public void checkNode(int i, int j, Vector2 from, Vector2 to, Dictionary <int, ANode> open, Dictionary <int, ANode> closed, ANode best)
{
Vector2 curNe = new Vector2(i, j);
ANode curNeNode = new ANode(curNe, cost(from, curNe), cost(curNe, to), best);
float NewCost = best.costFromStart + 1f;
ANode foundOpen = null;
open.TryGetValue(ServiceData.posInTableA(curNe), out foundOpen);
ANode foundClosed = null;
closed.TryGetValue(ServiceData.posInTableA(curNe), out foundClosed);
if (curNeNode.costFromStart <= NewCost && (foundClosed != null || foundOpen != null))
{
return;
}
curNeNode.costFromStart = NewCost;
curNeNode.TotalCost = curNeNode.costToGoal + curNeNode.costFromStart;
if (foundClosed != null)
{
closed.Remove(ServiceData.posInTableA(foundClosed.vector));
}
if (foundOpen != null)
{
foundOpen = curNeNode;
}
else
{
open.Add(ServiceData.posInTableA(curNeNode.vector), curNeNode);
visited.Add(new Vector2(i, j));
}
}
public static void FindWayDistTest(Map.Data.MapData map)
{
int powtorzenia = 100;
map.randomFill(10);
for (int j = 1; j < 300; j = j + 50)
{
Vector2 from = new Vector2(0, 0);
Vector2 to = new Vector2(j, j);
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"pomiar\pomiary\FindWayDistTest.txt", true))
{
file.WriteLine("PKTY (0, 0) (" + j + ", " + j + ") odleglosc: " + ServiceA.cost(from, to));
}
ServiceData.start = 800 - 300 / 2;
ServiceData.end = 800 + 300 / 2;
ServiceData.num = (ServiceData.end - ServiceData.start);
ServiceData.NewTabLength = ServiceData.num * ServiceData.num;
Debug.Log("0");
long[] elapsedMs1 = new long[powtorzenia];
long[] elapsedMs2 = new long[powtorzenia];
long[] elapsedMs3 = new long[powtorzenia];
long[] elapsedMs4 = new long[powtorzenia];
long[] elapsedMs5 = new long[powtorzenia];
System.GC.Collect();
ServiceData.listaSasiedztwa = null;
ServiceData.macierzSasiedztwa = null;
ServiceData.listaIncydencji = null;
ServiceData.ListaIncydencji(map, false);
//ServiceData.MacierzSasiedztwa(map, false);
for (int i = 0; i < powtorzenia; i++)
{
Debug.Log("1 " + ((int)from.x + 800) + " " + ((int)from.y + 800));
map.Table[(int)from.x + 800][(int)from.y + 800] = null;
Debug.Log("1 " + ((int)to.x + 800) + " " + ((int)to.y + 800));
map.Table[(int)to.x + 800][(int)to.y + 800] = null;
var watch1 = System.Diagnostics.Stopwatch.StartNew();
ServiceDjikstra.FindWay(from, to, map, true);
watch1.Stop();
elapsedMs1[i] = watch1.ElapsedMilliseconds;
var watch5 = System.Diagnostics.Stopwatch.StartNew();
ServiceA.FindWay(from, to, map);
watch5.Stop();
elapsedMs5[i] = watch5.ElapsedMilliseconds;
Debug.Log("3");
}
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"pomiar\pomiary\FindWayDistTest.txt", true))
{
file.WriteLine("Djikstra lista ");
long sum = 0;
foreach (var el in elapsedMs1)
{
sum = sum + el;
}
file.WriteLine(sum / powtorzenia);
sum = 0;
file.WriteLine("A*");
foreach (var el in elapsedMs5)
{
sum = sum + el;
}
file.WriteLine(sum / powtorzenia);
}
}
}
public static void FindWaySizeTest(Map.Data.MapData map)
{
int powtorzenia = 100;
map.randomFill(10);
for (int j = 10; j < 200; j = j + 10)
{
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"pomiar\pomiary\FindWaySizeTest.txt", true))
{
file.WriteLine("Rozmiar " + j);
}
ServiceData.start = 800 - j / 2;
ServiceData.end = 800 + j / 2;
ServiceData.num = (ServiceData.end - ServiceData.start);
ServiceData.NewTabLength = ServiceData.num * ServiceData.num;
long[] elapsedMs1 = new long[powtorzenia];
long[] elapsedMs2 = new long[powtorzenia];
long[] elapsedMs3 = new long[powtorzenia];
long[] elapsedMs4 = new long[powtorzenia];
long[] elapsedMs5 = new long[powtorzenia];
long[] elapsedMs6 = new long[powtorzenia];
System.GC.Collect();
ServiceData.listaSasiedztwa = null;
ServiceData.macierzSasiedztwa = null;
ServiceData.listaIncydencji = null;
ServiceData.ListaSasiedztwa(map, false);
ServiceData.MacierzSasiedztwa(map, false);
ServiceData.ListaIncydencji(map, false);
for (int i = 0; i < powtorzenia; i++)
{
Vector2 from = new Vector2(2, 2);
Vector2 to = new Vector2(50, 50);
map.Table[(int)from.x][(int)from.y] = null;
map.Table[(int)to.x][(int)to.y] = null;
var watch1 = System.Diagnostics.Stopwatch.StartNew();
ServiceDjikstra.FindWay(from, to, map, true);
watch1.Stop();
elapsedMs1[i] = watch1.ElapsedMilliseconds;
var watch2 = System.Diagnostics.Stopwatch.StartNew();
ServiceDjikstra.FindWay(from, to, map, false);
watch2.Stop();
elapsedMs2[i] = watch2.ElapsedMilliseconds;
var watch3 = System.Diagnostics.Stopwatch.StartNew();
//ServiceFord.FindWay(from, to, map, true);
watch3.Stop();
elapsedMs3[i] = watch3.ElapsedMilliseconds;
var watch4 = System.Diagnostics.Stopwatch.StartNew();
//ServiceFord.FindWay(from, to, map, false);
watch4.Stop();
elapsedMs4[i] = watch4.ElapsedMilliseconds;
var watch5 = System.Diagnostics.Stopwatch.StartNew();
ServiceA.FindWay(from, to, map);
watch5.Stop();
elapsedMs5[i] = watch5.ElapsedMilliseconds;
var watch6 = System.Diagnostics.Stopwatch.StartNew();
ServiceA.FindWay(from, to, map);
watch6.Stop();
elapsedMs6[i] = watch6.ElapsedMilliseconds;
}
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"pomiar\pomiary\FindWaySizeTest.txt", true))
{
file.WriteLine("Djikstra lista ");
foreach (var el in elapsedMs1)
{
file.WriteLine(el);
}
file.WriteLine("Djikstra macierz ");
foreach (var el in elapsedMs2)
{
file.WriteLine(el);
}
file.WriteLine("Ford Lista");
foreach (var el in elapsedMs3)
{
file.WriteLine(el);
}
file.WriteLine("Ford macierz");
foreach (var el in elapsedMs4)
{
file.WriteLine(el);
}
file.WriteLine("A*");
foreach (var el in elapsedMs5)
{
file.WriteLine(el);
}
file.WriteLine("A* Modified");
foreach (var el in elapsedMs6)
{
file.WriteLine(el);
}
}
}
}
public static void generateTest(Map.Data.MapData map)
{
int powtorzenia = 100;
map.randomFill(10);
for (int j = 10; j < 1000; j = j + 10)
{
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"pomiar\pomiary\generateTest.txt", true))
{
file.WriteLine("Rozmiar " + j);
}
ServiceData.start = 800 - j / 2;
ServiceData.end = 800 + j / 2;
ServiceData.num = (ServiceData.end - ServiceData.start);
ServiceData.NewTabLength = ServiceData.num * ServiceData.num;
long[] elapsedMs1 = new long[powtorzenia];
long[] elapsedMs2 = new long[powtorzenia];
long[] elapsedMs3 = new long[powtorzenia];
for (int i = 0; i < powtorzenia; i++)
{
System.GC.Collect();
ServiceData.listaSasiedztwa = null;
ServiceData.macierzSasiedztwa = null;
ServiceData.listaIncydencji = null;
if (ServiceData.listaSasiedztwa == null)
{
var watch1 = System.Diagnostics.Stopwatch.StartNew();
ServiceData.ListaSasiedztwa(map, false);
watch1.Stop();
elapsedMs1[i] = watch1.ElapsedMilliseconds;
}
if (ServiceData.macierzSasiedztwa == null)
{
var watch2 = System.Diagnostics.Stopwatch.StartNew();
ServiceData.MacierzSasiedztwa(map, false);
watch2.Stop();
elapsedMs2[i] = watch2.ElapsedMilliseconds;
}
if (ServiceData.listaIncydencji == null)
{
var watch3 = System.Diagnostics.Stopwatch.StartNew();
ServiceData.ListaIncydencji(map, false);
watch3.Stop();
elapsedMs3[i] = watch3.ElapsedMilliseconds;
}
}
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"pomiar\pomiary\generateTest.txt", true))
{
file.WriteLine("ListaSasiedztwa");
foreach (var el in elapsedMs1)
{
file.WriteLine(el);
}
file.WriteLine("macierzSasiedztwa");
foreach (var el in elapsedMs2)
{
file.WriteLine(el);
}
file.WriteLine("listaIncydencji");
foreach (var el in elapsedMs3)
{
file.WriteLine(el);
}
}
}
}
public IList <Vector2> FindWay_AModified(Vector2 from, Vector2 to, MapData map)
{
visited = new List <Vector2>();
IList <Vector2> list = new List <Vector2>();
from = new Vector2((int)from.x, (int)from.y);
to = new Vector2((int)to.x, (int)to.y);
var watch = System.Diagnostics.Stopwatch.StartNew();
//Debug.Log(from + " to " + to);
Dictionary <int, ANode> open = new Dictionary <int, ANode>();
Dictionary <int, ANode> closed = new Dictionary <int, ANode>();
Vector2 cur = from;
ANode s = new ANode(from, 0, cost(cur, to), null);
if (!open.ContainsKey(ServiceData.posInTableA(s.vector)))
{
open.Add(ServiceData.posInTableA(s.vector), s);
}
int max = 0;
while (open.Count > 0 && max++ < 5000)
{
var best = open.OrderBy(f => f.Value.TotalCost).ToList().FirstOrDefault();
if (best.Value.vector.Equals(to))
{
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
list.Add(best.Value.vector);
ANode act = best.Value.parent;
do
{
if (act != null)
{
list.Add(act.vector);
act = act.parent;
}
} while (act != null);
list = list.Reverse().ToList();
saveLogs(elapsedMs, list);
break;
}
else
{
int i = (int)best.Value.vector.x;
int j = (int)best.Value.vector.y;
//top
if (isEmpty(i, j + 1, map))
{
checkNode_AModified(i, j + 1, from, to, open, closed, best.Value);
}
//bot
if (isEmpty(i, j - 1, map))
{
checkNode_AModified(i, j - 1, from, to, open, closed, best.Value);
}
//r
if (isEmpty(i + 1, j, map))
{
checkNode_AModified(i + 1, j, from, to, open, closed, best.Value);
}
//l
if (isEmpty(i - 1, j, map))
{
checkNode_AModified(i - 1, j, from, to, open, closed, best.Value);
}
}
open.Remove(ServiceData.posInTableA(best.Value.vector));
if (!closed.ContainsKey(ServiceData.posInTableA(best.Value.vector)))
{
closed.Add(ServiceData.posInTableA(best.Value.vector), best.Value);
}
}
return(list);
}
public IList <Vector2> FindWay(Vector2 from, Vector2 to, MapData map, bool useList)
{
IList <Vector2> list = new List <Vector2>();
int DEST = ServiceData.posInTable(to);
int START = ServiceData.posInTable(from);
//Debug.Log("start " + START + " dest " + DEST);
var watch = System.Diagnostics.Stopwatch.StartNew();
int wielkoscGrafu = ServiceData.NewTabLength;
// int[] odl = new int[ServiceData.NewTabLength]; // aktualna najmniejsza odleglosc
int[] odleglosc = new int[wielkoscGrafu];
int[] poprzedni = new int[wielkoscGrafu];
int[] wezly = new int[wielkoscGrafu];
for (int i = 0; i < ServiceData.NewTabLength; i++)
{
odleglosc[i] = poprzedni[i] = ServiceData.INF;
wezly[i] = i;
}
odleglosc[START] = 0;
if (!useList)
{
do
{
int najmniejsza = wezly[0];
int smallestIndex = 0;
for (int i = 1; i < wielkoscGrafu; i++)
{
if (odleglosc[wezly[i]] < odleglosc[najmniejsza])
{
najmniejsza = wezly[i];
smallestIndex = i;
}
}
wielkoscGrafu--;
wezly[smallestIndex] = wezly[wielkoscGrafu];
//Debug.Log("wywolanie ");
if (odleglosc[najmniejsza] == ServiceData.INF || najmniejsza == DEST)
{
//Debug.Log("break | dist " + odleglosc[najmniejsza] + " smallest " + najmniejsza);
break;
}
for (int i = 0; i < wielkoscGrafu; i++)
{
int v = wezly[i];
int newDist = odleglosc[najmniejsza] + ServiceData.macierzSasiedztwa[najmniejsza][v];
if (newDist < odleglosc[v])
{
odleglosc[v] = newDist;
poprzedni[v] = najmniejsza;
}
}
} while (wielkoscGrafu > 0);
}
else
{
do
{
int najmniejsza = wezly[0];
int smallestIndex = 0;
for (int i = 1; i < wielkoscGrafu; i++)
{
if (odleglosc[wezly[i]] < odleglosc[najmniejsza])
{
najmniejsza = wezly[i];
smallestIndex = i;
}
}
wielkoscGrafu--;
wezly[smallestIndex] = wezly[wielkoscGrafu];
//Debug.Log("wywolanie ");
if (odleglosc[najmniejsza] == ServiceData.INF || najmniejsza == DEST)
{
//Debug.Log("break | dist " + odleglosc[najmniejsza] + " smallest " + najmniejsza);
break;
}
foreach (var i in ServiceData.listaIncydencji[najmniejsza])
{
int v = wezly[i];
int waga = ServiceData.listaIncydencji[najmniejsza].Where(f => f == v).FirstOrDefault();
int newDist = odleglosc[najmniejsza] + (waga == 0 ? ServiceData.INF : 1);
if (newDist < odleglosc[v])
{
odleglosc[v] = newDist;
poprzedni[v] = najmniejsza;
}
}
} while (wielkoscGrafu > 0);
}
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
int[] sciezka = OdtworzSciezke(poprzedni, START, DEST);
saveLogs(elapsedMs, odleglosc, poprzedni, wezly, sciezka, useList);
foreach (var elem in sciezka)
{
list.Add(ServiceData.posInTableToVector(elem));
//Debug.Log("pkt " + ServiceData.posInTableToVector(elem));
}
return(list);
}
public IList <Vector2> FindWay(Vector2 from, Vector2 to, MapData map, bool useList)
{
IList <Vector2> list = new List <Vector2>();
int DEST = ServiceData.posInTable(to);
int START = ServiceData.posInTable(from);
//Debug.Log("start " + START + " dest " + DEST);
var watch = System.Diagnostics.Stopwatch.StartNew();
Queue <int> q = new Queue <int>();
int wielkoscGrafu = ServiceData.NewTabLength;
// int[] odl = new int[ServiceData.NewTabLength]; // aktualna najmniejsza odleglosc
int[] odleglosc = new int[wielkoscGrafu];
int[] poprzedni = new int[wielkoscGrafu];
int[] wezly = new int[wielkoscGrafu];
for (int i = 0; i < ServiceData.NewTabLength; i++)
{
odleglosc[i] = poprzedni[i] = ServiceData.INF;
wezly[i] = i;
}
odleglosc[START] = 0;
if (!useList)
{
for (int i = 1; i < wielkoscGrafu - 1; i++)
{
for (int w1 = 0; w1 < wielkoscGrafu; w1++)
{
for (int w2 = 0; w2 < wielkoscGrafu; w2++)
{
if (ServiceData.macierzSasiedztwa[w1][w2] != 0)
{
int tmp = odleglosc[w2] + ServiceData.macierzSasiedztwa[w1][w2];
if (odleglosc[w1] > tmp)
{
odleglosc[w1] = tmp;
poprzedni[w1] = w2;
}
}
}
}
}
}
else
{
for (int i = 1; i < wielkoscGrafu - 1; i++)
{
for (int w1 = 0; w1 < wielkoscGrafu; w1++)
{
foreach (var w2 in ServiceData.listaIncydencji[w1])
{
int waga = w2;
if (waga != 0)
{
//Debug.Log(" waga "+ waga + " w2 " + w2 + " w1 " + w1);
int tmp = odleglosc[w2] + 1;
// Debug.Log(" ustawiam " + odleglosc[w1] + " odl" + (odleglosc[w2] + 1));
if (odleglosc[w1] > tmp)
{
odleglosc[w1] = tmp;
poprzedni[w1] = w2;
}
}
}
}
}
}
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
int[] sciezka = OdtworzSciezke(poprzedni, START, DEST);
saveLogs(elapsedMs, odleglosc, poprzedni, wezly, sciezka, useList);
foreach (var elem in sciezka)
{
list.Add(ServiceData.posInTableToVector(elem));
//Debug.Log("pkt " + ServiceData.posInTableToVector(elem));
}
return(list);
}
