId.ContainsKey(spaceId))
{
((ArrayList)wallsBySpaceId[spaceId]).Add(mazeWallsById[wallId]);
}
else
{
ArrayList newArrayList = new ArrayList();
newArrayList.Add(mazeWallsById[wallId]);
wallsBySpaceId[spaceId] = newArrayList;
}
}
}
if (o.GetValue("space-gates") != null)
{
foreach (JObject jObject in o.GetValue("space-gates").Children())
{
string spaceId = (string)jObject.GetValue("spaceId");
string wallId = (string)jObject.GetValue("gateId");
if (wallsBySpaceId.ContainsKey(spaceId))
{
((ArrayList)wallsBySpaceId[spaceId]).Add(mazeWallsById[wallId]);
}
else
{
ArrayList newArrayList = new ArrayList();
newArrayList.Add(mazeWallsById[wallId]);
wallsBySpaceId[spaceId] = newArrayList;
}
}
}
if (o.GetValue("spaces") != null)
{
foreach (JObject jObject in o.GetValue("spaces").Children())
{
MazeSpace newRoom = new MazeSpace((ArrayList)wallsBySpaceId[(string)jObject.GetValue("id")]);
newRoom.ID = (string)jObject.GetValue("id");
newRoom.MazeRoomType = (MazeSpaceType)System.Enum.Parse(typeof(MazeSpaceType), (string)jObject.GetValue("kind"));
newRoom.Function = (string)jObject.GetValue("function");
newRoom.Name = (string)jObject.GetValue("name");
newRoom.ExpectedPersonCount = (int)jObject.GetValue("expectedPersonCount");
if (jObject.TryGetValue("searched", out tempJObject))
newRoom.Searched = (int)jObject.GetValue("searched");
mazeSpaces.Add(newRoom);
mazeSpacesById[newRoom.ID] = newRoom;
foreach (MazeWall roomWall in newRoom.Walls)
{
if (roomWall.RoomFrom == null)
roomWall.RoomFrom = newRoom;
else
roomWall.RoomTo = newRoom;
}
}
}
/////////////////////////// graph
Hashtable spacesByNodeId = new Hashtable();
if (o.GetValue("space-nodes") != null)
{
foreach (JObject jObject in o.GetValue("space-nodes").Children())
{
spacesByNodeId[(string)jObject.GetValue("nodeId")] = mazeSpacesById[(string)jObject.GetValue("spaceId")];
}
}
Hashtable gatesByNodeId = new Hashtable();
if (o.GetValue("gate-nodes") != null)
{
foreach (JObject jObject in o.GetValue("gate-nodes").Children())
{
gatesByNodeId[(string)jObject.GetValue("nodeId")] = mazeWallsById[(string)jObject.GetValue("gateId")];
}
}
Hashtable nodesById = new Hashtable();
if (o.GetValue("nodes") != null)
{
foreach (JObject jObject in o.GetValue("nodes").Children())
{
MazeNode node = new MazeNode(new Point2D((double)((JObject)jObject.GetValue("position")).GetValue("x") * 100, (double)((JObject)jObject.GetValue("position")).GetValue("y") * 100),
(MazeSpace)spacesByNodeId[(string)jObject.GetValue("id")],
gatesByNodeId[(string)jObject.GetValue("id")] as MazeWall);
node.ID = (string)jObject.GetValue("id");
nodesById[node.ID] = node;
mazeGraph.AddNode(node);
}
}
if (o.GetValue("node-nodes") != null)
{
foreach (JObject jObject in o.GetValue("node-nodes").Children())
{
MazeNode fromNode = (MazeNode)nodesById[(string)jObject.GetValue("nodeFromId")];
MazeNode toNode = (MazeNode)nodesById[(string)jObject.GetValue("nodeToId")];
if (fromNode.Door != null && (fromNode.Door.MazeDoorType == MazeGateType.doorOneWayFromTo || fromNode.Door.MazeDoorType == MazeGateType.doorOneWayToFrom))
{
if (fromNode.Room == fromNode.Door.RoomFrom)
fromNode.Door.MazeDoorType = MazeGateType.doorOneWayFromTo;
else
fromNode.Door.MazeDoorType = MazeGateType.doorOneWayToFrom;
}
mazeGraph.AddArc(fromNode, toNode);
mazeNodeNodes.Add(new MazeNodeNodes(jObject.GetValue("nodeFromId").ToString(), jObject.GetValue("nodeToId").ToString(), double.Parse(jObject.GetValue("cost").ToString()), double.Parse(jObject.GetValue("blocked").ToString())));
}
}
if (o.GetValue("space-nodes") != null)
{
foreach (JObject jObject in o.GetValue("space-nodes").Children())
{
mazeSpaceNode.Add(new MazeSpaceNodes(jObject.GetValue("type").ToString(),
jObject.GetValue("spaceId").ToString(),
jObject.GetValue("nodeId").ToString()));
}
}
if (o.GetValue("space-robots") != null)
{
foreach (JObject jObject in o.GetValue("space-robots").Children())
{
mazeSpaceRobots.Add(new MazeSpaceRobots(jObject.GetValue("type").ToString(),
jObject.GetValue("spaceId").ToString(),
jObject.GetValue("robotId").ToString()));
}
}
reader.Close();
}
private void recreateRoomsButton_Click(object sender, EventArgs e)
{
if (mazeGraph != null && MessageBox.Show("This operation will remove the rooms and the graph. It cannot be undone.\n Are you sure?", "", MessageBoxButtons.OKCancel) != DialogResult.OK)
return;
mazeGraph = new MazeGraph();
mazeRooms = new ArrayList();
roomsTreeView.Nodes.Clear();
RoomsGraphBuilder roomsGraphBuilder = new RoomsGraphBuilder();
if (!ConvexOnlyCheckBox.Checked)
{
roomsGraphBuilder.GenerateConvexRoomsOnly = false;
roomsGraphBuilder.SplitRoomsIntoConvex = false;
}
foreach (MazeWall wall in mazeWalls)
{
if (wall.MazeWallType == MazeWallType.wall)
roomsGraphBuilder.AddWall(new Point2D(wall.points[0].X, wall.points[0].Y), new Point2D(wall.points[1].X, wall.points[1].Y));
else
roomsGraphBuilder.AddDoor(new Point2D(wall.points[0].X, wall.points[0].Y), new Point2D(wall.points[1].X, wall.points[1].Y));
}
roomsGraphBuilder.BuildRegion();
Hashtable mazeNodeByRoomasGraphNodes = new Hashtable();
Hashtable mazeWallsByRoomasGraphWalls = new Hashtable();
ArrayList oldMazeWalls = mazeWalls;
mazeWalls = new ArrayList();
foreach (Room graphBuilderRoom in roomsGraphBuilder.Rooms)
{
ArrayList roomWalls = new ArrayList();
foreach (Wall graphBuilderWall in graphBuilderRoom.Walls)
{
bool oldWallFound = false;
foreach (MazeWall mazeWall in oldMazeWalls) //find old
{
if (mazeWall.Segment.ContainsSegment(graphBuilderWall.WallSegment))
{
oldWallFound = true;
MazeWall roomWall = new MazeWall(graphBuilderWall.From, graphBuilderWall.To, mazeWall.Width, mazeWall.Height, mazeWall.Color);
roomWall.MazeWallType = (graphBuilderWall.Type == Wall.WallType.Solid ? MazeWallType.wall : MazeWallType.gate);
int indexOf = mazeWalls.IndexOf(roomWall);
if (indexOf >= 0)
{
roomWall = (MazeWall)mazeWalls[indexOf];
}
else
{
mazeWalls.Add(roomWall);
mazeWallsByRoomasGraphWalls[graphBuilderWall] = roomWall;
}
roomWalls.Add(roomWall);
break;
}
}
if (!oldWallFound)
{
MazeWall roomWall = new MazeWall(graphBuilderWall.From, graphBuilderWall.To, 0, 0, Color.Black);
int indexOf = mazeWalls.IndexOf(roomWall);
if (indexOf >= 0)
{
roomWall = (MazeWall)mazeWalls[indexOf];
}
else
{
roomWall.MazeWallType = MazeWallType.gate;
mazeWalls.Add(roomWall);
mazeWallsByRoomasGraphWalls[graphBuilderWall] = roomWall;
}
roomWalls.Add(roomWall);
}
}
/* ///reorder walls
ArrayList orderedRoomWalls = new ArrayList();
orderedRoomWalls.Add(roomWalls[0]);
roomWalls.RemoveAt(0);
Point2D nextPoint = (roomWalls[0] as Wall).To;
while (roomWalls.Count > 0)
{
foreach (Wall wall in roomWalls)
if (wall.From.GetDistance(nextPoint) < 0.01)
{
nextPoint = wall.From;
roomWalls.Remove(wall);
orderedRoomWalls.Add(wall);
break;
}
else if (wall.To.GetDistance(nextPoint) < 0.01)
{
nextPoint = wall.To;
roomWalls.Remove(wall);
orderedRoomWalls.Add(wall);
break;
}
}
*/
MazeSpace room = new MazeSpace(roomWalls);
mazeRooms.Add(room);
foreach (MazeWall roomWall in roomWalls)
{
if (roomWall.RoomFrom == null)
roomWall.RoomFrom = room;
else
roomWall.RoomTo = room;
}
////////////////////////////////////// nodes
foreach (RoomsGraph.Node borderNode in graphBuilderRoom.BorderNodes) //push door-nodes into rooms
{
Vector2D v = new Vector2D(borderNode.DoorWall.From, borderNode.DoorWall.To);
v.MakePerpendicular();
v.Length = (double)wallWidthNumericUpDown.Value * 100;
if (Math.Abs(v.AngleBetween(new Vector2D(borderNode.DoorWall.Center, borderNode.Location))) > Math.PI / 2)
v.Inverse();
borderNode.Position.X += v.x;
borderNode.Position.Y += v.y;
}
room.CetralNode = new MazeNode(graphBuilderRoom.CentralNode.Location, room, null);
mazeNodeByRoomasGraphNodes[graphBuilderRoom.CentralNode] = room.CetralNode;
mazeGraph.AddNode(room.CetralNode);
foreach (RoomsGraph.Node n in graphBuilderRoom.BorderNodes)
{
MazeNode mazeGraphNode = new MazeNode(n.Location, room, (MazeWall)mazeWallsByRoomasGraphWalls[n.DoorWall]);
mazeNodeByRoomasGraphNodes[n] = mazeGraphNode;
room.BorderNodes.Add(mazeGraphNode);
mazeGraph.AddNode(mazeGraphNode);
}
}
foreach (RoomsGraph.Arc arc in roomsGraphBuilder.Graph.Arcs)
{
if (mazeNodeByRoomasGraphNodes[arc.StartNode] != null && mazeNodeByRoomasGraphNodes[arc.EndNode] != null)
mazeGraph.AddArc((MazeNode)mazeNodeByRoomasGraphNodes[arc.StartNode], (MazeNode)mazeNodeByRoomasGraphNodes[arc.EndNode]);
}
recreateRoomsTreeView();
recreateGraphTreeView();
RefreshMazeWallsTreeView();
mazePanel_Paint(this, null);
}
private void MoveNode(int x, int y)
{
if (moveInProgress)
{
moveInProgress = false;
}
else
{
tempPoints[0].X = x;
tempPoints[0].Y = y;
invertedMazeMatrix.TransformPoints(tempPoints);
float minDist = float.MaxValue;
float dist = 0.0f;
selectedNode = null;
if (mazeGraph != null)
{
foreach (MazeNode n in mazeGraph.MazeGraphNodes)
{
dist = (float)Vector2D.GetLength(n.position.x - tempPoints[0].X, n.position.y - tempPoints[0].Y);
if (dist < minDist)
{
selectedNode = n;
minDist = dist;
}
}
}
if (selectedNode != null)
{
moveInProgress = true;
tempPoints[0] = new PointF((float)selectedNode.position.x, (float)selectedNode.position.y);
firstPoint = tempPoints[0];
mazeBitmapGraphics.Transform.TransformPoints(tempPoints);
}
}
}