private void optimisePath(int pathSegments, int obstaclePassDistance)
{
PathFinding finder = new PathFinding(agent.currentLocation, goalLocation, pathSegments + 1, obstaclePassDistance, 50000, world, curvedPath);
Coordinate[] longerPathOne = null;
try
{
longerPathOne = finder.findPath();
paths.Add(longerPathOne);
}
catch (PathFinding.TestFailedException)
{ }
finder = new PathFinding(agent.currentLocation, goalLocation, pathSegments + 2, obstaclePassDistance, 50000, world, curvedPath);
Coordinate[] longerPathTwo = null;
try
{
longerPathTwo = finder.findPath();
paths.Add(longerPathTwo);
}
catch (PathFinding.TestFailedException)
{ }
optimisePathLength(pathSegments, path);
if (longerPathOne != null)
{
optimisePathLength(longerPathOne.Length - 1, longerPathOne.ToList());
}
if (longerPathTwo != null)
{
optimisePathLength(longerPathTwo.Length - 1, longerPathTwo.ToList());
}
}
private void executeButton_Click(object sender, EventArgs e)
{
if (world != null && obstacles != null && agent != null)
{
curvedPath = curvedCheckBox.Checked;
path = new List <Coordinate>();
transformNonRectangularObstacles();
progressLabel.Text = "Finding path...";
progressLabel.Invalidate();
int pathSegments = 0;
for (int i = 1; i <= 20; i++)
{
PathFinding finder = new PathFinding(agent.currentLocation, goalLocation, i, distance, 50000, world, curvedPath);
try
{
path.AddRange(finder.findPath());
}
catch (PathFinding.TestFailedException)
{
continue;
}
pathSegments = i;
break;
}
if (path.Count == 0)
{
progressLabel.Text = "Path not found.";
showPathError("There is no clear available path to goal location.");
}
else
{
paths.Add(path.ToArray());
progressLabel.Text = "Optimising...";
progressLabel.Invalidate();
Thread.Sleep(10);
optimisePath(pathSegments, distance);
if (commandsCheckBox.Checked == true)
{
PathCommandsGenerator generator = new PathCommandsGenerator(227, path);
generator.initialOrientation = 0;
generator.generateAndSaveCommands(1.35);
}
pathCalculated = true;
progressLabel.Text = "Path calculated.";
}
}
else
{
showPathError("Some parameters were not set.");
}
}
private void optimisePathLength(int pathSegments, List <Coordinate> path)
{
int pathLength = 0;
for (int i = 0; i < path.Count - 1; i++)
{
pathLength += Coordinate.getXDistanceBetweenCoordinates(path[i], path[i + 1]) +
Coordinate.getYDistanceBetweenCoordinates(path[i], path[i + 1]);
}
double bestFitness = evaluateFitnessValueOfPath(this.path.ToArray());
int decrementor = pathLength / 25;
bool hasFailed = false;
while (decrementor > 0)
{
pathLength -= decrementor;
PathFinding finder = new PathFinding(agent.currentLocation, goalLocation, pathSegments,
distance, pathLength, world, curvedPath);
try
{
Coordinate[] newPath = null;
Exception exception = null;
Thread optimiser = new Thread(() => SafeExecute(() => newPath = finder.findPath(), out exception));
optimiser.Start();
bool success = optimiser.Join(750);
if (exception != null)
{
if (hasFailed)
{
break;
}
else
{
hasFailed = true;
continue;
}
}
if (success == true)
{
paths.Add(newPath);
double newPathFitness = evaluateFitnessValueOfPath(newPath);
if (bestFitness > newPathFitness)
{
this.path = new List <Coordinate>();
this.path.AddRange(newPath);
bestFitness = evaluateFitnessValueOfPath(newPath);
}
}
else
{
if (hasFailed)
{
break;
}
else
{
hasFailed = true;
continue;
}
}
}
catch (PathFinding.TestFailedException)
{
break;
}
}
}