public void RandomlyGenerateGrid()
{
/// TODO: Delete this
GlobalLogger.ClearLog();
// Create cell array
for (int i = 0; i < 120; i++)
{
for (int j = 0; j < 160; j++)
{
Cells[i, j] = new Cell(this, i, j);
}
}
// Create 8 unique random locations
Random random = new Random(System.Guid.NewGuid().GetHashCode());
Vector2 temp;
int numLoc = 0;
while (numLoc < 8)
{
temp = new Vector2(random.Next(0, 120), random.Next(0, 160));
if (!hardToTraverseCenters.Contains(temp))
{
hardToTraverseCenters[numLoc++] = temp;
}
}
// Populate with a 50/50 ratio, hard to traverse and regular to traverse cells
foreach (Vector2 location in hardToTraverseCenters)
{
for (int i = (int)location.X - 15; i < (int)location.X + 15; i++)
{
for (int j = (int)location.Y - 15; j < (int)location.Y + 15; j++)
{
if (i > -1 && i < 120 && j > -1 && j < 160)
{
if (random.NextDouble() > 0.49f)
{
Cells[i, j].TraversalType = Cell.TraversalTypes.HARD;
}
}
}
}
}
// Select a random cell along the boundary
int numHighwaysCreated = 0;
while (numHighwaysCreated < 4)
{
//GlobalLogger.Log(string.Format("{0}Creating highway: {1}{0}", System.Environment.NewLine, numHighwaysCreated + 1));
double edgeRand = random.NextDouble();
//GlobalLogger.Log(string.Format("Random number chosen for highway start direction: {0}", edgeRand));
Vector2? startCoord = null;
HighwayDirections?startDirection = null;
if (edgeRand < 0.25f)
{
//GlobalLogger.Log("Highway start direction: Down");
startDirection = HighwayDirections.DOWN;
startCoord = new Vector2(0, random.Next(1, 159));
}
else if (edgeRand < 0.50f)
{
//GlobalLogger.Log("Highway start direction: Left");
startDirection = HighwayDirections.LEFT;
startCoord = new Vector2(random.Next(1, 119), 159);
}
else if (edgeRand < 0.75f)
{
//GlobalLogger.Log("Highway start direction: Up");
startDirection = HighwayDirections.UP;
startCoord = new Vector2(119, random.Next(1, 159));
}
else
{
//GlobalLogger.Log("Highway start direction: Right");
startDirection = HighwayDirections.RIGHT;
startCoord = new Vector2(random.Next(1, 119), 0);
}
if (CreateHighway(startCoord.Value, startDirection.Value))
{
numHighwaysCreated++;
}
//GlobalLogger.Log(string.Format("{0}HIGHWAY FAILED{0}", System.Environment.NewLine));
}
// Flag 20% of all cells as blocked as long as they are not a highway
int numBlockedCells = 0;
while (numBlockedCells < 3840)
{
int x = random.Next(0, 120);
int y = random.Next(0, 160);
if (!Cells[x, y].IsHighway)
{
Cells[x, y].TraversalType = Cell.TraversalTypes.BLOCKED;
numBlockedCells++;
}
}
// Choose 10 start/goal locations
int a = 0;
bool found = false;
Cell tempCell;
while (a < 10)
{
StartGoalPair sgpair = new StartGoalPair();
// get start
List <Vector2> borderCells = GetBorderCells(borderThickness: 20);
found = false;
do
{
int rand = random.Next(0, borderCells.Count);
Vector2 startV = borderCells[rand];
tempCell = Cells[(int)startV.X, (int)startV.Y];
if (tempCell.TraversalType != Cell.TraversalTypes.BLOCKED)
{
sgpair.Start = startV;
found = true;
}
} while (!found);
// get goal
found = false;
do
{
int rand = random.Next(0, borderCells.Count);
Vector2 goalV = borderCells[rand];
tempCell = Cells[(int)goalV.X, (int)goalV.Y];
if (tempCell.TraversalType != Cell.TraversalTypes.BLOCKED &&
CalculateDistance(goalV, sgpair.Start) > 100)
{
sgpair.Goal = goalV;
found = true;
}
} while (!found);
if (!StartGoalPairs.Contains(sgpair))
{
StartGoalPairs[a] = sgpair;
a++;
}
}
StartGoalPairIndex = 0;
}
// Loads grid from file
public void LoadFromFile(string filepath)
{
// Clear current grid
for (int i = 0; i < 120; i++)
{
for (int j = 0; j < 160; j++)
{
Cells[i, j] = new Cell(this, i, j);
}
}
for (int i = 0; i < 8; i++)
{
hardToTraverseCenters[i] = default(Vector2);
}
for (int i = 0; i < 10; i++)
{
StartGoalPairs[i] = new StartGoalPair();
}
// Load grid from file
try
{
// Load all lines from the file
string[] lines = System.IO.File.ReadAllLines(filepath);
string[] temp;
int xTemp;
int yTemp;
// Get start locations
temp = lines[0].Split(' ');
for (int i = 0; i < 10; i++)
{
string[] tempCoord = temp[i].Split(',');
xTemp = int.Parse(tempCoord[0]);
yTemp = int.Parse(tempCoord[1]);
StartGoalPairs[i].Start = new Vector2(xTemp, yTemp);
if (i == 0)
{
Cells[xTemp, yTemp].IsStart = true;
}
}
// Get goal locations
temp = lines[1].Split(' ');
for (int i = 0; i < 10; i++)
{
string[] tempCoord = temp[i].Split(',');
xTemp = int.Parse(tempCoord[0]);
yTemp = int.Parse(tempCoord[1]);
StartGoalPairs[i].Goal = new Vector2(xTemp, yTemp);
if (i == 0)
{
Cells[xTemp, yTemp].IsGoal = true;
}
}
StartGoalPairIndex = 0;
// Get 8 centers of hard to traverse areas
for (int i = 0; i < 8; i++)
{
temp = lines[i + 2].Split(',');
xTemp = int.Parse(temp[0]);
yTemp = int.Parse(temp[1]);
hardToTraverseCenters[i] = new Vector2(xTemp, yTemp);
}
for (int i = 0; i < 120; i++)
{
temp = lines[i + 10].Split(' ');
for (int j = 0; j < 160; j++)
{
switch (temp[j])
{
case "0":
Cells[i, j].TraversalType = Cell.TraversalTypes.BLOCKED;
break;
case "1":
Cells[i, j].TraversalType = Cell.TraversalTypes.REGULAR;
break;
case "2":
Cells[i, j].TraversalType = Cell.TraversalTypes.HARD;
break;
case "a":
Cells[i, j].TraversalType = Cell.TraversalTypes.REGULAR;
Cells[i, j].IsHighway = true;
break;
case "b":
Cells[i, j].TraversalType = Cell.TraversalTypes.HARD;
Cells[i, j].IsHighway = true;
break;
default:
throw new Exception("Grid file is in an invalid format");
}
}
}
}
catch (Exception e)
{
MessageBox.Show(string.Format("Unable to load grid from file{0}{1}", System.Environment.NewLine, e.Message));
}
}
