public IEnumerable <TagCompound> GetWithin(Cuboid area)
{
foreach (TagCompound e in _entities)
{
Position pos = Entity.GetPosition(e);
if (area.Contains(pos.X, pos.Y, pos.Z))
{
yield return(e);
}
}
}
private static bool StraightPathBoundBoxIntersectsObstacles(Cuboid pathObstacle, Cuboid[] obstacles)
{
foreach (var obstacle in obstacles)
{
if (pathObstacle.Contains(obstacle.MinPoint))
{
return(true);
}
}
return(false);
}
public IEnumerable <TagCompound> GetWithin(Cuboid area)
{
int fromX = area.MinX / 16;
int fromZ = area.MinZ / 16;
int toX = area.MaxX / 16;
int toZ = area.MaxZ / 16;
for (int z = fromZ; z < toZ; z++)
{
for (int x = fromX; x < toX; x++)
{
AnvilChunk c = (AnvilChunk)_chunk.GetChunk(new ChunkCoord(x, z));
foreach (TagCompound e in c.Entities)
{
Position pos = Entity.GetPosition(e);
if (area.Contains(pos.X, pos.Y, pos.Z))
{
yield return(e);
}
}
}
}
}
public bool AddNode(Point3D point, T value)
{
if (!_bounds.Contains(point))
{
return(false);
}
if (!_innerNode && _leafs.Count + 1 > _capacity)
{
DivideSelf();
}
if (_innerNode)
{
var added = false;
foreach (var child in _children)
{
if (child.AddNode(point, value))
{
added = true;
break;
}
}
if (!added)
{
throw new InvalidOperationException($"Cannot add point {point} to tree in bound {_bounds}");
}
}
else
{
_leafs.Add(new OctoTreeLeaf <T>(point, value));
}
return(true);
}
private List <int> GetMarks(Vec center, int localityRadius)
{
var marks = new List <int>();
var mark = new Dictionary <Vec, int>();
var nextMark = 1;
var cuboid = new Cuboid(toFill.R).Intersect(new Cuboid(center, localityRadius));
foreach (var p in cuboid.AllPoints())
{
if (p == center || filled[p])
{
continue;
}
if (!mark.ContainsKey(p))
{
mark[p] = nextMark;
var component = MoreEnumerable.TraverseDepthFirst(p, cur => cur.GetMNeighbours().Where(next => cuboid.Contains(next) && !filled[next] && !mark.ContainsKey(next)));
foreach (var componentItem in component)
{
mark[componentItem] = nextMark;
}
nextMark++;
}
marks.Add(mark[p]);
}
return(marks);
}
public static List <BotCommand> FindPathBetween(
Point3D source,
Point3D destination,
Cuboid boundingBox,
Cuboid[] obstacles = null)
{
obstacles = obstacles ?? new Cuboid[0];
var destinationVector = Vector3D.FromPoint(destination);
var sourceVector = Vector3D.FromPoint(source);
var priorityQueue = new IntervalHeap <Vector3D>(
new PriorityQueueComparer(destinationVector));
var visited = new System.Collections.Generic.HashSet <Vector3D>();
var g_of_x = new Dictionary <Vector3D, int>();
var parent = new Dictionary <Vector3D, PathTempInfo>();
// var f_of_x = new Dictionary<Vector3D, int>();
priorityQueue.Add(sourceVector);
g_of_x[sourceVector] = 0;
parent[sourceVector] = new PathTempInfo();
// f_of_x[sourceVector] = DistanceCost(sourceVector, destinationVector);
while (priorityQueue.Count != 0)
{
var nextPoint = priorityQueue.DeleteMin();
if (nextPoint.ToPoint() == destination)
{
// We have found the path!
return(GeneratePathFrom(parent, sourceVector, destinationVector));
}
visited.Add(nextPoint);
// Console.WriteLine($"Enumerating paths from {nextPoint}");
foreach (var reachableStruct in EnumerateMoves(nextPoint))
{
// Console.WriteLine($"Checking to {reachableStruct.First} with type {reachableStruct.MoveType}");
var reachable = reachableStruct.First + nextPoint;
var reachablePoint = reachable.ToPoint();
var pathObstacle = Cuboid.FromPoints(nextPoint.ToPoint(), reachablePoint);
if (!boundingBox.Contains(reachablePoint))
{
continue;
}
if (PathBoundBoxIntersectsObstacles(pathObstacle, obstacles))
{
continue;
}
var tentativeScore = g_of_x[nextPoint] +
DistanceCost(nextPoint, reachable);
if (visited.Contains(reachable) &&
tentativeScore >= g_of_x.GetValueOrDefault(reachable, 0))
{
continue;
}
if (!visited.Contains(reachable) ||
tentativeScore < g_of_x.GetValueOrDefault(reachable, 0))
{
parent[reachable] = new PathTempInfo
{
Parent = nextPoint,
Move = reachableStruct
};
g_of_x[reachable] = tentativeScore;
//f_of_x[reachable] = tentativeScore + DistanceCost(reachable, destinationVector);
if (!priorityQueue.Contains(reachable))
{
priorityQueue.Add(reachable);
}
}
}
}
return(null);
}
