public float GoalDistanceEstimate(MapSearchNode nodeGoal)
{
if (nodeGoal.mapNode.floorNode != null)
{
if (mapNode.floorNode != null)
{
h = (float)(Math.Abs(end_point.Y - mapNode.position.Y) * FLOOR_COST);
}
else
{
h = (float)(Math.Abs(end_point.X - mapNode.position.X) * WALKING_COST + Math.Abs(end_point.Y - mapNode.position.Y) * FLOOR_COST);
}
}
else
{
if (mapNode.floorNode != null)
{
h = (float)(Math.Abs(nodeGoal.mapNode.position.X - start_point.X) * WALKING_COST + Math.Abs(nodeGoal.mapNode.position.Y - start_point.Y) * FLOOR_COST);
}
else
{
h = (float)(Math.Abs(nodeGoal.mapNode.position.X - mapNode.position.X) * WALKING_COST + Math.Abs(nodeGoal.mapNode.position.Y - mapNode.position.Y) * FLOOR_COST);
}
}
return(h);
}
public Route FindRoute(MapNode start_mapnode, MapNode end_mapnode, Item.Item start_item, Item.Item end_item, bool serviceRoute)
{
Slot start_point = new Slot(start_item.Position.X + ((IPrototype)start_item).Size.X, start_mapnode.position.Y);
Slot end_point = new Slot(end_item.Position.X + ((IPrototype)end_item).Size.X, end_mapnode.position.Y);
MapSearchNode nodeStart = new MapSearchNode(start_mapnode);
nodeStart.parent_item = start_item;
nodeStart.start_point = start_point;
nodeStart.end_point = end_point;
nodeStart.serviceRoute = serviceRoute;
MapSearchNode nodeEnd = new MapSearchNode(end_mapnode);
astarsearch.SetStartAndGoalStates(nodeStart, nodeEnd);
int SearchSteps = 0;
do
{
SearchState = astarsearch.SearchStep();
SearchSteps++;
} while (SearchState == AStarPathfinder.SearchState.Searching);
Route r = new Route();
buildRoute(r, start_item, end_item);
clear();
return(r);
}
public bool IsGoal(MapSearchNode nodeGoal)
{
if (mapNode == nodeGoal.mapNode)
{
nodeGoal.g = g;
nodeGoal.h = h;
return(true);
}
else
{
return(false);
}
}
private Item.Item getItemOnRoute(MapSearchNode successor)
{
// NOTE: Calling this on the start and end nodes will not give correct results.
// Always use known start and destination items instead.
MapNode s_mapnode;
if (successor != null || successor.mapNode != null)
{
return(null);
}
else
{
s_mapnode = successor.mapNode;
}
if (mapNode.neighbours[(int)Direction.UP] == s_mapnode)
{
return((Item.Item)mapNode.transportItems[(int)Direction.UP]);
}
else if (mapNode.neighbours[(int)Direction.DOWN] == s_mapnode)
{
return((Item.Item)mapNode.transportItems[(int)Direction.DOWN]);
}
else if (mapNode.transportItems[(int)Direction.UP] != null && mapNode.transportItems[(int)Direction.UP] == s_mapnode.transportItems[(int)Direction.DOWN])
{
return((Item.Item)mapNode.transportItems[(int)Direction.UP]);
}
else if (mapNode.transportItems[(int)Direction.DOWN] != null && mapNode.transportItems[(int)Direction.DOWN] == s_mapnode.transportItems[(int)Direction.UP])
{
return((Item.Item)mapNode.transportItems[(int)Direction.DOWN]);
}
else
{
return(null);
}
}
public bool GetSuccessors(AStarPathfinder astarsearch, MapSearchNode parent_node)
{
MapSearchNode n;
MapNode left = null;
MapNode right = null;
bool ret;
if (parent_node != null && mapNode.floorNode != null)
{
// Start node which is also a floor node.
// Find and add nearest transport nodes to the left/right (based on start_point, which should be populated)
List <MapNode> nodesOnFloor = mapNode.nodesOnFloor;
//assert(nodesOnFloor != NULL);
foreach (var nodex in nodesOnFloor)
//for (List<MapNode> const_iterator i = nodesOnFloor->begin(); i != nodesOnFloor->end(); i++)
{
//MapNode node = *i;
if (nodex.position.X <= start_point.X && canTransfer(this, nodex, Direction.LEFT))
{
left = nodex;
}
else if (canTransfer(this, nodex, Direction.RIGHT))
{
right = nodex;
break;
}
}
if (left != null)
{
createNode(out n, left);
ret = astarsearch.AddSuccessor(n);
if (!ret)
{
return(false);
}
}
if (right != null)
{
createNode(out n, right);
ret = astarsearch.AddSuccessor(n);
if (!ret)
{
return(false);
}
}
return(true);
}
//if (mapNode.position.Y == end_point.Y && astarsearch.GetSolutionEnd().mapNode.floorNode != null)
//{
// // Reached the same floor as end node, and end node is a floor node.
// // Add destination floor node
// if (mapNode.floorNode != null) return false; // ERROR: All transport nodes must contain pointer to their respective floor node.
// createNode(out n, mapNode.floorNode);
// ret = astarsearch.AddSuccessor(n);
// if (!ret) return false;
// else return true;
//}
MapNode node = mapNode.neighbours[(int)Direction.LEFT];
while (node != null && left == null)
{
if (!canTransfer(this, node, Direction.LEFT))
{
node = node.neighbours[(int)Direction.LEFT];
continue;
}
left = node;
}
node = mapNode.neighbours[(int)Direction.RIGHT];
while (node != null && right == null)
{
if (!canTransfer(this, node, Direction.RIGHT))
{
node = node.neighbours[(int)Direction.RIGHT];
continue;
}
right = node;
}
if (left != null)
{
createNode(out n, left);
ret = astarsearch.AddSuccessor(n);
if (!ret)
{
return(false);
}
}
if (right != null)
{
createNode(out n, right);
ret = astarsearch.AddSuccessor(n);
if (!ret)
{
return(false);
}
}
if (mapNode.neighbours[(int)Direction.UP] != null)
{
node = mapNode.neighbours[(int)Direction.UP];
if (mapNode.HasElevator)
{
while (node != null)
{
createNode(out n, node);
ret = astarsearch.AddSuccessor(n);
if (!ret)
{
return(false);
}
node = node.neighbours[(int)Direction.UP];
}
}
else if (canTransfer(this, node, Direction.UP))
{
createNode(out n, node);
ret = astarsearch.AddSuccessor(n);
if (!ret)
{
return(false);
}
}
}
if (mapNode.neighbours[(int)Direction.DOWN] != null)
{
node = mapNode.neighbours[(int)Direction.DOWN];
if (mapNode.HasElevator)
{
while (node != null)
{
createNode(out n, node);
ret = astarsearch.AddSuccessor(n);
if (!ret)
{
return(false);
}
node = node.neighbours[(int)Direction.DOWN];
}
}
else if (canTransfer(this, node, Direction.DOWN))
{
createNode(out n, node);
ret = astarsearch.AddSuccessor(n);
if (!ret)
{
return(false);
}
}
}
return(true);
}
void createNode(out MapSearchNode n, MapNode node)
{
n = new MapSearchNode(node);
n.end_point = end_point;
n.serviceRoute = serviceRoute;
}
bool canTransfer(MapSearchNode start, MapNode dest, Direction dir)
{
/*
* Returns true if transfer to destination transport has not exceed transfer limits.
* Returns false otherwise.
* Maximum transfer limits are:
* 2 elevators (no more than 1 elevator if journey has already used stairs or escalators)
* 3 stairs
* 6 escalators
* 1 stair, 2 escalators OR 2 stairs, 1 escalator
*/
if ((dir == Direction.UP || dir == Direction.DOWN))
{
// Once in an elevator node, travel is allowed for as many floors available in the elevator shaft
if (start.mapNode.HasElevator)
{
return(true);
}
// Hence we only check limits for stairlike travel
if (start.mapNode.transportItems[(int)dir].Icon == 2)
{
if (start.numStairs > 2 - start.numEscalators)
{
return(false);
}
}
else
{
if (start.numEscalators > 5)
{
return(false);
}
if (start.numStairs > 0 && start.numEscalators > 2 - start.numStairs)
{
return(false);
}
}
}
else
{
if (dest.HasElevator)
{
if ((!start.serviceRoute && dest.HasServiceElevator) || (start.serviceRoute && !dest.HasServiceElevator))
{
return(false);
}
if (start.numElevators > 1)
{
return(false);
}
if (start.numElevators == 1 && (start.mapNode.position.Y % 15 != 0 || start.numStairs > 0 || start.numEscalators > 0))
{
return(false);
}
}
// Transit to other stairlike nodes (moving left/right) has no limits.
// Limit only applies when actually using (moving up/down) the stairlike.
}
return(true);
}
public float GetCost(MapSearchNode successor)
{
Item.Item i = getItemOnRoute(successor); // Discover item that lies on this node, given the next step
successor.parent_item = i;
successor.numStairs = numStairs;
successor.numEscalators = numEscalators;
successor.numElevators = numElevators;
successor.g = g;
int traverse_cost = 0;
if (i != null)
{
// NULL item. Next step is traversal on current floor.
if (mapNode.position.Y == 0 && successor.mapNode.position.Y == 0)
{
traverse_cost = 0; // Movement in main lobby is free(?)
}
else if (mapNode.floorNode != null && start_point.X > int.MinValue) // This is a floor start node, use start_point to compute cost instead
{
traverse_cost = Math.Abs(successor.mapNode.position.X - start_point.X) * WALKING_COST;
}
else if (successor.mapNode.floorNode != null && mapNode.position.Y == end_point.Y)
{
// Successor is a floor end node, use end_point to compute cost instead
int end_walking_dist = Math.Abs(end_point.X - mapNode.position.X);
// Check if final transport node is too far away from destination, and adjust cost accordingly
if (end_walking_dist > MAX_WALKING_DIST)
{
traverse_cost = (int)(MAX_WALKING_DIST * WALKING_COST + (float)end_walking_dist / MAX_WALKING_DIST * INHIBITORY_COST);
}
else
{
traverse_cost = end_walking_dist * WALKING_COST;
}
}
else
{
traverse_cost = Math.Abs(successor.mapNode.position.X - mapNode.position.X) * WALKING_COST;
}
}
else if (i is IHaulsPeople && !(i is Elevator))
{
if (((IPrototype)i).Icon == 2)
{
traverse_cost += STAIRS_COST;
successor.numStairs++;
}
else
{
traverse_cost += ESCALATOR_COST;
successor.numEscalators++;
}
traverse_cost += FLOOR_COST;
}
else if (i is Elevator)
{
if (i != parent_item)
{
// NOTE: In future when hotel rooms are implemented,
// there will need to be another check here to include Service elevator costs.
if (((IPrototype)i).Icon == 4)
{
traverse_cost += ELEVATOR_COST;
}
else
{
traverse_cost += EXPRESS_COST;
}
successor.numElevators++;
}
traverse_cost += Math.Abs(successor.mapNode.position.Y - mapNode.position.Y) * FLOOR_COST;
}
else
{
traverse_cost = INHIBITORY_COST; // ERROR: Should not end up here. INHIBITORY_COST should deter further expansion from this node.
}
successor.g += (float)traverse_cost;
return((float)traverse_cost);
}
public bool IsSameState(MapSearchNode rhs)
{
return(mapNode == rhs.mapNode);
}
