/// <summary>
/// Calculates the path.
/// </summary>
/// <param name="g">The g.</param>
/// <returns>the path is possible</returns>
public bool CalculatePath(GameObject g)
{
to = g.transform.localPosition;
System.Diagnostics.Stopwatch stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Start();
UltimaCasilla = new Vector2Int((int)to.x, (int)to.y);
PQ = new Priority_Queue.SimplePriorityQueue <Vector2Int, int>();
DistTo = mapa.getDistTo((int)transform.localPosition.y, (int)transform.localPosition.x);
EdgeTo = new Vector2Int[mapa.altoMapa, mapa.anchoMapa];
for (int i = 0; i < mapa.altoMapa; i++)
{
for (int j = 0; j < mapa.anchoMapa; j++)
{
EdgeTo[i, j].x = -1;
EdgeTo[i, j].y = -1;
}
}
Vector2Int from = new Vector2Int((int)transform.localPosition.x, (int)transform.localPosition.y);
mapa.setOccupied(from.y, from.x, true);
PQ.EnqueueWithoutDuplicates(from, 0);
caminoPosible = false;
int k = 0;
while (PQ.Count > 0 && !caminoPosible)
{
k++;
Vector2Int top = PQ.Dequeue();
if (top != UltimaCasilla)
{
for (int i = 0; i < directions.Length; i++)
{
relax(top, directions[i]);
}
}
else
{
caminoPosible = true;
}
}
stopwatch.Stop();
if (caminoPosible)
{
GetComponent <Unidad>().SetPath(GetPath(ref UltimaCasilla, ref from));
}
GameManager.instance.updateDiagnostico(caminoPosible);
GameManager.instance.updateDiagnostico(k, stopwatch.Elapsed.TotalMilliseconds, stopwatch.ElapsedTicks);
return(caminoPosible);
}
public bool CalculatePath(Vector2Int casilla)
{
bestOption = new Vector2Int(-1, -1);
System.Diagnostics.Stopwatch stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Start();
UltimaCasilla = new Vector2Int((int)casilla.x, (int)casilla.y);
PQ = new Priority_Queue.SimplePriorityQueue <Vector2Int, int>();
Vector2Int from = new Vector2Int((int)transform.localPosition.x, (int)transform.localPosition.y);
DistTo = mapa.getDistTo(from.y, from.x);
EdgeTo = new Vector2Int[mapa.altoMapa, mapa.anchoMapa];
for (int i = 0; i < mapa.altoMapa; i++)
{
for (int j = 0; j < mapa.anchoMapa; j++)
{
EdgeTo[i, j] = new Vector2Int(-1, -1);
}
}
PQ.EnqueueWithoutDuplicates(from, 0);
caminoPosible = false;
int k = 0;
while (PQ.Count > 0)
{
k++;
Vector2Int top = PQ.Dequeue();
if (top != UltimaCasilla)
{
for (int i = 0; i < directions.Length; i++)
{
relax(top, directions[i]);
}
}
else
{
caminoPosible = true;
}
}
stopwatch.Stop();
if (caminoPosible)
{
GetComponent <Agente>().setPath(GetPath(ref UltimaCasilla, ref from));
}
return(caminoPosible);
}
private void StartEventPlayback()
{
// write the beatmap
string jsonString = LoadResourceTextfile(playbackTitle);
currentEventMap = JsonUtility.FromJson <EventMap>(jsonString);
// build up the selection registers
SelectionRegister[] registers = currentEventMap.selectionRegisters;
for (int h = 0; h < registers.Length; h++)
{
selectionRegister.Add(registers[h].name, registers[h].selections);
}
// use the beatmap to generate the beat queue, apply offset if there is one
eventQueue = new Priority_Queue.SimplePriorityQueue <int>(); // make an empty queue
// enqueue all the beats
globalOffsetMs = currentEventMap.offset;
for (int i = 0; i < currentEventMap.eventMap.Length; i++)
{
eventQueue.Enqueue(currentEventMap.eventMap[i].index + globalOffsetMs, currentEventMap.eventMap[i].index + globalOffsetMs);
// create event hash table for efficiency
eventsTable.Add(currentEventMap.eventMap[i].index + globalOffsetMs, currentEventMap.eventMap[i]);
}
// reset beat delta time
eventDeltaTime = 0;
nextEvent = eventQueue.Dequeue();
if (debug && startAtMs > 0)
{
// set audio start time
float startTimeSec = startAtMs / 1000;
clip.time = eventDeltaTime = startTimeSec;
}
// start audio
clip.Play();
playingEvents = true;
}
public Stack <Vector2Int> CalculatePath(Vector2Int casilla)
{
UltimaCasilla = new Vector2Int((int)casilla.x, (int)casilla.y);
PQ = new Priority_Queue.SimplePriorityQueue <Vector2Int, int>();
Vector2Int from = new Vector2Int((int)transform.localPosition.x, (int)transform.localPosition.y);
DistTo = mapa.getDistTo(from.y, from.x);
EdgeTo = new Vector2Int[mapa.altoMapa, mapa.anchoMapa];
for (int i = 0; i < mapa.altoMapa; i++)
{
for (int j = 0; j < mapa.anchoMapa; j++)
{
EdgeTo[i, j] = new Vector2Int(-1, -1);
}
}
PQ.EnqueueWithoutDuplicates(from, 0);
caminoPosible = false;
int k = 0;
while (PQ.Count > 0)
{
k++;
Vector2Int top = PQ.Dequeue();
if (top != UltimaCasilla)
{
for (int i = 0; i < directions.Length; i++)
{
relax(top, directions[i]);
}
}
else
{
caminoPosible = true;
}
}
return(GetPath(ref UltimaCasilla, ref from));
}
public static void RunExample()
{
//First, we create the priority queue.
SimplePriorityQueue <string> priorityQueue = new SimplePriorityQueue <string>();
//Now, let's add them all to the queue (in some arbitrary order)!
priorityQueue.Enqueue("Наков-1998", 0);
priorityQueue.Enqueue("Уирт-1980", 1);
//Change one of the string's priority to 2. Since this string is already in the priority queue, we call UpdatePriority() to do this
priorityQueue.UpdatePriority("Наков-1998", 2);
//Finally, we'll dequeue all the strings and print them out
while (priorityQueue.Count != 0)
{
string nextUser = priorityQueue.Dequeue();
Console.WriteLine(nextUser);
}
}
private void startBeat()
{
// write the beatmap
string jsonString = LoadResourceTextfile(musicClip);
currentBeatmap = JsonUtility.FromJson <BeatMap>(jsonString);
// use the beatmap to generate the beat queue, apply offset if there is one
beatQueue = new Priority_Queue.SimplePriorityQueue <int>(); // make an empty queue
// enqueue all the beats
for (int i = 0; i < currentBeatmap.beatmap.Length; i++)
{
beatQueue.Enqueue(currentBeatmap.beatmap[i] + currentBeatmap.offset, currentBeatmap.beatmap[i] + currentBeatmap.offset);
}
// reset beat delta time
beatDeltatime = 0;
nextBeat = 0;
musicPlaying = true; // this starts the update incrementing delta time
}
IEnumerator GetPathCoro(Coordinate start, Coordinate end)
{
List <Coordinate> visited = new List <Coordinate>();
if (Target)
{
Priority_Queue.SimplePriorityQueue <Coordinate> queue = new Priority_Queue.SimplePriorityQueue <Coordinate>();
if (start == null)
{
start = prev_start_coord;
}
if (start != null)
{
start.parent = null;
}
if (end == null)
{
end = prev_end_coord;
}
if (start == null || end == null)
{
yield break;
}
float tstart = Time.realtimeSinceStartup;
prev_start_coord = start;
prev_end_coord = end;
queue.Enqueue(start, GetCoordinateDistFromTarget(start));
while (Path == null)
{
start = queue.Dequeue();
if (start == end)
{
/* Debug.Log(Time.realtimeSinceStartup - tstart + " seconds : " +
* queue.Count + " end routes considered : " +
* start.GetNumParents() + " parents."); */
Path = start;
yield break;
}
if (Time.realtimeSinceStartup > tstart + .01f || index != go_index)
{
yield return(new WaitForEndOfFrame());
tstart = Time.realtimeSinceStartup;
}
int safe_layer = ptr.gameObject.layer;
foreach (Coordinate coord in start.GetChildren())
{
coord.traverse_cost = GetCoordinateDistFromTarget(coord);
if (!visited.Contains(coord))
{
coord.parent = start;
queue.Enqueue(coord, coord.GetTotalCost(safe_layer, can_dodge));
visited.Add(coord);
}
else if (queue.Contains(coord) && coord.GetTotalCost(safe_layer, can_dodge, 0, start) < queue.GetPriority(coord))
{
coord.parent = start;
queue.UpdatePriority(coord, coord.GetTotalCost(safe_layer, can_dodge));
}
}
if (queue.Count != 0)
{
start = queue.First;
}
else
{
break;
}
}
}
yield return(null);
}
List <Vector3> FindPathMonteCarlo()
{
/*
* Please configure the random generation of configurations before calling this function (or you can use FindPath instead).
* ALGO:
* We draw a point:
* - If it connects two connected components together, we keep it
* - If it is not reachable from any previous configuration, we keep it
* - Otherwise we ignore it
* - We can also accept a point that do not respect any of the conditions after a certain number of consecutive rejections
* We update the connected components (union find) and eventually the dico for memoisation
* We stop when the initial config and the final one are in the same connected component
* We retrieve the configurations of this connected component and we search a path with it (we can use a dico for memoisation)
*/
Dictionary <Link, float> dico = new Dictionary <Link, float>();
UnionFind <Vector3> components = new UnionFind <Vector3>();
List <Vector3> pts = new List <Vector3>();
pts.Add(ConfigInfos.initialConf);
components.MakeSet(pts[0]);
pts.Add(ConfigInfos.finalConf);
components.MakeSet(pts[1]);
if (phy.moveAllowed(false, pts[0], pts[1]))
{
dico.Add(new Link(pts[0], pts[1]), distanceBetweenConf(pts[0], pts[1]));
Debug.DrawLine(CarController.spatialCoordOfConfiguration(pts[0]), CarController.spatialCoordOfConfiguration(pts[1]), Color.red, 5f);
components.UnionValues(pts[0], pts[1]);
}
int i = 0;
int cons_rejections = 0;
Dictionary <Vector3, bool> tmp_dico = new Dictionary <Vector3, bool>();
while (components.Find(pts[0]).value != components.Find(pts[1]).value || i < minPointsMonteCarlo)
{
if (i >= maxPointsMonteCarlo)
{
return(null);
}
Vector3 pt = DrawConfiguration();
if (!phy.configurationInCollision(pt))
{
bool reachable = false;
HashSet <Vector3> components_linked = new HashSet <Vector3>();
foreach (Vector3 v in pts)
{
if (components_linked.Contains(components.Find(v).value))
{
continue;
}
bool linked = phy.moveAllowed(false, v, pt);
tmp_dico[v] = linked;
if (linked)
{
reachable = true;
components_linked.Add(components.Find(v).value);
}
}
if (!reachable || components_linked.Count >= 2 || cons_rejections >= maxConsecutiveRejections)
{
cons_rejections = 0;
foreach (Vector3 v in pts)
{
bool linked = false;
try
{
linked = tmp_dico[v];
}
catch
{
linked = phy.moveAllowed(false, v, pt);
}
if (linked)
{
Debug.DrawLine(CarController.spatialCoordOfConfiguration(v), CarController.spatialCoordOfConfiguration(pt), Color.red, 5f);
dico[new Link(v, pt)] = distanceBetweenConf(v, pt);
}
}
pts.Add(pt);
components.MakeSet(pt);
foreach (Vector3 v in components_linked)
{
components.UnionValues(pt, v);
}
}
else
{
cons_rejections++;
}
tmp_dico.Clear();
i++;
}
}
// Searching a path with Dijkstra in the connected component of the initial config...
Vector3 component = components.Find(ConfigInfos.initialConf).value;
pts.RemoveAll((v => components.Find(v).value != component));
Priority_Queue.SimplePriorityQueue <Vector3> vertices = new Priority_Queue.SimplePriorityQueue <Vector3>();
foreach (Vector3 pt in pts)
{
if (pt == ConfigInfos.initialConf)
{
vertices.Enqueue(pt, 0);
}
else
{
vertices.Enqueue(pt, Mathf.Infinity);
}
}
Dictionary <Vector3, Vector3> paths = new Dictionary <Vector3, Vector3>();
float current_w = vertices.GetPriority(vertices.First);
Vector3 current = vertices.Dequeue();
while (current != ConfigInfos.finalConf)
{
foreach (Vector3 v in vertices)
{
float w = GetMemoisedValue(dico, v, current);
float new_w = w + current_w;
if (new_w < vertices.GetPriority(v))
{
vertices.UpdatePriority(v, new_w);
paths[v] = current;
}
}
current_w = vertices.GetPriority(vertices.First);
current = vertices.Dequeue();
}
List <Vector3> result = new List <Vector3>();
result.Add(ConfigInfos.finalConf);
current = ConfigInfos.finalConf;
while (current != ConfigInfos.initialConf)
{
current = paths[current];
result.Add(current);
}
result.Reverse();
return(result);
}
public bool GetPath(Vector2Int start, Vector2Int destination, out Vector2Int[] path)
{
Priority_Queue.SimplePriorityQueue <Vector2Int> open = new Priority_Queue.SimplePriorityQueue <Vector2Int>();
Dictionary <Vector2Int, bool> closed = new Dictionary <Vector2Int, bool>();
Dictionary <Vector2Int, Step> allSteps = new Dictionary <Vector2Int, Step>();
Step startStep = new Step(start, 0, null);
allSteps.Add(startStep.Location, startStep);
open.Enqueue(startStep.Location, 0);
Step currentStep;
Vector2Int currentLocation;
Step neighborStep;
// While lowest rank in OPEN is not the GOAL:
while (open.Count > 0)
{
// Set current = remove lowest rank item from OPEN
currentLocation = open.Dequeue();
if (!allSteps.TryGetValue(currentLocation, out currentStep))
{
throw new Exception("Could not find expected step");
}
if (currentLocation == destination)
{
// Reconstruct reverse path from goal to start by following parent pointers
path = GetPoints(currentStep);
return(true);
}
// Add current to CLOSED
closed.Add(currentLocation, true);
// For neighbors of current:
foreach (Vector2Int m in movements)
{
bool inOpen;
bool inClosed;
int nextCost = currentStep.Cost + 1;
Vector2Int nextLocation = currentLocation + m;
Step nextStep = new Step(nextLocation, nextCost, currentStep);
if (!IsPossibleMove(currentLocation, nextLocation))
{
// Spot is bad.
continue;
}
// If neighbor in OPEN and cost less than g(neighbor):
// remove neighbor from OPEN, because new path is better
if (open.Contains(nextLocation))
{
if (!allSteps.TryGetValue(nextLocation, out neighborStep))
{
throw new Exception("Could not find expected step");
}
if (nextCost < neighborStep.Cost)
{
open.Remove(nextLocation);
allSteps.Remove(nextLocation);
inOpen = false;
}
else
{
inOpen = true;
}
}
else
{
inOpen = false;
}
// If neighbor in CLOSED and cost less than g(neighbor):
// remove neighbor from CLOSED
if (closed.ContainsKey(nextLocation))
{
if (!allSteps.TryGetValue(nextLocation, out neighborStep))
{
throw new Exception("Could not find expected step");
}
if (nextCost < neighborStep.Cost)
{
closed.Remove(nextLocation);
inClosed = false;
}
else
{
inClosed = true;
}
}
else
{
inClosed = false;
}
// If neighbor not in OPEN and neighbor not in CLOSED:
if (!inOpen && !inClosed)
{
int h = Heuristic(nextLocation, destination);
neighborStep = new Step(nextLocation, nextCost, currentStep);
allSteps.Add(nextLocation, neighborStep);
open.Enqueue(nextLocation, nextCost + h);
}
}
}
path = null;
return(false);
}