public void CalculatePaths(NeighbourMode neighbourMode, Action <object, int, int, int> onCellViewedCallback)
{
_pathMatrix = new IList <Vector2Int> [_transitionNodes.Count, _transitionNodes.Count];
AStarAlgorithm aStarAlgorithm = new AStarAlgorithm();
aStarAlgorithm.OnCellViewedEvent += onCellViewedCallback;
CoordinateTransformer transformer = new CoordinateTransformer(this, LeftBottom);
for (int i = 0; i < _transitionNodes.Count; i++)
{
for (int j = i + 1; j < _transitionNodes.Count; j++)
{
var nodeA = _transitionNodes[i];
var nodeB = _transitionNodes[j];
IList <Vector2Int> path =
aStarAlgorithm.GetPath(transformer, nodeA.Position - LeftBottom, nodeB.Position - LeftBottom,
neighbourMode);
_pathMatrix[i, j] = path;
_pathMatrix[j, i] = Utils.GetInvertedList(path);
if (path != null)
{
nodeA.SetWeight(nodeB, path.Count);
nodeB.SetWeight(nodeA, path.Count);
}
}
}
}
static void Main(string[] args)
{
Console.BufferWidth = 300;
Console.BufferHeight = 240;
Console.WindowWidth = 180;
Console.WriteLine("Press any key to start...");
Console.ReadKey();
FileStream mapFileStream = File.Open("Maps/vadim_maze.cmap", FileMode.Open, FileAccess.Read);
ConsoleMap map = ConsoleMapGenerator.FromText(mapFileStream, 'S', 'E', 'X', '.');
_map = map;
InitArrays(2);
Vector2Int start = map.DefaultStart;
Vector2Int stop = map.DefaultStop;
_start = start;
_stop = stop;
Vector2Int scale = new Vector2Int(4, 2);
int spacing = 4;
InitConsoleDrawer(map, scale, spacing, start, stop, 0);
InitConsoleDrawer(map, scale, spacing, start, stop, 1);
Console.SetCursorPosition(0, map.Height * scale.Y);
AStarAlgorithm aStarTest = new AStarAlgorithm();
var path = aStarTest.GetPath(_map, start, stop, NeighbourMode.SideOnly);
if (path != null)
{
Console.WriteLine("Path was found");
DrawPath(path, 0);
}
_contestants[0] = new BestFirstSearch();
_contestants[0].OnCellViewedEvent += OnCellUpdated;
_contestants[1] = new AStarAlgorithm();
_contestants[1].OnCellViewedEvent += OnCellUpdated;
StartPathFinder(0);
StartPathFinder(1);
while (_runningTasks > 0)
{
Thread.Sleep(100);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
public void ConnectNode(IWeightedGraphNode <double> node, NeighbourMode neighbourMode)
{
AStarAlgorithm aStarAlgorithm = new AStarAlgorithm();
CoordinateTransformer transformer = new CoordinateTransformer(this, LeftBottom);
foreach (var transitionNode in _transitionNodes)
{
IList <Vector2Int> path = aStarAlgorithm.GetPath(transformer, node.Position - LeftBottom,
transitionNode.Position - LeftBottom, neighbourMode);
if (path != null)
{
node.SetWeight(transitionNode, path.Count);
transitionNode.SetWeight(node, path.Count);
// Other mode will not be connected
}
}
}
public void GeneratePath()
{
path = AStarAlgorithm.GetPath(BlueSpawn, redSpawn);
}
public IList <Vector2Int> GetPath(ICellMap map, Vector2Int start, Vector2Int stop, NeighbourMode neighbourMode)
{
if (!_isInitialized)
{
Initialize(map);
}
CellCluster startContainer = HierarchicalMapGenerator.GetContainingCluster(HierarchicalGraph.ZeroLevelClusters, ClusterSizeZero, ClusterSizeZero, start);
CellCluster stopContainer = HierarchicalMapGenerator.GetContainingCluster(HierarchicalGraph.ZeroLevelClusters, ClusterSizeZero, ClusterSizeZero, stop);
HierarchicalGraphNode startNode = new HierarchicalGraphNode();
startNode.Position = start;
startContainer.ConnectNode(startNode, neighbourMode);
startNode.ParentCluster = startContainer;
HierarchicalGraphNode stopNode = new HierarchicalGraphNode();
stopNode.Position = stop;
stopContainer.ConnectNode(stopNode, neighbourMode);
stopNode.ParentCluster = stopContainer;
AStarAlgorithm aStarAlgorithm = new AStarAlgorithm();
_currentCellCluster = null;
aStarAlgorithm.OnCellViewedEvent += OnAStarCellViewed;
IList <IGraphNode> abstractPath = aStarAlgorithm.GetPath(null, startNode, stopNode);
List <Vector2Int> path = null;
if (abstractPath != null)
{
path = new List <Vector2Int>();
for (var i = 0; i < abstractPath.Count - 1; i++)
{
HierarchicalGraphNode nodeA = (HierarchicalGraphNode)abstractPath[i];
HierarchicalGraphNode nodeB = (HierarchicalGraphNode)abstractPath[i + 1];
if (nodeA.ParentCluster == nodeB.ParentCluster)
{
CoordinateTransformer transformer =
new CoordinateTransformer(nodeA.ParentCluster, nodeA.ParentCluster.LeftBottom);
_currentCellCluster = nodeA.ParentCluster;
Vector2Int clusterStart = nodeA.Position - transformer.Transform;
Vector2Int clusterStop = nodeB.Position - transformer.Transform;
IList <Vector2Int> realPath = aStarAlgorithm.GetPathSingleLayer(transformer, clusterStart, clusterStop, neighbourMode);
if (realPath == null)
{
var bitmap = CellMapToBitmap.GetBitmap(nodeA.ParentCluster, 16, clusterStart, clusterStop, null);
LogManager.Log($"Path in cluster not found. Start: {clusterStart}; Stop: {clusterStop}. Bitmap printed");
LogManager.Log(bitmap);
throw new InvalidOperationException();
}
TransformPath(realPath, transformer.Transform);
realPath = Utils.GetInvertedList(realPath);
path.AddRange(realPath);
}
}
}
DestroyConnections(startNode);
DestroyConnections(stopNode);
DestroyData(HierarchicalGraph.ZeroLevelClusters);
return(path);
}
// Use this for initialization
void Start()
{
var level = new Level(GridSize);
BSPAlgorithm.Apply(level, BSPAlgorithm.Parameters.Default, 100);
Tile firstFloor = null;
Tile secondFloor = null;
int count = 0;
//Random.InitState(563534); // 4-5 ms
//Random.InitState(10000); //23 ms
// Random.InitState(2342452); //31 ms
Random.InitState((int)System.DateTime.Now.Ticks);
while (true)
{
var tile = level.Grid.Tiles[Random.Range(0, level.Grid.Tiles.GetLength(0) - 1), Random.Range(0, level.Grid.Tiles.GetLength(1) - 1)];
if (tile.Type == Tile.Types.Floor)
{
firstFloor = tile;
break;
}
count++;
if (count == 1000)
{
break;
}
}
count = 0;
while (true)
{
var tile = level.Grid.Tiles[Random.Range(0, level.Grid.Tiles.GetLength(0) - 1), Random.Range(0, level.Grid.Tiles.GetLength(1) - 1)];
if (tile.Type == Tile.Types.Floor)
{
secondFloor = tile;
break;
}
count++;
if (count == 1000)
{
break;
}
}
AStarAlgorithm pathfinding = new AStarAlgorithm();
var path = pathfinding.GetPath(firstFloor, secondFloor);
foreach (var item in path)
{
//item.GetToNode.Node.attached.GetComponent<SpriteRenderer>().color = Color.red;
}
render.Init(level.Grid.Tiles, GridSize);
}
