static List<CPos> MakeBidiPath(IPathSearch a, IPathSearch b, CPos confluenceNode)
{
var ca = a.Graph;
var cb = b.Graph;
var ret = new List<CPos>();
var q = confluenceNode;
while (ca[q].PreviousPos != q)
{
ret.Add(q);
q = ca[q].PreviousPos;
}
ret.Add(q);
ret.Reverse();
q = confluenceNode;
while (cb[q].PreviousPos != q)
{
q = cb[q].PreviousPos;
ret.Add(q);
}
CheckSanePath(ret);
return ret;
}
// Searches from both ends toward each other. This is used to prevent blockings in case we find
// units in the middle of the path that prevent us to continue.
public List<CPos> FindBidiPath(IPathSearch fromSrc, IPathSearch fromDest)
{
List<CPos> path = null;
while (fromSrc.CanExpand && fromDest.CanExpand)
{
// make some progress on the first search
var p = fromSrc.Expand();
if (fromDest.Graph[p].Status == CellStatus.Closed &&
fromDest.Graph[p].CostSoFar < int.MaxValue)
{
path = MakeBidiPath(fromSrc, fromDest, p);
break;
}
// make some progress on the second search
var q = fromDest.Expand();
if (fromSrc.Graph[q].Status == CellStatus.Closed &&
fromSrc.Graph[q].CostSoFar < int.MaxValue)
{
path = MakeBidiPath(fromSrc, fromDest, q);
break;
}
}
fromSrc.Graph.Dispose();
fromDest.Graph.Dispose();
if (path != null)
return path;
return EmptyPath;
}
// Searches from both ends toward each other. This is used to prevent blockings in case we find
// units in the middle of the path that prevent us to continue.
public List<CPos> FindBidiPath(IPathSearch fromSrc, IPathSearch fromDest)
{
List<CPos> path = null;
while (fromSrc.CanExpand && fromDest.CanExpand)
{
// make some progress on the first search
var p = fromSrc.Expand();
if (fromDest.Graph[p].Status == CellStatus.Closed &&
fromDest.Graph[p].CostSoFar < int.MaxValue)
{
path = MakeBidiPath(fromSrc, fromDest, p);
break;
}
// make some progress on the second search
var q = fromDest.Expand();
if (fromSrc.Graph[q].Status == CellStatus.Closed &&
fromSrc.Graph[q].CostSoFar < int.MaxValue)
{
path = MakeBidiPath(fromSrc, fromDest, q);
break;
}
}
fromSrc.Graph.Dispose();
fromDest.Graph.Dispose();
if (path != null)
return path;
return EmptyPath;
}
public IMaybe <IPath> ExistingOrNewlyCalculatedPath(int[] numbers, Func <int[], IMaybe <IPath> > pathForNumbers)
{
IPathSearch pathSearch = _graphsWithPaths.FirstOrDefault(x => x.Numbers().SequenceEqual(numbers));
// TODO: get rid of "null" value usage
if (pathSearch == null)
{
pathSearch = new PathSearch(numbers, pathForNumbers(numbers));
_graphsWithPaths.Add(pathSearch);
}
return(pathSearch.FoundPath());
}
// Searches from both ends toward each other. This is used to prevent blockings in case we find
// units in the middle of the path that prevent us to continue.
public List <CPos> FindBidiPath(IPathSearch fromSrc, IPathSearch fromDest)
{
List <CPos> path = null;
var dbg = world.WorldActor.TraitOrDefault <PathfinderDebugOverlay>();
if (dbg != null && dbg.Visible)
{
fromSrc.Debug = true;
fromDest.Debug = true;
}
while (fromSrc.CanExpand && fromDest.CanExpand)
{
// make some progress on the first search
var p = fromSrc.Expand();
if (fromDest.Graph[p].Status == CellStatus.Closed &&
fromDest.Graph[p].CostSoFar < int.MaxValue)
{
path = MakeBidiPath(fromSrc, fromDest, p);
break;
}
// make some progress on the second search
var q = fromDest.Expand();
if (fromSrc.Graph[q].Status == CellStatus.Closed &&
fromSrc.Graph[q].CostSoFar < int.MaxValue)
{
path = MakeBidiPath(fromSrc, fromDest, q);
break;
}
}
if (dbg != null && dbg.Visible)
{
dbg.AddLayer(fromSrc.Considered, fromSrc.MaxCost, fromSrc.Owner);
dbg.AddLayer(fromDest.Considered, fromDest.MaxCost, fromDest.Owner);
}
fromSrc.Graph.Dispose();
fromDest.Graph.Dispose();
if (path != null)
{
return(path);
}
return(EmptyPath);
}
// Searches from both ends toward each other. This is used to prevent blockings in case we find
// units in the middle of the path that prevent us to continue.
public List<CPos> FindBidiPath(IPathSearch fromSrc, IPathSearch fromDest)
{
List<CPos> path = null;
var dbg = world.WorldActor.TraitOrDefault<PathfinderDebugOverlay>();
if (dbg != null && dbg.Visible)
{
fromSrc.Debug = true;
fromDest.Debug = true;
}
while (!fromSrc.OpenQueue.Empty && !fromDest.OpenQueue.Empty)
{
// make some progress on the first search
var p = fromSrc.Expand();
if (fromDest.Graph[p].Status == CellStatus.Closed &&
fromDest.Graph[p].CostSoFar < int.MaxValue)
{
path = MakeBidiPath(fromSrc, fromDest, p);
break;
}
// make some progress on the second search
var q = fromDest.Expand();
if (fromSrc.Graph[q].Status == CellStatus.Closed &&
fromSrc.Graph[q].CostSoFar < int.MaxValue)
{
path = MakeBidiPath(fromSrc, fromDest, q);
break;
}
}
if (dbg != null && dbg.Visible)
{
dbg.AddLayer(fromSrc.Considered, fromSrc.MaxCost, fromSrc.Owner);
dbg.AddLayer(fromDest.Considered, fromDest.MaxCost, fromDest.Owner);
}
fromSrc.Graph.Dispose();
fromDest.Graph.Dispose();
if (path != null)
return path;
return EmptyPath;
}
public List<CPos> FindBidiPath(IPathSearch fromSrc, IPathSearch fromDest)
{
using (new PerfSample("Pathfinder"))
{
var key = "FindBidiPath" + fromSrc.Id + fromDest.Id;
var cachedPath = cacheStorage.Retrieve(key);
if (cachedPath != null)
return cachedPath;
var pb = pathFinder.FindBidiPath(fromSrc, fromDest);
cacheStorage.Store(key, pb);
return pb;
}
}
public List<CPos> FindPath(IPathSearch search)
{
using (new PerfSample("Pathfinder"))
{
var key = "FindPath" + search.Id;
var cachedPath = cacheStorage.Retrieve(key);
if (cachedPath != null)
return cachedPath;
var pb = pathFinder.FindPath(search);
cacheStorage.Store(key, pb);
return pb;
}
}
public List <CPos> FindPath(IPathSearch search)
{
using (new PerfSample("Pathfinder"))
{
var key = "FindPath" + search.Id;
var cachedPath = cacheStorage.Retrieve(key);
if (cachedPath != null)
{
return(cachedPath);
}
var pb = pathFinder.FindPath(search);
cacheStorage.Store(key, pb);
return(pb);
}
}
public List <CPos> FindBidiPath(IPathSearch fromSrc, IPathSearch fromDest)
{
using (new PerfSample("Pathfinder"))
{
var key = "FindBidiPath" + fromSrc.Id + fromDest.Id;
var cachedPath = cacheStorage.Retrieve(key);
if (cachedPath != null)
{
return(cachedPath);
}
var pb = pathFinder.FindBidiPath(fromSrc, fromDest);
cacheStorage.Store(key, pb);
return(pb);
}
}
public List<CPos> FindPath(IPathSearch search)
{
List<CPos> path = null;
while (search.CanExpand)
{
var p = search.Expand();
if (search.IsTarget(p))
{
path = MakePath(search.Graph, p);
break;
}
}
search.Graph.Dispose();
if (path != null)
return path;
// no path exists
return EmptyPath;
}
public List <CPos> FindPath(IPathSearch search)
{
var dbg = world.WorldActor.TraitOrDefault <PathfinderDebugOverlay>();
if (dbg != null && dbg.Visible)
{
search.Debug = true;
}
List <CPos> path = null;
while (search.CanExpand)
{
var p = search.Expand();
if (search.IsTarget(p))
{
path = MakePath(search.Graph, p);
break;
}
}
if (dbg != null && dbg.Visible)
{
dbg.AddLayer(search.Considered, search.MaxCost, search.Owner);
}
search.Graph.Dispose();
if (path != null)
{
return(path);
}
// no path exists
return(EmptyPath);
}
public List<CPos> FindPath(IPathSearch search)
{
using (new PerfSample("Pathfinder"))
return pathFinder.FindPath(search);
}
public List<CPos> FindPath(IPathSearch search)
{
List<CPos> path = null;
while (search.CanExpand)
{
var p = search.Expand();
if (search.IsTarget(p))
{
path = MakePath(search.Graph, p);
break;
}
}
search.Graph.Dispose();
if (path != null)
return path;
// no path exists
return EmptyPath;
}
public List<CPos> FindPath(IPathSearch search)
{
var dbg = world.WorldActor.TraitOrDefault<PathfinderDebugOverlay>();
if (dbg != null && dbg.Visible)
search.Debug = true;
List<CPos> path = null;
while (!search.OpenQueue.Empty)
{
var p = search.Expand();
if (search.IsTarget(p))
{
path = MakePath(search.Graph, p);
break;
}
}
if (dbg != null && dbg.Visible)
dbg.AddLayer(search.Considered, search.MaxCost, search.Owner);
search.Graph.Dispose();
if (path != null)
return path;
// no path exists
return EmptyPath;
}
public List <CPos> FindBidiPath(IPathSearch fromSrc, IPathSearch fromDest)
{
using (new PerfSample("Pathfinder"))
return(pathFinder.FindBidiPath(fromSrc, fromDest));
}
public List <CPos> FindPath(IPathSearch search)
{
using (new PerfSample("Pathfinder"))
return(pathFinder.FindPath(search));
}
static List<CPos> MakeBidiPath(IPathSearch a, IPathSearch b, CPos confluenceNode)
{
var ca = a.Graph;
var cb = b.Graph;
var ret = new List<CPos>();
var q = confluenceNode;
while (ca[q].PreviousPos != q)
{
ret.Add(q);
q = ca[q].PreviousPos;
}
ret.Add(q);
ret.Reverse();
q = confluenceNode;
while (cb[q].PreviousPos != q)
{
q = cb[q].PreviousPos;
ret.Add(q);
}
CheckSanePath(ret);
return ret;
}
public List<CPos> FindBidiPath(IPathSearch fromSrc, IPathSearch fromDest)
{
using (new PerfSample("Pathfinder"))
return pathFinder.FindBidiPath(fromSrc, fromDest);
}