public SokobanPosition Clone()
{
var clone = new SokobanPosition();
clone.Parent = this;
clone.Width = this.Width;
clone.Height = this.Height;
clone.Map = new byte[this.Width, this.Height];
Array.Copy(this.Map, clone.Map, this.Map.Length);
clone.Player = this.Player;
clone.Goals = this.Goals;
clone.Stones = new PointXY[this.Stones.Length];
Array.Copy(this.Stones, clone.Stones, this.Stones.Length);
clone.StonesMap = new byte[this.Width, this.Height];
Array.Copy(this.StonesMap, clone.StonesMap, this.StonesMap.Length);
clone.NormalizedPlayer = this.NormalizedPlayer;
clone.DeadlockMap = this.DeadlockMap;
if (this.Binary != null)
{
clone.Binary = new byte[this.Binary.Length];
Array.Copy(this.Binary, clone.Binary, this.Binary.Length);
}
return(clone);
}
public int DistanceTo(IGamePosition other)
{
//prefer pushing the same stone in next move
SokobanPosition position = (SokobanPosition)other;
return((this.stoneMovedTo.X == position.stoneMovedFrom.X && this.stoneMovedTo.Y == position.stoneMovedFrom.Y) ? 1 : 10);
}
public static SokobanPosition LoadFromFile(string path)
{
string[] lines = File.ReadAllLines(path).Where(l => l.Length > 0).ToArray();
SokobanPosition position = new SokobanPosition();
position.Width = lines.Max(l => l.Length);
position.Height = lines.Length;
position.Map = new byte[position.Width, position.Height];
position.StonesMap = new byte[position.Width, position.Height];
position.NormalizedPlayer.X = 0;
position.NormalizedPlayer.Y = 0;
List <PointXY> stones = new List <PointXY>();
List <PointXY> goals = new List <PointXY>();
for (int y = 0; y < position.Height; y++)
{
string line = lines[y];
for (int x = 0; x < line.Length; x++)
{
PointXY p;
p.X = x;
p.Y = y;
position.StonesMap[x, y] = 0;
switch (line[x])
{
case '#':
position.Map[x, y] = Constants.WALL;
break;
case '$':
position.Map[x, y] = Constants.STONE;
stones.Add(p);
position.StonesMap[x, y] = (byte)stones.Count;
break;
case '.':
position.Map[x, y] = Constants.GOAL;
goals.Add(p);
break;
case '*':
position.Map[x, y] = Constants.GOALSTONE;
stones.Add(p);
goals.Add(p);
position.StonesMap[x, y] = (byte)stones.Count;
break;
case '+':
position.Player.X = x;
position.Player.Y = y;
break;
case '-':
position.Map[x, y] = Constants.EMPTY;
break;
}
}
}
if (stones.Count != goals.Count)
{
Debug.Log("! 箱子数量与目标点数量不符 !");
}
position.Goals = goals.ToArray();
position.Stones = stones.ToArray();
distanceMatrix = new int[position.Stones.Length, position.Stones.Length];
distanceMatrixCopy = new int[position.Stones.Length, position.Stones.Length];
hungarian = new HungarianAlgorithm(position.Stones.Length);
return(position);
}
private void CreateDeadlockMap()
{
this.DeadlockMap = new bool[this.Width, this.Height];
bool[,] visited = new bool[this.Width, this.Height];
PointXY[] stack = new PointXY[this.Width * this.Height];
int stackTop = 0;
PointXY p;
var empty = new SokobanPosition()
{
Width = this.Width, Height = this.Height
};
empty.Map = new byte[this.Width, this.Height];
empty.Stones = new PointXY[0];
empty.Goals = new PointXY[0];
empty.StonesMap = new byte[this.Width, this.Height];
empty.Player = this.Player;
// create list of goals
var goals = new List <PointXY>();
for (int x = 0; x < this.Width; x++)
{
for (int y = 0; y < this.Height; y++)
{
if (this.Map[x, y] == Constants.GOAL || this.Map[x, y] == Constants.GOALSTONE)
{
PointXY g;
g.X = x;
g.Y = y;
goals.Add(g);
}
this.DeadlockMap[x, y] = true;
if (this.Map[x, y] == Constants.WALL)
{
empty.Map[x, y] = Constants.WALL;
}
else
{
empty.Map[x, y] = Constants.EMPTY;
}
}
}
foreach (var checkGoal in goals)
{
//prepare map with one stone
var start = new SokobanPosition()
{
Width = this.Width, Height = this.Height
};
start.Map = new byte[this.Width, this.Height];
start.StonesMap = new byte[this.Width, this.Height];
start.Stones = new PointXY[1];
start.Goals = new PointXY[1];
start.Goals[0] = checkGoal;
start.Stones[0] = checkGoal;
start.StonesMap[checkGoal.X, checkGoal.Y] = 1;
start.Player = this.Player;
for (int x = 0; x < this.Width; x++)
{
for (int y = 0; y < this.Height; y++)
{
start.Map[x, y] = this.Map[x, y];
if (start.Map[x, y] == Constants.STONE || start.Map[x, y] == Constants.GOAL || start.Map[x, y] == Constants.GOALSTONE)
{
start.Map[x, y] = Constants.EMPTY;
}
if (x == checkGoal.X && y == checkGoal.Y)
{
start.Map[x, y] = Constants.STONE;
DeadlockMap[x, y] = false;
}
}
}
//search pull posibilities
List <SokobanPosition> nodesToCheck = new List <SokobanPosition>();
nodesToCheck.Add(start);
HashSet <string> visitedNodes = new HashSet <string>();
while (nodesToCheck.Count > 0)
{
var node = nodesToCheck.ElementAt(0);
nodesToCheck.RemoveAt(0);
visitedNodes.Add(node.GetUniqueId());
// add pulls for any reachable player position
Array.Clear(visited, 0, visited.Length);
stack[0] = node.Player;
visited[node.Player.X, node.Player.Y] = true;
stackTop = 0;
while (stackTop >= 0)
{
p = stack[stackTop];
stackTop--;
//try pull right
if ((node.Map[p.X - 1, p.Y] == Constants.STONE) && (node.Map[p.X + 1, p.Y] == Constants.EMPTY))
{
var next = node.ClonePull(p, Direction.Right);
if (!visitedNodes.Contains(next.GetUniqueId()) && !nodesToCheck.Any(n => n.GetUniqueId() == next.GetUniqueId()))
{
nodesToCheck.Add(next);
this.DeadlockMap[p.X, p.Y] = false;
}
}
//try pull left
if ((node.Map[p.X + 1, p.Y] == Constants.STONE) && (node.Map[p.X - 1, p.Y] == Constants.EMPTY))
{
var next = node.ClonePull(p, Direction.Left);
if (!visitedNodes.Contains(next.GetUniqueId()) && !nodesToCheck.Any(n => n.GetUniqueId() == next.GetUniqueId()))
{
nodesToCheck.Add(next);
this.DeadlockMap[p.X, p.Y] = false;
}
}
//try pull down
if ((node.Map[p.X, p.Y - 1] == Constants.STONE) && (node.Map[p.X, p.Y + 1] == Constants.EMPTY))
{
var next = node.ClonePull(p, Direction.Down);
if (!visitedNodes.Contains(next.GetUniqueId()) && !nodesToCheck.Any(n => n.GetUniqueId() == next.GetUniqueId()))
{
nodesToCheck.Add(next);
this.DeadlockMap[p.X, p.Y] = false;
}
}
//try pull up
if ((node.Map[p.X, p.Y + 1] == Constants.STONE) && (node.Map[p.X, p.Y - 1] == Constants.EMPTY))
{
var next = node.ClonePull(p, Direction.Up);
if (!visitedNodes.Contains(next.GetUniqueId()) && !nodesToCheck.Any(n => n.GetUniqueId() == next.GetUniqueId()))
{
nodesToCheck.Add(next);
this.DeadlockMap[p.X, p.Y] = false;
}
}
//try walk left
if (!visited[p.X - 1, p.Y] && (node.Map[p.X - 1, p.Y] == Constants.EMPTY || node.Map[p.X - 1, p.Y] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X - 1;
stack[stackTop].Y = p.Y;
visited[p.X - 1, p.Y] = true;
}
//try walk right
if (!visited[p.X + 1, p.Y] && (node.Map[p.X + 1, p.Y] == Constants.EMPTY || node.Map[p.X + 1, p.Y] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X + 1;
stack[stackTop].Y = p.Y;
visited[p.X + 1, p.Y] = true;
}
//try walk up
if (!visited[p.X, p.Y - 1] && (node.Map[p.X, p.Y - 1] == Constants.EMPTY || node.Map[p.X, p.Y - 1] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X;
stack[stackTop].Y = p.Y - 1;
visited[p.X, p.Y - 1] = true;
}
//try walk down
if (!visited[p.X, p.Y + 1] && (node.Map[p.X, p.Y + 1] == Constants.EMPTY || node.Map[p.X, p.Y + 1] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X;
stack[stackTop].Y = p.Y + 1;
visited[p.X, p.Y + 1] = true;
}
}
}
}
// remove deadlocks outside reachable area
Array.Clear(visited, 0, visited.Length);
stack[0] = empty.Player;
visited[empty.Player.X, empty.Player.Y] = true;
stackTop = 0;
while (stackTop >= 0)
{
p = stack[stackTop];
stackTop--;
//try walk left
if (!visited[p.X - 1, p.Y] && (empty.Map[p.X - 1, p.Y] == Constants.EMPTY || empty.Map[p.X - 1, p.Y] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X - 1;
stack[stackTop].Y = p.Y;
visited[p.X - 1, p.Y] = true;
}
//try walk right
if (!visited[p.X + 1, p.Y] && (empty.Map[p.X + 1, p.Y] == Constants.EMPTY || empty.Map[p.X + 1, p.Y] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X + 1;
stack[stackTop].Y = p.Y;
visited[p.X + 1, p.Y] = true;
}
//try walk up
if (!visited[p.X, p.Y - 1] && (empty.Map[p.X, p.Y - 1] == Constants.EMPTY || empty.Map[p.X, p.Y - 1] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X;
stack[stackTop].Y = p.Y - 1;
visited[p.X, p.Y - 1] = true;
}
//try walk down
if (!visited[p.X, p.Y + 1] && (empty.Map[p.X, p.Y + 1] == Constants.EMPTY || empty.Map[p.X, p.Y + 1] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X;
stack[stackTop].Y = p.Y + 1;
visited[p.X, p.Y + 1] = true;
}
}
for (int x = 0; x < this.Width; x++)
{
for (int y = 0; y < this.Height; y++)
{
if (!visited[x, y])
{
this.DeadlockMap[x, y] = false;
}
}
}
}
public static String GetFullPath(SokobanPosition[] path)
{
List <SokobanPosition> result = new List <SokobanPosition>();
for (int i = 0; i < path.Length - 1; i++)
{
var start = path[i];
var stop = path[i + 1];
result.Add(start);
bool[,] visited = new bool[start.Width, start.Height];
visited[start.Player.X, start.Player.Y] = true;
Array.Clear(visited, 0, visited.Length);
PointXY[] stack = new PointXY[start.Width * start.Height];
PointXY[,] track = new PointXY[start.Width, start.Height];
track[start.Player.X, start.Player.Y].X = 0;
track[start.Player.X, start.Player.Y].Y = 0;
int stackTop = 0;
stack[0] = start.Player;
PointXY p;
SokobanPosition found = null;
while (stackTop >= 0)
{
p = stack[stackTop];
stackTop--;
//try push left
if ((start.Map[p.X - 1, p.Y] == Constants.STONE || start.Map[p.X - 1, p.Y] == Constants.GOALSTONE) && (start.Map[p.X - 2, p.Y] == Constants.EMPTY || start.Map[p.X - 2, p.Y] == Constants.GOAL))
{
var next = start.ClonePush(p, Direction.Left);
if (next.GetUniqueId() == stop.GetUniqueId())
{
found = next;
track[p.X - 1, p.Y] = p;
break;
}
}
//try push right
if ((start.Map[p.X + 1, p.Y] == Constants.STONE || start.Map[p.X + 1, p.Y] == Constants.GOALSTONE) && (start.Map[p.X + 2, p.Y] == Constants.EMPTY || start.Map[p.X + 2, p.Y] == Constants.GOAL))
{
var next = start.ClonePush(p, Direction.Right);
if (next.GetUniqueId() == stop.GetUniqueId())
{
found = next;
track[p.X + 1, p.Y] = p;
break;
}
}
//try push up
if ((start.Map[p.X, p.Y - 1] == Constants.STONE || start.Map[p.X, p.Y - 1] == Constants.GOALSTONE) && (start.Map[p.X, p.Y - 2] == Constants.EMPTY || start.Map[p.X, p.Y - 2] == Constants.GOAL))
{
var next = start.ClonePush(p, Direction.Up);
if (next.GetUniqueId() == stop.GetUniqueId())
{
found = next;
track[p.X, p.Y - 1] = p;
break;
}
}
//try push down
if ((start.Map[p.X, p.Y + 1] == Constants.STONE || start.Map[p.X, p.Y + 1] == Constants.GOALSTONE) && (start.Map[p.X, p.Y + 2] == Constants.EMPTY || start.Map[p.X, p.Y + 2] == Constants.GOAL))
{
var next = start.ClonePush(p, Direction.Down);
if (next.GetUniqueId() == stop.GetUniqueId())
{
found = next;
track[p.X, p.Y + 1] = p;
break;
}
}
//try walk left
if (!visited[p.X - 1, p.Y] && (start.Map[p.X - 1, p.Y] == Constants.EMPTY || start.Map[p.X - 1, p.Y] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X - 1;
stack[stackTop].Y = p.Y;
visited[p.X - 1, p.Y] = true;
track[p.X - 1, p.Y] = p;
}
//try walk right
if (!visited[p.X + 1, p.Y] && (start.Map[p.X + 1, p.Y] == Constants.EMPTY || start.Map[p.X + 1, p.Y] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X + 1;
stack[stackTop].Y = p.Y;
visited[p.X + 1, p.Y] = true;
track[p.X + 1, p.Y] = p;
}
//try walk up
if (!visited[p.X, p.Y - 1] && (start.Map[p.X, p.Y - 1] == Constants.EMPTY || start.Map[p.X, p.Y - 1] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X;
stack[stackTop].Y = p.Y - 1;
visited[p.X, p.Y - 1] = true;
track[p.X, p.Y - 1] = p;
}
//try walk down
if (!visited[p.X, p.Y + 1] && (start.Map[p.X, p.Y + 1] == Constants.EMPTY || start.Map[p.X, p.Y + 1] == Constants.GOAL))
{
stackTop++;
stack[stackTop].X = p.X;
stack[stackTop].Y = p.Y + 1;
visited[p.X, p.Y + 1] = true;
track[p.X, p.Y + 1] = p;
}
}
if (found != null)
{
var t = stop.Player;
List <SokobanPosition> intermediate = new List <SokobanPosition>();
while (!(t.X == start.Player.X && t.Y == start.Player.Y))
{
SokobanPosition pos = start.Clone();
pos.Player.X = t.X;
pos.Player.Y = t.Y;
if (!(t.X == stop.Player.X && t.Y == stop.Player.Y))
{
intermediate.Add(pos);
}
t = track[t.X, t.Y];
}
intermediate.Reverse();
result.AddRange(intermediate);
}
}
result.Add(path[path.Length - 1]);
//Console.WriteLine(moves);
string moves = "";
int currentX = result[0].Player.X;
int currentY = result[0].Player.Y;
for (int i = 1; i < result.Count; i++)
{
if (result[i].Player.X - currentX == 1)
{
moves += "↑";
}
if (result[i].Player.X - currentX == -1)
{
moves += "↓";
}
if (result[i].Player.Y - currentY == 1)
{
moves += "→";
}
if (result[i].Player.Y - currentY == -1)
{
moves += "←";
}
currentX = result[i].Player.X;
currentY = result[i].Player.Y;
}
return(moves);
}