From 1015886a71762aff5bae9644d487fd426bf30768 Mon Sep 17 00:00:00 2001
From: BOTLester <58360400+BOTLester@users.noreply.github.com>
Date: Sun, 3 May 2020 22:28:52 +0200
Subject: [PATCH] MinHeap added, A* working
---
Game1/Game1.cs | 2 +-
Game1/Game1.csproj | 1 +
Game1/Sources/Crops/Crops.cs | 6 +-
Game1/Sources/Objects/Tractor.cs | 3 +-
Game1/Sources/Pathing/A-Star/Astar.cs | 40 ++--
.../Pathing/A-Star/PathSaver/MinHeap.cs | 195 ++++++++++++++++++
.../Sources/Pathing/A-Star/PathSaver/Path.cs | 2 +-
.../Pathing/A-Star/PathSaver/PriorityQueue.cs | 2 +
8 files changed, 231 insertions(+), 20 deletions(-)
create mode 100644 Game1/Sources/Pathing/A-Star/PathSaver/MinHeap.cs
diff --git a/Game1/Game1.cs b/Game1/Game1.cs
index f652f6e..b87c073 100644
--- a/Game1/Game1.cs
+++ b/Game1/Game1.cs
@@ -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
diff --git a/Game1/Game1.csproj b/Game1/Game1.csproj
index 91feed1..6d43d60 100644
--- a/Game1/Game1.csproj
+++ b/Game1/Game1.csproj
@@ -50,6 +50,7 @@
+
diff --git a/Game1/Sources/Crops/Crops.cs b/Game1/Sources/Crops/Crops.cs
index 23e7641..ccbdcb7 100644
--- a/Game1/Sources/Crops/Crops.cs
+++ b/Game1/Sources/Crops/Crops.cs
@@ -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;
}
}
diff --git a/Game1/Sources/Objects/Tractor.cs b/Game1/Sources/Objects/Tractor.cs
index 6e4ae27..0eb1c83 100644
--- a/Game1/Sources/Objects/Tractor.cs
+++ b/Game1/Sources/Objects/Tractor.cs
@@ -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);
diff --git a/Game1/Sources/Pathing/A-Star/Astar.cs b/Game1/Sources/Pathing/A-Star/Astar.cs
index 6d54ce8..77b4aea 100644
--- a/Game1/Sources/Pathing/A-Star/Astar.cs
+++ b/Game1/Sources/Pathing/A-Star/Astar.cs
@@ -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;
}
diff --git a/Game1/Sources/Pathing/A-Star/PathSaver/MinHeap.cs b/Game1/Sources/Pathing/A-Star/PathSaver/MinHeap.cs
new file mode 100644
index 0000000..7f7b2a5
--- /dev/null
+++ b/Game1/Sources/Pathing/A-Star/PathSaver/MinHeap.cs
@@ -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 arr = new List();
+ public MinHeap()
+ {
+ arr = new List();
+ }
+
+ 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 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 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 GetList()
+ {
+ return arr;
+ }
+
+ public void deleteHeap()
+ {
+ arr.Clear();
+ }
+
+}
diff --git a/Game1/Sources/Pathing/A-Star/PathSaver/Path.cs b/Game1/Sources/Pathing/A-Star/PathSaver/Path.cs
index 0babd89..db5c550 100644
--- a/Game1/Sources/Pathing/A-Star/PathSaver/Path.cs
+++ b/Game1/Sources/Pathing/A-Star/PathSaver/Path.cs
@@ -27,7 +27,7 @@ class Path
{
nodes[i] = nodes[i + 1];
}
-
+ nodes[Count + 1] = null;
return temp;
}
diff --git a/Game1/Sources/Pathing/A-Star/PathSaver/PriorityQueue.cs b/Game1/Sources/Pathing/A-Star/PathSaver/PriorityQueue.cs
index bdc6be8..993a304 100644
--- a/Game1/Sources/Pathing/A-Star/PathSaver/PriorityQueue.cs
+++ b/Game1/Sources/Pathing/A-Star/PathSaver/PriorityQueue.cs
@@ -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()