// this can be slow...
public Spot FindClosestSpot(Location l, float max_d, Set <Spot> Not)
{
Spot closest = null;
float closest_d = 1E30f;
int d = 0;
while ((float)d <= max_d + 0.1f)
{
for (int i = -d; i <= d; i++)
{
float x_up = l.X + (float)d;
float x_dn = l.X - (float)d;
float y_up = l.Y + (float)d;
float y_dn = l.Y - (float)d;
Spot s0 = GetSpot2D(x_up, l.Y + i);
Spot s2 = GetSpot2D(x_dn, l.Y + i);
Spot s1 = GetSpot2D(l.X + i, y_dn);
Spot s3 = GetSpot2D(l.X + i, y_up);
Spot[] sv = { s0, s1, s2, s3 };
foreach (Spot s in sv)
{
Spot ss = s;
while (ss != null)
{
float di = ss.GetDistanceTo(l);
if (di < max_d && !ss.IsBlocked() &&
(di < closest_d))
{
closest = ss;
closest_d = di;
}
ss = ss.next;
if (Cancel)
{
goto loop_end;
}
}
}
}
if (closest_d < d) // can't get better
{
//Log("Closest2 spot to " + l + " is " + closest);
return(closest);
}
d++;
}
loop_end:
//Log("Closest1 spot to " + l + " is " + closest);
return(closest);
}
public Path CreatePath(Spot from, Spot to, Location realDst,
float minHowClose, bool AllowInvented,
ILocationHeuristics locationHeuristics)
{
Spot newTo = search(from, to, realDst, minHowClose, AllowInvented,
locationHeuristics);
if (newTo != null)
{
if (newTo.GetDistanceTo(to) <= minHowClose)
{
List <Spot> path = FollowTraceBack(from, newTo);
return(new Path(path));
}
}
return(null);
}
public List <Spot> FindAllSpots(Location l, float max_d)
{
List <Spot> sl = new List <Spot>();
int d = 0;
while ((float)d <= max_d + 0.1f)
{
for (int i = -d; i <= d; i++)
{
float x_up = l.X + (float)d;
float x_dn = l.X - (float)d;
float y_up = l.Y + (float)d;
float y_dn = l.Y - (float)d;
Spot s0 = GetSpot2D(x_up, l.Y + i);
Spot s2 = GetSpot2D(x_dn, l.Y + i);
Spot s1 = GetSpot2D(l.X + i, y_dn);
Spot s3 = GetSpot2D(l.X + i, y_up);
Spot[] sv = { s0, s1, s2, s3 };
foreach (Spot s in sv)
{
Spot ss = s;
while (ss != null)
{
float di = ss.GetDistanceTo(l);
if (di < max_d)
{
sl.Add(ss);
}
ss = ss.next;
if (Cancel)
{
goto loop_end;
}
}
}
}
d++;
}
loop_end:
return(sl);
}
private Spot search(Spot src, Spot dst,
Location realDst,
float minHowClose, bool AllowInvented,
ILocationHeuristics locationHeuristics)
{
searchID++;
int count = 0;
int prevCount = 0;
int currentSearchID = searchID;
float heuristicsFactor = 1.3f;
System.DateTime pre = System.DateTime.Now;
System.DateTime lastSpam = pre;
// lowest first queue
PriorityQueue <Spot, float> q = new PriorityQueue <Spot, float>(); // (new SpotSearchComparer(dst, score)); ;
q.Enqueue(src, -src.GetDistanceTo(dst) * heuristicsFactor);
Spot BestSpot = null;
//Set<Spot> closed = new Set<Spot>();
//SpotData<float> score = new SpotData<float>();
src.SearchScoreSet(currentSearchID, 0.0f);
src.traceBack = null;
// A* -ish algorithm
while (q.Count != 0) // && count < 100000)
{
float prio;
Spot spot = q.Dequeue(out prio); // .Value;
//q.Remove(spot);
if (spot.SearchIsClosed(currentSearchID))
{
continue;
}
spot.SearchClose(currentSearchID);
if (count % 100 == 0)
{
System.TimeSpan span = System.DateTime.Now.Subtract(lastSpam);
if (span.Seconds != 0 && BestSpot != null)
{
Thread.Sleep(50); // give glider a chance to stop us
int t = span.Seconds * 1000 + span.Milliseconds;
if (t == 0)
{
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst));
}
else
{
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst) + " " + (count - prevCount) * 1000 / t + " steps/s");
}
lastSpam = System.DateTime.Now;
prevCount = count;
}
}
count++;
if (spot.Equals(dst) || spot.location.GetDistanceTo(realDst) <= minHowClose)
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
/*if(t == 0)
* Log(" search found the way there. " + count);
* else
* Log(" search found the way there. " + count + " " + (count * 1000) / t + " steps/s");
*/
return(spot); // got there
}
if (BestSpot == null ||
spot.location.GetDistanceTo(realDst) < BestSpot.location.GetDistanceTo(realDst))
{
BestSpot = spot;
}
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
if (ts.Seconds > 15)
{
Log("too long search, aborting");
break;
}
}
float src_score = spot.SearchScoreGet(currentSearchID);
//PPather.WriteLine("inspect: " + c + " score " + s);
int new_found = 0;
List <Spot> ll = spot.GetPathsToSpots(this);
foreach (Spot to in ll)
{
//Spot to = GetSpot(l);
if (to != null && !to.IsBlocked() && !to.SearchIsClosed(currentSearchID))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
{
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
}
if (to.GetFlag(Spot.FLAG_WATER))
{
new_score += 30;
}
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to); // very sloppy to not dequeue it
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
}
//hmm search the triangles :p
if (!spot.GetFlag(Spot.FLAG_MPQ_MAPPED))
{
float PI = (float)Math.PI;
spot.SetFlag(Spot.FLAG_MPQ_MAPPED, true);
for (float a = 0; a < PI * 2; a += PI / 8)
{
float nx = spot.X + (float)Math.Sin(a) * WantedStepLength; // *0.8f;
float ny = spot.Y + (float)Math.Cos(a) * WantedStepLength; // *0.8f;
Spot s = GetSpot(nx, ny, spot.Z);
if (s == null)
{
s = FindClosestSpot(new Location(nx, ny, spot.Z), MinStepLength); // TODO: this is slow
}
if (s != null)
{
// hmm, they should already be connected
}
else
{
float new_z;
int flags;
// gogo find a new one
//PPather.WriteLine("gogo brave new world");
if (!triangleWorld.FindStandableAt(nx, ny,
spot.Z - WantedStepLength * .75f, spot.Z + WantedStepLength * .75f,
out new_z, out flags, toonHeight, toonSize))
{
//Spot blocked = new Spot(nx, ny, spot.Z);
//blocked.SetFlag(Spot.FLAG_BLOCKED, true);
//AddSpot(blocked);
}
else
{
s = FindClosestSpot(new Location(nx, ny, new_z), MinStepLength);
if (s == null)
{
if (!triangleWorld.IsStepBlocked(spot.X, spot.Y, spot.Z, nx, ny, new_z,
toonHeight, toonSize, null))
{
Spot n = new Spot(nx, ny, new_z);
Spot to = AddAndConnectSpot(n);
if ((flags & ChunkedTriangleCollection.TriangleFlagDeepWater) != 0)
{
to.SetFlag(Spot.FLAG_WATER, true);
}
if (((flags & ChunkedTriangleCollection.TriangleFlagModel) != 0) ||
((flags & ChunkedTriangleCollection.TriangleFlagObject) != 0))
{
to.SetFlag(Spot.FLAG_INDOORS, true);
}
if (to != n || to.SearchIsClosed(currentSearchID))
{
// PPather.WriteLine("/sigh");
}
else
{
// There should be a path from source to this one now
if (spot.HasPathTo(to.location))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
{
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
}
if (to.GetFlag(Spot.FLAG_WATER))
{
new_score += 30;
}
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to);
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
else
{
// woot! I added a new one and it is not connected!?!?
//PPather.WriteLine("/cry");
}
}
}
}
}
}
}
}
}
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
if (t == 0)
{
t = 1;
}
Log(" search failed. " + (count * 1000) / t + " steps/s");
}
return(BestSpot); // :(
}
private Spot search(Spot src, Spot dst, Location realDst, float minHowClose, bool AllowInvented, ILocationHeuristics locationHeuristics)
{
searchID++;
int count = 0;
Cancel = false;
int prevCount = 0;
int currentSearchID = searchID;
float heuristicsFactor = 1.3f;
System.DateTime pre = System.DateTime.Now;
System.DateTime lastSpam = pre;
// lowest first queue
PriorityQueue<Spot, float> q = new PriorityQueue<Spot, float>(); // (new SpotSearchComparer(dst, score)); ;
q.Enqueue(src, -src.GetDistanceTo(dst) * heuristicsFactor);
Spot BestSpot = null;
//Set<Spot> closed = new Set<Spot>();
//SpotData<float> score = new SpotData<float>();
src.SearchScoreSet(currentSearchID, 0.0f);
src.traceBack = null;
// A* -ish algorithm
while ((q.Count != 0) && !Cancel) // && count < 100000)
{
float prio;
Spot spot = q.Dequeue(out prio); // .Value;
//q.Remove(spot);
if (spot.SearchIsClosed(currentSearchID))
continue;
spot.SearchClose(currentSearchID);
if (count % 100 == 0)
{
System.TimeSpan span = System.DateTime.Now.Subtract(lastSpam);
if (span.Seconds != 0 && BestSpot != null)
{
Thread.Sleep(50); // give glider a chance to stop us
int t = span.Seconds * 1000 + span.Milliseconds;
if (t == 0)
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst));
else
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst) + " " + (count - prevCount) * 1000 / t + " steps/s");
lastSpam = System.DateTime.Now;
prevCount = count;
}
}
count++;
if (spot.Equals(dst) || spot.location.GetDistanceTo(realDst) <= minHowClose)
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
/*if(t == 0)
Log(" search found the way there. " + count);
else
Log(" search found the way there. " + count + " " + (count * 1000) / t + " steps/s");
*/
return spot; // got there
}
if (BestSpot == null ||
spot.location.GetDistanceTo(realDst) < BestSpot.location.GetDistanceTo(realDst))
{
BestSpot = spot;
}
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
if (ts.Seconds > 120)
{
Log("too long search, aborting");
break;
}
}
float src_score = spot.SearchScoreGet(currentSearchID);
//Console.WriteLine("inspect: " + c + " score " + s);
int new_found = 0;
List<Spot> ll = spot.GetPathsToSpots(this);
foreach (Spot to in ll)
{
//Spot to = GetSpot(l);
if (to != null && !to.IsBlocked() && !to.SearchIsClosed(currentSearchID))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
if (to.GetFlag(Spot.FLAG_WATER))
new_score += 30;
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to); // very sloppy to not dequeue it
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
if (Cancel)
break;
}
//hmm search the triangles :p
if (!spot.GetFlag(Spot.FLAG_MPQ_MAPPED))
{
float PI = (float)Math.PI;
spot.SetFlag(Spot.FLAG_MPQ_MAPPED, true);
for (float a = 0; a < PI * 2; a += PI / 8)
{
float nx = spot.X + (float)Math.Sin(a) * WantedStepLength;// *0.8f;
float ny = spot.Y + (float)Math.Cos(a) * WantedStepLength;// *0.8f;
Spot s = GetSpot(nx, ny, spot.Z);
if (s == null)
s = FindClosestSpot(new Location(nx, ny, spot.Z), MinStepLength); // TODO: this is slow
if (s != null)
{
// hmm, they should already be connected
}
else
{
float new_z;
int flags;
// gogo find a new one
//Console.WriteLine("gogo brave new world");
if (!triangleWorld.FindStandableAt(nx, ny,
spot.Z - WantedStepLength * .75f, spot.Z + WantedStepLength * .75f,
out new_z, out flags, toonHeight, toonSize))
{
//Spot blocked = new Spot(nx, ny, spot.Z);
//blocked.SetFlag(Spot.FLAG_BLOCKED, true);
//AddSpot(blocked);
}
else
{
s = FindClosestSpot(new Location(nx, ny, new_z), MinStepLength);
if (s == null)
{
if (!triangleWorld.IsStepBlocked(spot.X, spot.Y, spot.Z, nx, ny, new_z,
toonHeight, toonSize, null))
{
Spot n = new Spot(nx, ny, new_z);
Spot to = AddAndConnectSpot(n);
if ((flags & ChunkedTriangleCollection.TriangleFlagDeepWater) != 0)
{
to.SetFlag(Spot.FLAG_WATER, true);
}
if (((flags & ChunkedTriangleCollection.TriangleFlagModel) != 0) ||
((flags & ChunkedTriangleCollection.TriangleFlagObject) != 0))
{
to.SetFlag(Spot.FLAG_INDOORS, true);
}
if (to != n || to.SearchIsClosed(currentSearchID))
{
// Console.WriteLine("/sigh");
}
else
{
// There should be a path from source to this one now
if (spot.HasPathTo(to.location))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
if (to.GetFlag(Spot.FLAG_WATER))
new_score += 30;
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to);
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
else
{
// woot! I added a new one and it is not connected!?!?
//Console.WriteLine("/cry");
}
}
}
}
}
}
if (Cancel)
break;
}
}
}
{
System.TimeSpan ts = System.DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
if (t == 0)
t = 1;
Log(" search failed. " + (count * 1000) / t + " steps/s");
}
return BestSpot; // :(
}