public Map(int[,] inputMap, PointOnMap[] goals, PointOnMap[] diamonds, PointOnMap robotPosition, Route wholeRoute)
{
map = inputMap;
this.goals = goals;
this.diamonds = diamonds;
this.robotPosition = robotPosition;
this.wholeRoute = wholeRoute;
}
/// <summary>
/// Constructor of Map
/// </summary>
public Map(int mapWidth, int mapHeight, int inputDiamonds, int inputGoals, String[] mapString)
{
map = new int[mapHeight, mapWidth]; // mapHeight = rows mapWidth = cols
diamonds = new PointOnMap[inputDiamonds];
goals = new PointOnMap[inputGoals];
wholeRoute = new Route();
int x = 0, y = 0, diamondCounter = 0, goalCounter = 0;
foreach (string row in mapString)
{
foreach (char field in row)
{
switch (field)
{
case '.':
map[x, y] = (int)FieldType.Walkable;
break;
case 'J':
map[x, y] = (int)FieldType.Diamond;
diamonds[diamondCounter] = new PointOnMap(x, y, FieldType.Diamond);
diamondCounter++;
break;
case 'M':
map[x, y] = (int)FieldType.Robot;
robotPosition = new PointOnMap(x, y, FieldType.Robot);
break;
case 'G':
map[x, y] = (int)FieldType.Goal;
goals[goalCounter] = new PointOnMap(x, y, FieldType.Goal);
goalCounter++;
break;
case 'X':
map[x, y] = (int)FieldType.Unwalkable;
break;
case ' ':
map[x, y] = (int)FieldType.Unwalkable;
break;
default:
Console.Error.WriteLine("Faulty Input Letter: " + field);
Environment.Exit(1);
Console.Read();
break;
}
y++;
}
y = 0;
x++;
}
}
public Robot(Map currentMap)
{
map = currentMap;
currentPosition = map.robotPosition;
diamondPositions = map.diamonds;
currentPosition.order = 1;
usefulRoutes = calculateUsefulRoutes(calculateShiftPoints(), calculatePossibleRobotPositions());
// foreach (Route r in usefulRoutes)
///{
// Console.Write(r.ToString() + "----------\n\n");
//}
//List<Tuple<PointOnMap, PointOnMap>> possibleShiftPoints
}
public int[,] calculatePossibleRobotPositions()
{
int[,] movementMap = (int[, ]) this.map.map.Clone(); // Deep Copy
Array.Clear(movementMap, 0, movementMap.Length);
List <PointOnMap> stillToInspect = new List <PointOnMap>();
stillToInspect.Add(currentPosition);
while (stillToInspect.Count > 0)
{
PointOnMap currentlyInspectedPosition = stillToInspect[0];
stillToInspect.RemoveAt(0);
if ((currentlyInspectedPosition.FieldType == FieldType.Robot ||
currentlyInspectedPosition.FieldType == FieldType.Goal ||
currentlyInspectedPosition.FieldType == FieldType.Walkable)
&&
(currentlyInspectedPosition.order < movementMap[currentlyInspectedPosition.Row, currentlyInspectedPosition.Column] ||
movementMap[currentlyInspectedPosition.Row, currentlyInspectedPosition.Column] == 0))
{
movementMap[currentlyInspectedPosition.Row, currentlyInspectedPosition.Column] = currentlyInspectedPosition.order;
PointOnMap pNorth = map.GetElementNorth(currentlyInspectedPosition);
pNorth.order = currentlyInspectedPosition.order + 1;
stillToInspect.Add(pNorth);
PointOnMap pEast = map.GetElementEast(currentlyInspectedPosition);
pEast.order = currentlyInspectedPosition.order + 1;
stillToInspect.Add(pEast);
PointOnMap pSouth = map.GetElementSouth(currentlyInspectedPosition);
pSouth.order = currentlyInspectedPosition.order + 1;
stillToInspect.Add(pSouth);
PointOnMap pWest = map.GetElementWest(currentlyInspectedPosition);
pWest.order = currentlyInspectedPosition.order + 1;
stillToInspect.Add(pWest);
}
}
//printMovementMap(movementMap);
return(movementMap);
}
private void searchDiamonds()
{
//Console.WriteLine("Diamonds: ");
int diamondCounter = 0;
for (int i = 0; i < map.GetLength(0); i++)
{
for (int j = 0; j < map.GetLength(1); j++)
{
if ((FieldType)map[i, j] == FieldType.Diamond)
{
diamonds[diamondCounter] = new PointOnMap(i, j, (FieldType)map[i, j]);
//Console.WriteLine(diamonds[diamondCounter].ToString() + " ");
diamondCounter++;
}
}
}
if (diamondCounter < goals.Length)
{
throw new Exception("Impossible!");
}
}
public void Append(PointOnMap nextStep)
{
route.Add(nextStep);
}
public PointOnMap GetElementWest(PointOnMap current)
{
return(new PointOnMap(current.Row, current.Column - 1, (FieldType)map[current.Row, current.Column - 1]));
}
public PointOnMap GetElementSouth(PointOnMap current)
{
return(new PointOnMap(current.Row + 1, current.Column, (FieldType)map[current.Row + 1, current.Column]));
}
public Map executeRoute(Route routeToBeExecuted)
{
int[,] result = new int[map.GetLength(0), map.GetLength(1)];
Array.Copy(map, result, map.Length);
PointOnMap[] newDiamonds = new PointOnMap[diamonds.Length];
if (diamonds.Length < goals.Length)
{
throw new Exception("What the f**k!");
}
int i = 0;
foreach (PointOnMap diamond in diamonds)
{
newDiamonds[i] = new PointOnMap(diamond.Row, diamond.Column, (FieldType)map[diamond.Row, diamond.Column]);
i++;
}
Map newMap = new Map(result, this.goals, newDiamonds, robotPosition, wholeRoute.Append(routeToBeExecuted));
// Set new shift Position where the robot has to go in order to push the diamond
int shiftPostionX = routeToBeExecuted.GetSecondLast().Row;
int shiftPostionY = routeToBeExecuted.GetSecondLast().Column;
PointOnMap shiftPosition = new PointOnMap(shiftPostionX, shiftPostionY, (FieldType)newMap.map[shiftPostionX, shiftPostionY]);
// Set new robot Position where the robot will be after pushing forward the diamond
int newRobotPositionX = routeToBeExecuted.GetLast().Row;
int newRobotPositionY = routeToBeExecuted.GetLast().Column;
// The robot is placed on position of diamond
newMap.map[newRobotPositionX, newRobotPositionY] = (int)FieldType.Robot;
PointOnMap newRobotPosition = new PointOnMap(newRobotPositionX, newRobotPositionY, (FieldType)newMap.map[newRobotPositionX, newRobotPositionY]);
// Set old position of robot to walkable
newMap.map[robotPosition.Row, robotPosition.Column] = (int)FieldType.Walkable;
// if old robot-position was goal, set to goal instead of walkable
foreach (PointOnMap goal in goals)
{
if (robotPosition == goal)
{
newMap.map[robotPosition.Row, robotPosition.Column] = (int)FieldType.Goal;
}
}
// Diamond position has to be updated
switch (PointOnMap.DirectionOfNeighbor(newMap, shiftPosition, newRobotPosition))
{
case Direction.North:
newMap.map[GetElementNorth(newRobotPosition).Row, GetElementNorth(newRobotPosition).Column] = (int)FieldType.Diamond;
break;
case Direction.East:
newMap.map[GetElementEast(newRobotPosition).Row, GetElementEast(newRobotPosition).Column] = (int)FieldType.Diamond;
break;
case Direction.South:
newMap.map[GetElementSouth(newRobotPosition).Row, GetElementSouth(newRobotPosition).Column] = (int)FieldType.Diamond;
break;
case Direction.West:
newMap.map[GetElementWest(newRobotPosition).Row, GetElementWest(newRobotPosition).Column] = (int)FieldType.Diamond;
break;
default:
Console.WriteLine("nicht gut!");
throw new Exception("Lost a diamond!");
break;
}
newMap.robotPosition = newRobotPosition;
newMap.searchDiamonds(); // Update Diamondpositions!
return(newMap);
}
public List <Route> calculateUsefulRoutes(List <Tuple <PointOnMap, PointOnMap> > possibleShiftPoints, int[,] movementMap)
{
List <Route> allUsefulRoutes = new List <Route>();
// List of Tuples where the first Element specifies the
// robot position and the second Element represents the diamond that can be moved
foreach (Tuple <PointOnMap, PointOnMap> shiftPoint in possibleShiftPoints)
{
//Console.WriteLine(shiftPoint.Item1.Row + "|" + shiftPoint.Item1.Column);
// Is it possible to move robot to several Shift Points?
if (movementMap[shiftPoint.Item1.Row, shiftPoint.Item1.Column] != 0)
{
//Let's create a route from Robot to shift Position! The final position must be the diamond itself
// The diamond must move in the right direction!
// The route is equal to following the numbers backwards
Route routeToShiftPoint = new Route();
routeToShiftPoint.Append(shiftPoint.Item2);
routeToShiftPoint.Append(shiftPoint.Item1);
int toRobotCounter = movementMap[shiftPoint.Item1.Row, shiftPoint.Item1.Column];
PointOnMap current = shiftPoint.Item1;
while (toRobotCounter != 1)
{
toRobotCounter -= 1;
if (movementMap[map.GetElementNorth(current).Row, map.GetElementNorth(current).Column] ==
toRobotCounter)
{
current = map.GetElementNorth(current);
routeToShiftPoint.Append(current);
continue;
}
if (movementMap[map.GetElementEast(current).Row, map.GetElementEast(current).Column] ==
toRobotCounter)
{
current = map.GetElementEast(current);
routeToShiftPoint.Append(current);
continue;
}
if (movementMap[map.GetElementSouth(current).Row, map.GetElementSouth(current).Column] ==
toRobotCounter)
{
current = map.GetElementSouth(current);
routeToShiftPoint.Append(current);
continue;
}
if (movementMap[map.GetElementWest(current).Row, map.GetElementWest(current).Column] ==
toRobotCounter)
{
current = map.GetElementWest(current);
routeToShiftPoint.Append(current);
continue;
}
}
allUsefulRoutes.Add(routeToShiftPoint.Reverse());
}
}
return(allUsefulRoutes);
}
