Ting[] GetListOfTingsLeadingThroughRoomGroups(RoomGroupNode current)
{
#if LOG
D.Log("Will GetListOfTingsLeadingThroughRoomGroups!");
D.Log("Starting at goal of " + current);
#endif
var roomGroupsPath = new List <RoomGroup>();
while (current.prev != null)
{
roomGroupsPath.Add(current.roomGroup);
current = current.prev;
}
roomGroupsPath.Add(current.roomGroup);
roomGroupsPath.Reverse(); // REVERSE!
string[] roomGroupsAsStrings = roomGroupsPath.Select(r => r.ToString()).ToArray();
#if LOG
D.Log("Room groups to go through: " + string.Join(", ", roomGroupsAsStrings));
#endif
List <Ting> tingsToInteractWith = new List <Ting>();
for (int i = 0; i < roomGroupsPath.Count - 1; i++)
{
var a = roomGroupsPath[i];
var b = roomGroupsPath[i + 1];
#if LOG
D.Log("Will find ting that connects " + a + " with " + b);
#endif
var connections = _roomNetwork.linkedRoomGroups[a];
Ting ting = connections[b];
tingsToInteractWith.Add(ting);
}
return(tingsToInteractWith.ToArray());
}
private MimanPath AStar(Ting pStart, Ting pGoal)
{
if (pStart.room == pGoal.room)
{
return(new MimanPath()
{
status = MimanPathStatus.IN_THE_SAME_ROOM_ALREADY
});
}
var visited = new HashSet <RoomGroup>();
var startGroup = RoomGroup.FromTing(pStart);
var goalGroup = RoomGroup.FromTing(pGoal);
RoomGroupNode startNode = new RoomGroupNode()
{
roomGroup = startGroup,
gscore = 0f,
fscore = CostEstimate(startGroup, goalGroup),
hasBeenTouched = true,
depth = 0,
};
var unvisited = new List <RoomGroupNode>()
{
startNode
};
int iterations = 0;
while (unvisited.Count > 0)
{
iterations++;
if (iterations > 1000)
{
D.Log("Hit maximum iterations when doing MimanPathfinder2 search from " + pStart.position + " to " + pGoal.position);
return(new MimanPath()
{
status = MimanPathStatus.NO_PATH_FOUND,
iterations = iterations,
tings = new Ting[] {},
});
}
RoomGroupNode current = GetCheapest(unvisited);
if (current.prev != null)
{
current.depth = current.prev.depth + 1;
}
#if LOG
Console.WriteLine("Current node: " + current + ", with gscore " + current.gscore + " and depth: " + current.depth);
#endif
if (current.roomGroup.Equals(goalGroup))
{
return(new MimanPath()
{
status = MimanPathStatus.FOUND_GOAL,
tings = GetListOfTingsLeadingThroughRoomGroups(current),
iterations = iterations,
});
}
unvisited.Remove(current);
visited.Add(current.roomGroup);
Dictionary <RoomGroup, Ting> linkedRooms = null;
if (!_roomNetwork.linkedRoomGroups.TryGetValue(current.roomGroup, out linkedRooms))
{
linkedRooms = new Dictionary <RoomGroup, Ting>();
}
#if LOG
Console.WriteLine("Nr of linked rooms: " + linkedRooms.Count);
#endif
List <RoomGroupNode> neighbours = new List <RoomGroupNode>();
foreach (var roomGroup in linkedRooms.Keys)
{
neighbours.Add(new RoomGroupNode()
{
roomGroup = roomGroup,
});
}
foreach (RoomGroupNode neighbour in neighbours)
{
#if LOG
Console.WriteLine("Testing out neighbour " + neighbour);
#endif
float tentativeGScore = current.gscore + ActualCost(current.roomGroup, neighbour.roomGroup);
bool hasBeenVisited = visited.Contains(neighbour.roomGroup);
if (hasBeenVisited && tentativeGScore > neighbour.gscore)
{
#if LOG
//Console.WriteLine("It has been visited and its score is too high, lets skip it");
#endif
continue;
}
#if LOG
//Console.WriteLine("Tentative gscore: " + tentativeGScore + ", neighbour score: " + neighbour.gscore);
#endif
if (!neighbour.hasBeenTouched || tentativeGScore < neighbour.gscore)
{
neighbour.hasBeenTouched = true;
neighbour.prev = current;
neighbour.gscore = tentativeGScore;
neighbour.fscore = neighbour.gscore + CostEstimate(neighbour.roomGroup, goalGroup);
if (!unvisited.Contains(neighbour))
{
#if LOG
//Console.WriteLine("Adding neighbour " + neighbour.ting.name + " to unvisited list.");
#endif
unvisited.Add(neighbour);
}
}
}
}
return(new MimanPath()
{
status = MimanPathStatus.NO_PATH_FOUND,
iterations = iterations,
tings = new Ting[] {},
});
}