public Dictionary <int, Vector> DoWork(IsGroundedChecker groundedChecker, Func <Vector, bool> isForbidden, out List <ICommand> commands, out List <Vector> vectors)
{
var searcher = new BotMoveSearcher(matrix, model, BotPosition, isForbidden, BotsCount, EndPosition, isGroundedChecker)
{
mongoOplogWriter = mongoOplogWriter
};
searcher.FindPath(out vectors, out commands, out _);
return(new Dictionary <int, Vector>
{
{ BotId, EndPosition }
});
}
public static void SearchTest()
{
//var trackFilePath = @"..\..\..\data\track\LA001.nbt";
var modelFilePath = @"..\..\..\data\models\LA180_tgt.mdl";
var matrix = MatrixDeserializer.Deserialize(File.ReadAllBytes(modelFilePath));
//var ai = new GreedyGravityAI(matrix);
Console.WriteLine("matrix loaded");
var mongoOplogWriter = new JsonOpLogWriter(new MongoJsonWriter());
mongoOplogWriter.WriteLogName("GreedyGravityAI_IsGrounded");
var state = State.CreateInitial(matrix.R, mongoOplogWriter);
mongoOplogWriter.WriteInitialState(state);
var groundedChecker = new IsGroundedChecker(matrix);
var startPosition = new Vector(0, 0, 0);
for (int i = 0; i < matrix.R; i++)
{
for (int j = 0; j < matrix.R; j++)
{
for (int k = 0; k < matrix.R; k++)
{
var vector = new Vector(i, j, k);
if (matrix.IsVoid(vector))
{
continue;
}
mongoOplogWriter.WriteColor(vector, "0000FF", 0.5);
}
}
}
Console.WriteLine("matrix inited");
var rand = new Random(15);
var forbidden = new HashSet <Vector>();
Console.WriteLine("start");
for (int i = 0; i < 1002; i++)
{
var endPosition = new Vector(rand.Next(matrix.R), rand.Next(matrix.R), rand.Next(matrix.R));
while (forbidden.Contains(endPosition) || matrix.IsFull(endPosition))
{
endPosition = new Vector(rand.Next(matrix.R), rand.Next(matrix.R), rand.Next(matrix.R));
}
mongoOplogWriter.WriteColor(endPosition, "00FF00", 1);
DateTime d = DateTime.UtcNow;
var pathBuilder = new BotMoveSearcher(matrix, state.Matrix, startPosition, vector => forbidden.Contains(vector), 39, endPosition, groundedChecker);
pathBuilder.FindPath(out var movePath, out var commands, out var iterations);
if (movePath == null)
{
break;
}
Console.WriteLine($"{commands.Count}: {d - DateTime.UtcNow} - {iterations}");
movePath.ForEach(c => forbidden.Add(c));
foreach (var vector in movePath)
{
mongoOplogWriter.WriteFill(vector);
}
mongoOplogWriter.WriteColor(endPosition, "0000FF", 1);
startPosition = endPosition;
}
mongoOplogWriter.Save();
}