MinHeap added, A* working

This commit is contained in:
BOTLester 2020-05-03 22:28:52 +02:00
parent 54205f0d7f
commit 1015886a71
8 changed files with 231 additions and 20 deletions

View File

@ -34,7 +34,7 @@ namespace Game1
//Generates the map with some random values
input.init(graphics, new Vector2(8,8), 56, 1); //Generates the starting size
input.init(graphics, new Vector2(16,16), 56, 1); //Generates the starting size
houseUnit.init(input.getTileSize(), input.getSpacing()); //Generates the house position
tractorUnit.init(houseUnit.GetRectangle(), input); //Generates the Tractor
tractorUnit.updateSizing(input, 0, houseUnit.getVector()); //Updates the first Size of the Tractor

View File

@ -50,6 +50,7 @@
<Compile Include="Sources\Controlls\Input.cs" />
<Compile Include="Sources\Objects\tractorPositionCorrector.cs" />
<Compile Include="Sources\Pathing\A-Star\Astar.cs" />
<Compile Include="Sources\Pathing\A-Star\PathSaver\MinHeap.cs" />
<Compile Include="Sources\Pathing\A-Star\PathSaver\Nodes.cs" />
<Compile Include="Sources\Pathing\A-Star\PathSaver\Path.cs" />
<Compile Include="Sources\Pathing\A-Star\PathSaver\PriorityQueue.cs" />

View File

@ -37,15 +37,15 @@ class Crops
}
else if (Status == 2)
{
return 20;
return 5;
}
else if (Status == 3)
{
return 30;
return 20;
}
else
{
return 40;
return 30;
}
}

View File

@ -104,11 +104,10 @@ class Tractor
else
{
//Sets a random Target
path = smartTractor.returnChoice(1);
int xTarget = (int)TargetPosition.X / (sizeTile + Spacing);
int yTarget = (int)TargetPosition.Y / (sizeTile + Spacing);
currentTask = scoreSystem.MessageAndScore(farm.getCrop(xTarget, yTarget).Status, 1);
path = smartTractor.returnChoice(1);
}
TargetPosition = path.Reduce().getCords() * (sizeTile + Spacing);

View File

@ -65,31 +65,41 @@ class Astar
public Path FindPath()
{
Path path = new Path();
PriorityQueue openList = new PriorityQueue();
PriorityQueue closedList = new PriorityQueue();
//PriorityQueue openList = new PriorityQueue();
MinHeap openList = new MinHeap();
//PriorityQueue closedList = new PriorityQueue();
MinHeap closedList = new MinHeap();
Nodes target = new Nodes(targetPos);
Nodes startPos = new Nodes (tractorPos);
Nodes current = null;
int g = 0;
openList.Enqueue(startPos);
//openList.Enqueue(startPos);
openList.Insert(startPos);
while (openList.Count > 0)
//while (openList.Count > 0)
while (openList.GetSize() > 0)
{
current = openList.Peek();
current = openList.getMin();
//current = openList.Peek();
//g = current.getG();
closedList.Enqueue(current);
openList.Dequeue();
closedList.Insert(current);
//closedList.Enqueue(current);
openList.removeMin();
//openList.Dequeue();
if (closedList.Exists(target.getCords()))
if (current.getCords() == target.getCords())
break;
//if (closedList.Exists(target.getCords()))
// break;
var adjacentNodes = GetAdjacentNodes(current.getCords());
//g++;
foreach(var adjacentNode in adjacentNodes)
{
g = g + crops[(int)adjacentNode.getCords().X, (int)adjacentNode.getCords().Y].getCostOnMovement();
g = current.getG() + crops[(int)adjacentNode.getCords().X, (int)adjacentNode.getCords().Y].getCostOnMovement();
if (closedList.Exists(adjacentNode.getCords()))
continue;
if (!(openList.Exists(adjacentNode.getCords())))
@ -99,7 +109,8 @@ class Astar
adjacentNode.setH(ComputeHScore(adjacentNode.getCords(), target.getCords()));
adjacentNode.calculateF();
adjacentNode.setParent(current);
openList.Enqueue(adjacentNode);
openList.Insert(adjacentNode);
//openList.Enqueue(adjacentNode);
}
else
{
@ -111,6 +122,7 @@ class Astar
}
}
}
//openList.BuildMinHeap(openList.GetList());
}
while (current != null)
@ -119,8 +131,10 @@ class Astar
current = current.getParent();
}
path = path.FlipArray();
openList.Clear();
closedList.Clear();
openList.deleteHeap();
closedList.deleteHeap();
//openList.Clear();
//closedList.Clear();
return path;
}

View File

@ -0,0 +1,195 @@
using System;
using System.Collections.Generic;
using Microsoft.Xna.Framework;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
class MinHeap
{
List<Nodes> arr = new List<Nodes>();
public MinHeap()
{
arr = new List<Nodes>();
}
public void Insert(Nodes value)
{
arr.Add(value);
siftUp(arr.Count - 1);
}
public void removeMin()
{
if (arr.Count == 0)
{
throw new Exception("Heap is empty!");
}
else
{
arr[0] = arr[arr.Count - 1];
arr.RemoveAt(arr.Count - 1);
if (arr.Count > 0)
{
siftDown(0);
}
}
}
private void siftUp(int index)
{
int parentIndex;
Nodes temp;
if (index != 0)
{
parentIndex = getParentIndex(index);
if (arr[parentIndex].getF() > arr[index].getF())
{
temp = arr[parentIndex];
arr[parentIndex] = arr[index];
arr[index] = temp;
siftUp(parentIndex);
}
}
}
private int getParentIndex(int index)
{
return (index - 1) / 2;
}
private void siftDown(int nodeIndex)
{
int leftChildIndex, rightChildIndex, minIndex;
Nodes tmp;
leftChildIndex = getLeftChildIndex(nodeIndex);
rightChildIndex = getRightChildIndex(nodeIndex);
if (rightChildIndex >= arr.Count)
{
if (leftChildIndex >= arr.Count)
{
return;
}
else
{
minIndex = leftChildIndex;
}
}
else
{
if (arr[leftChildIndex].getF() <= arr[rightChildIndex].getF())
{
minIndex = leftChildIndex;
}
else
{
minIndex = rightChildIndex;
}
}
if (arr[nodeIndex].getF() > arr[minIndex].getF())
{
tmp = arr[minIndex];
arr[minIndex] = arr[nodeIndex];
arr[nodeIndex] = tmp;
siftDown(minIndex);
}
}
private int getRightChildIndex(int nodeIndex)
{
return (2 * nodeIndex) + 2;
}
private int getLeftChildIndex(int nodeIndex)
{
return (2 * nodeIndex) + 1;
}
public Nodes getMin()
{
return arr[0];
}
public void BuildMinHeap(List<Nodes> input)
{
if (arr.Count > 0)
{
//clear the current heap
//Array.Resize(ref arr, input.Length);
//heapSize = 0;
for (int i = 0; i < arr.Count; i++)
{
arr[i] = input[i];
}
}
for (int i = arr.Count - 1 / 2; i >= 0; i--)
{
MinHeapify(i);
}
}
private void MinHeapify(int index)
{
int left = 2 * index;
int right = (2 * index) + 1;
int smallest = index;
if (left < arr.Count && arr[left].getF() < arr[index].getF())
{
smallest = left;
}
else
{
smallest = index;
}
if (right < arr.Count && arr[right].getF() < arr[smallest].getF())
{
smallest = right;
}
if (smallest != index)
{
swap(ref arr, index, smallest);
MinHeapify(smallest);
}
}
private void swap(ref List<Nodes> input, int a, int b)
{
Nodes temp = input[a];
input[a] = input[b];
input[b] = temp;
}
public int GetSize()
{
return arr.Count;
}
public Boolean Exists(Vector2 coordinates)
{
if (arr.Count == 0)
return false;
foreach (Nodes node in arr)
{
if (node.getCords() == coordinates)
return true;
}
return false;
}
public List<Nodes> GetList()
{
return arr;
}
public void deleteHeap()
{
arr.Clear();
}
}

View File

@ -27,7 +27,7 @@ class Path
{
nodes[i] = nodes[i + 1];
}
nodes[Count + 1] = null;
return temp;
}

View File

@ -25,6 +25,7 @@ class PriorityQueue
list.Add(x);
int i = Count - 1;
while (i > 0)
{
int p = (i - 1) / 2;
@ -35,6 +36,7 @@ class PriorityQueue
}
if (Count > 0) list[i] = x;
}
public void Dequeue()