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Broken A*, but implemented

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This commit is contained in:
BOTLester 2020-05-03 16:35:46 +02:00
parent 8bf82380ab
commit 6e4199eb47
7 changed files with 239 additions and 46 deletions
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4
Game1/Game1.cs
View File

@ -103,10 +103,10 @@ namespace Game1
spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getTargetPosition().X / input.getSpacingTile() * (input.getTileSize() + input.getSpacing()) + input.getTileSize() / 4, (int)tractorUnit.getTargetPosition().Y / input.getSpacingTile() * (input.getTileSize() + input.getSpacing()) + input.getTileSize() / 4, input.getTileSize()/2, input.getTileSize()/2), Color.Green);
for (int i = 0; i < tractorUnit.getPath().getCount() + 1; i++)
{
spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getPath().getByIndex(i).getVector().X * (input.getSpacingTile()) + input.getTileSize() / 4, (int)tractorUnit.getPath().getByIndex(i).getVector().Y * (input.getSpacingTile()) + input.getTileSize() / 4, input.getTileSize()/2, input.getTileSize()/2), Color.Green);
spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getPath().getByIndex(i).getCords().X * (input.getSpacingTile()) + input.getTileSize() / 4, (int)tractorUnit.getPath().getByIndex(i).getCords().Y * (input.getSpacingTile()) + input.getTileSize() / 4, input.getTileSize()/2, input.getTileSize()/2), Color.Green);
}
spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getPath().getFinalDest().getVector().X * (input.getSpacingTile()) + Convert.ToInt32(input.getTileSize() / 6), (int)tractorUnit.getPath().getFinalDest().getVector().Y * (input.getSpacingTile()) + Convert.ToInt32(input.getTileSize() / 6), Convert.ToInt32(input.getTileSize()/1.5), Convert.ToInt32(input.getTileSize()/1.5)) , Color.Red); //Draws the current target of the tractor
spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getPath().getFinalDest().getCords().X * (input.getSpacingTile()) + Convert.ToInt32(input.getTileSize() / 6), (int)tractorUnit.getPath().getFinalDest().getCords().Y * (input.getSpacingTile()) + Convert.ToInt32(input.getTileSize() / 6), Convert.ToInt32(input.getTileSize()/1.5), Convert.ToInt32(input.getTileSize()/1.5)) , Color.Red); //Draws the current target of the tractor
spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getPos().X, (int)tractorUnit.getPos().Y, input.getTileSize(), input.getTileSize()), Color.White);
spriteBatch.Draw(house, houseUnit.GetRectangle(), Color.White);
spriteBatch.DrawString(Bold, "Speed:" + tractorUnit.getSpeed().ToString(), new Vector2(10, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 20) , Color.White); //Draws the speed value

4
Game1/Sources/Objects/Tractor.cs
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@ -111,12 +111,12 @@ class Tractor
}
TargetPosition = path.Reduce().getVector() * (sizeTile + Spacing);
TargetPosition = path.Reduce().getCords() * (sizeTile + Spacing);
updateDirection(Size, newPosition);
}
else
{
TargetPosition = path.Reduce().getVector() * (sizeTile + Spacing);
TargetPosition = path.Reduce().getCords() * (sizeTile + Spacing);
updateDirection(Size, newPosition);
}
}

90
Game1/Sources/Pathing/A-Star/Astar.cs
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@ -13,23 +13,97 @@ class Astar
private Crops[,] crops;
private Vector2 Size;
private PriorityQueue allPaths;
private Vector2 targetPos;
public void update(Crops[,] newCrops, Vector2 newSize, Vector2 newTractorPos, Vector2 newHousePos)
public void update(Crops[,] newCrops, Vector2 newSize, Vector2 newTractorPos, Vector2 newHousePos, Vector2 newtargetPos)
{
tractorPos = new Vector2((int)newTractorPos.X, (int)newTractorPos.Y);
housePos = new Vector2((int)newHousePos.X, (int)newHousePos.Y);
targetPos = newtargetPos;
crops = newCrops;
Size = newSize;
}
public void findPath()
{
int i = 1;
}
public Path getOptimalPath()
public Nodes getOptimalPath()
{
return allPaths.Peek();
}
}
private List <Nodes> GetAdjacentNodes(Vector2 currentPos)
{
var adjacentNodes = new List<Nodes>()
{
new Nodes(new Vector2(currentPos.X, currentPos.Y+1)),
new Nodes(new Vector2(currentPos.X + 1, currentPos.Y)),
new Nodes(new Vector2(currentPos.X, currentPos.Y - 1)),
new Nodes(new Vector2(currentPos.X - 1, currentPos.Y)),
};
return adjacentNodes.Where(
item => crops[(int)item.getCords().X, (int)item.getCords().Y].Status != 0).ToList();
}
public int ComputeHScore(Vector2 currentNode, Vector2 endNote)
{
return (int)(Math.Abs(endNote.X - currentNode.X) + Math.Abs(endNote.Y - currentNode.Y));
}
public Path FindPath()
{
Path path = null;
PriorityQueue openList = new PriorityQueue();
PriorityQueue closedList = new PriorityQueue();
Nodes startPos = new Nodes (tractorPos);
Nodes current = null;
int g = 0;
openList.Enqueue(startPos);
while (openList.Count > 0)
{
current = openList.Peek();
closedList.Enqueue(current);
openList.Dequeue();
if (closedList.Peek().getCords() == targetPos)
break;
var adjacentNodes = GetAdjacentNodes(current.getCords());
g++;
foreach(var adjacentNode in adjacentNodes)
{
if (closedList.Exists(adjacentNode.getCords()))
continue;
if (!(openList.Exists(adjacentNode.getCords())))
{
adjacentNode.setG(g);
adjacentNode.setH(ComputeHScore(adjacentNode.getCords(), targetPos));
adjacentNode.calculateF();
adjacentNode.setParent(current);
openList.Enqueue(adjacentNode);
}
else
{
if(g + adjacentNode.getH() < adjacentNode.getF())
{
adjacentNode.setG(g);
adjacentNode.calculateF();
adjacentNode.setParent(current);
}
}
}
}
while (current.getParent() != null)
{
path.AddNode(current);
current = current.getParent();
}
return path;
}
}

73
Game1/Sources/Pathing/A-Star/PathSaver/Nodes.cs
View File

@ -9,22 +9,77 @@ using Microsoft.Xna.Framework.Graphics;
class Nodes
{
private int Cost;
private Vector2 Node;
private int F = 0;
private int G = 0;
private int H = 0;
private Vector2 Coordinates;
private Nodes Parent = null;
public Nodes(int cost, Vector2 node)
public Nodes(Vector2 coordinates)
{
Cost = cost;
Node = node;
Coordinates = coordinates;
}
public Vector2 getVector()
public Nodes (Nodes node)
{
return Node;
F = node.F;
G = node.G;
H = node.H;
Coordinates = node.Coordinates;
Parent = node.Parent;
}
public int getCost()
public Nodes(int f, int g, int h, Vector2 coordinates, Nodes parent)
{
return Cost;
F = f;
G = g;
H = h;
Coordinates = coordinates;
Parent = parent;
}
public Vector2 getCords()
{
return Coordinates;
}
public int getF()
{
return F;
}
public int getG()
{
return G;
}
public int getH()
{
return H;
}
public void calculateF()
{
F = G + H;
}
public void setG(int g)
{
G = g;
}
public void setH(int h)
{
H = h;
}
public Nodes getParent()
{
return Parent;
}
public void setParent(Nodes parent)
{
Parent = parent;
}
}

50
Game1/Sources/Pathing/A-Star/PathSaver/Path.cs
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@ -11,6 +11,55 @@ class Path
{
private Nodes[] nodes = new Nodes[512];
private int Count = 0;
public void AddNode(Nodes node)
{
nodes[Count] = new Nodes(node);
Count++;
}
public Nodes Reduce()
{
Count--;
Nodes temp = nodes[0];
for (int i = 0; i < Count; i++)
{
nodes[i] = nodes[i + 1];
}
return temp;
}
public void FlipArray()
{
int j = Count;
Nodes[] temp = nodes;
for (int i = 0; i < Count; i++)
{
nodes[i] = temp[j];
j--;
}
}
public Nodes getFinalDest()
{
return nodes[Count];
}
public int getCount()
{
return Count;
}
public Nodes getByIndex(int i)
{
return nodes[i];
}
/*
private int Count = 0;
private int Cost = 0;
private int Efficency;
@ -83,4 +132,5 @@ class Path
}
*/
}

33
Game1/Sources/Pathing/A-Star/PathSaver/PriorityQueue.cs
View File

@ -6,21 +6,21 @@ using Microsoft.Xna.Framework.Graphics;
class PriorityQueue
{
public List<Path> list;
public List<Nodes> list;
public int Count { get { return list.Count; } }
public PriorityQueue()
{
list = new List<Path>();
list = new List<Nodes>();
}
public PriorityQueue(int count)
{
list = new List<Path>(count);
list = new List<Nodes>(count);
}
public void Enqueue(Path x)
public void Enqueue(Nodes x)
{
list.Add(x);
int i = Count - 1;
@ -28,7 +28,7 @@ class PriorityQueue
while (i > 0)
{
int p = (i - 1) / 2;
if (list[p].getEfficency() <= x.getEfficency()) break;
if (list[p].getF() <= x.getF()) break;
list[i] = list[p];
i = p;
@ -39,8 +39,8 @@ class PriorityQueue
public void Dequeue()
{
Path min = Peek();
Path root = list[Count - 1];
Nodes min = Peek();
Nodes root = list[Count - 1];
list.RemoveAt(Count - 1);
int i = 0;
@ -48,9 +48,9 @@ class PriorityQueue
{
int a = i * 2 + 1;
int b = i * 2 + 2;
int c = b < Count && list[b].getEfficency() < list[a].getEfficency() ? b : a;
int c = b < Count && list[b].getF() < list[a].getF() ? b : a;
if (list[c].getEfficency() >= root.getEfficency()) break;
if (list[c].getF() >= root.getF()) break;
list[i] = list[c];
i = c;
}
@ -58,12 +58,25 @@ class PriorityQueue
if (Count > 0) list[i] = root;
}
public Path Peek()
public Nodes Peek()
{
if (Count == 0) throw new InvalidOperationException("Queue is empty.");
return list[0];
}
public Boolean Exists(Vector2 coordinates)
{
if (Count == 0)
return false;
foreach(Nodes node in list)
{
if (node.getCords() == coordinates)
return true;
}
return false;
}
public void Clear()
{
list.Clear();

31
Game1/Sources/Smart/SmartTractor.cs
View File

@ -20,7 +20,7 @@ class SmartTractor
//What to do next
public Path returnChoice(int task)
{
astar.update(crops, Size, tractorPos / (tileSize + Spacing), housePos / (tileSize + Spacing));
astar.update(crops, Size, tractorPos / (tileSize + Spacing), housePos / (tileSize + Spacing), Target);
if (task == 0)
{
//To the house
@ -31,8 +31,7 @@ class SmartTractor
//To the fields
getTargetPosition(r.Next(0, (int)Size.X), r.Next(0, (int)Size.Y));
}
astar.findPath();
createPath();
astar.FindPath();
return path;
}
@ -41,13 +40,6 @@ class SmartTractor
//Updates the variables every frame
public void updateMap(Vector2 newTractorPos, Vector2 newHousePos, Crops[,] newCropsStatus, Vector2 newSize, int newTileSize, int newSpacing, int newScore)
{
@ -72,7 +64,7 @@ class SmartTractor
/*
//Only for testing without obstacles
private void createPath()
{
@ -93,26 +85,35 @@ class SmartTractor
else if (currentPath.Y < targetPos.Y)
{
currentPath = new Vector2(currentPath.X, currentPath.Y + 1);
path.setNode(currentPath);
path.setNode(currentPath, crops);
}
else if (currentPath.Y > targetPos.Y)
{
currentPath = new Vector2(currentPath.X, currentPath.Y - 1);
path.setNode(currentPath);
path.setNode(currentPath, crops);
}
}
else if (currentPath.X < targetPos.X)
{
currentPath = new Vector2(currentPath.X + 1, currentPath.Y);
path.setNode(currentPath);
path.setNode(currentPath, crops);
}
else if (currentPath.X > targetPos.X)
{
currentPath = new Vector2(currentPath.X - 1, currentPath.Y);
path.setNode(currentPath);
path.setNode(currentPath, crops);
}
} while (currentPath != targetPos);
}
public void setNode(Vector2 newNode, Crops[,] Crop)
{
nodes[Count] = new Nodes(Crop[(int)newNode.X, (int)newNode.Y].getCostOnMovement(), newNode);
Count++;
}
*/
}