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This commit is contained in:
Brady Bodily
2020-12-16 04:02:37 -07:00
parent cf432a348b
commit f8ce6d0c83
27 changed files with 587 additions and 163 deletions
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2
ConsoleApp/PathPlanners/IReactivePathPlanner.cs
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@@ -1,4 +1,5 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp.PathPlanners
@@ -6,5 +7,6 @@ namespace ConsoleApp.PathPlanners
public interface IReactivePathPlanner
{
Queue<Coordinate2D> ReactiveHexPath { get; }
void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath, Coordinate2D vehicleCurrentHexCell);
}
}

53
ConsoleApp/PathPlanners/PathPlanner.cs
View File

@@ -55,7 +55,7 @@ namespace ConsoleApp.PathPlanners
return path;
}
public Queue<Coordinate2D> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
{
var currentPostion = vehicle.CurrentHexCell;
@@ -64,55 +64,44 @@ namespace ConsoleApp.PathPlanners
var path = new List<Coordinate2D>();
while (!finished)
{
//Heading East
if (currentHeading == GlobalDirection.East)
{
path.AddRange(hexMap.Graph.GetShortestPath(
currentPostion,
new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType),
new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType),
hexMap.DefaultMovement));
currentPostion = new Coordinate2D(hexMap.Width, currentPostion.Y, hexMap.OffsetType);
currentPostion = new Coordinate2D(hexMap.Width-1, currentPostion.Y, hexMap.OffsetType);
}
else if(currentHeading == GlobalDirection.West)
//Heading West
else if (currentHeading == GlobalDirection.West)
{
path.AddRange(hexMap.Graph.GetShortestPath(
currentPostion,
new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType),
hexMap.DefaultMovement));
currentPostion = new Coordinate2D(0, currentPostion.Y, hexMap.OffsetType);
}
if (currentPostion.Y + vehicle.DetectorRadius * 2 > hexMap.Height)
//Check for finish
if (currentPostion.Y + (vehicle.DetectorRadius * 2) >= hexMap.Height - 1)
{
finished = true;
break;
}
Coordinate2D tmpPosition;
if(currentHeading == GlobalDirection.East)
tmpPosition = new Coordinate3D(
currentPostion.To3D().X-1,
currentPostion.To3D().Y,
currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
else
tmpPosition = new Coordinate3D(
currentPostion.To3D().X,
currentPostion.To3D().Y-1,
currentPostion.To3D().Z+1).To2D(hexMap.OffsetType);
while (hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius*2).Contains(tmpPosition))
//Move Up edges of map
var tmpPosition = currentPostion;
var range = hexMap.Graph.GetRange(currentPostion, vehicle.DetectorRadius * 2);
for (var i = currentPostion.Y; i < currentPostion.Y + vehicle.DetectorRadius * 2; i++)
{
if(currentHeading == GlobalDirection.East)
tmpPosition = new Coordinate3D(
tmpPosition.To3D().X-1,
tmpPosition.To3D().Y,
tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
else
tmpPosition = new Coordinate3D(
tmpPosition.To3D().X,
tmpPosition.To3D().Y-1,
tmpPosition.To3D().Z+1).To2D(hexMap.OffsetType);
var newCoord = new Coordinate2D(currentPostion.X, i, hexMap.OffsetType);
if (range.Contains(newCoord))
tmpPosition = newCoord;
}
path.AddRange(hexMap.Graph.GetShortestPath(
currentPostion,
tmpPosition,
@@ -122,9 +111,11 @@ namespace ConsoleApp.PathPlanners
currentHeading = GlobalDirection.West;
else
currentHeading = GlobalDirection.East;
}
return new Queue<Coordinate2D>(path);
}
}

32
ConsoleApp/PathPlanners/ReactivePathPlanner.cs
View File

@@ -1,20 +1,44 @@
using System.Collections.Generic;
using ConsoleApp.Maps;
using HexCore;
namespace ConsoleApp.PathPlanners
{
public class ReactivePathPlanner : IReactivePathPlanner
{
public Queue<Coordinate2D> ReactiveHexPath { get; }
private Queue<Coordinate2D> _reactiveHexPath;
public Queue<Coordinate2D> ReactiveHexPath => _reactiveHexPath;
public ReactivePathPlanner()
{
ReactiveHexPath = new Queue<Coordinate2D>();
_reactiveHexPath = new Queue<Coordinate2D>();
}
public void GenerateReactiveHexPath(Graph graph, ref List<Coordinate3D> optimalPath, Coordinate2D minePosition)
public void GenerateReactiveHexPath(IHexMap hexMap, Queue<Coordinate2D> optimalPath,
Coordinate2D vehicleCurrentHexCell)
{
//Clean out any old path
_reactiveHexPath.Clear();
//If the optimal path is empty well we are done, otherwise pop 1
if (!optimalPath.TryDequeue(out var convergentPoint))
return;
//Dequeue until the cell is not blocked
while (hexMap.Graph.IsCellBlocked(convergentPoint))
{
//if optimal path is empty were done and we can not clear around this position, otherwise
//lest pop another.
if (!optimalPath.TryDequeue(out convergentPoint))
return;
}
var reactivePath = hexMap.Graph.GetShortestPath(vehicleCurrentHexCell, convergentPoint, hexMap.DefaultMovement);
foreach (var node in reactivePath)
{
_reactiveHexPath.Enqueue(node);
}
}
}
}