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things have been optimized, time for DFS

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This commit is contained in:
Simon O'Shea
2023-08-09 11:39:18 -04:00
parent 69e1551b26
commit b3b4dacf19
3 changed files with 51 additions and 36 deletions
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Pathfinding Visualizer/Assets/Scripts/Main.cs
+4 -4
View File
@@ -15,8 +15,8 @@ public class Main : MonoBehaviour
// Coordinates for pathfinding
public Vector2Int agent = new Vector2Int(-1, -1);
public List<Vector2Int> obstacles = new List<Vector2Int>();
public List<Vector2Int> samples = new List<Vector2Int>();
public HashSet<Vector2Int> obstacles = new HashSet<Vector2Int>();
public HashSet<Vector2Int> samples = new HashSet<Vector2Int>();
// Start is called before the first frame update
void Start()
@@ -103,8 +103,8 @@ public class Main : MonoBehaviour
{
world.reset();
agent = new Vector2Int();
obstacles = new List<Vector2Int>();
samples = new List<Vector2Int>();
obstacles = new HashSet<Vector2Int>();
samples = new HashSet<Vector2Int>();
}
public void StartAlgorithm()
Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs
+43 -28
View File
@@ -12,8 +12,8 @@ public class Pathfinder
LogicGrid world;
public Vector2Int agent;
public List<Vector2Int> obstacles;
public List<Vector2Int> samples;
public HashSet<Vector2Int> obstacles;
public HashSet<Vector2Int> samples;
public int algorithm; // 0 = A* | 1 = dfs | 2 = bfs
public int heuristic; // 0 = h0 | 1 = h1 | 2 = h2
@@ -24,7 +24,7 @@ public class Pathfinder
public Stack<Node> result;
public Pathfinder(LogicGrid world, Vector2Int a, List<Vector2Int> o, List<Vector2Int> s, int algo, int heu)
public Pathfinder(LogicGrid world, Vector2Int a, HashSet<Vector2Int> o, HashSet<Vector2Int> s, int algo, int heu)
{
closed = new HashSet<State>();
@@ -44,7 +44,7 @@ public class Pathfinder
StartWork();
}
public void printInfo()
/* public void printInfo()
{
Debug.Log("Agent: " + agent[0] + "," + agent[1]);
@@ -57,7 +57,7 @@ public class Pathfinder
{
Debug.Log("Sample " + i + ": " + samples[i].x + ", " + samples[i].y);
}
}
}*/
public void StartWork()
{
@@ -80,7 +80,7 @@ public class Pathfinder
Debug.Log("GO!");
open.Add(initialState);
int cap = 20000;
int cap = 200000;
while (true && cap > 0)
{
if (!open.Any())
@@ -171,10 +171,8 @@ public class Pathfinder
public static List<Node> h2(List<Node> children)
{
List<Node> sorted = new List<Node>();
if (children.Count() == 0)
return sorted;
return children;
Node child;
@@ -185,10 +183,9 @@ public class Pathfinder
child = children[i];
child.heuristic = Vector2.Distance(child.agent, child.nearestSample()) + 1;
sorted.Add(child);
}
return sorted;
return children;
}
}
@@ -201,8 +198,8 @@ public class Node
public Node parent;
public Vector2Int agent;
public List<Vector2Int> obstacles;
public List<Vector2Int> samples;
public HashSet<Vector2Int> obstacles;
public HashSet<Vector2Int> samples;
public char lastMove; // for output/animation
public int distanceTraveled; // for calculating f(n) value
@@ -211,12 +208,12 @@ public class Node
//bool canSample; // for expansion
// construct node :)
public Node(Node parent, Vector2Int agent, List<Vector2Int> obstacles, List<Vector2Int> samples, char lastMove, int distanceTraveled, double heuristic)
public Node(Node parent, Vector2Int agent, HashSet<Vector2Int> obstacles, HashSet<Vector2Int> samples, char lastMove, int distanceTraveled, double heuristic)
{
this.parent = parent;
this.agent = agent;
this.obstacles = new List<Vector2Int>(obstacles);
this.samples = new List<Vector2Int>(samples);
this.obstacles = new HashSet<Vector2Int>(obstacles);
this.samples = new HashSet<Vector2Int>(samples);
this.lastMove = lastMove;
this.distanceTraveled = distanceTraveled;
this.heuristic = heuristic;
@@ -289,11 +286,11 @@ public class Node
// CHECK IF CAN SAMPLE
onSample = CanSample();
if (onSample.x == 1)
if (onSample.x != -1)
{
Node child = new Node(this, this.agent, this.obstacles, this.samples, 'S', this.distanceTraveled + 1, this.heuristic);
child.samples.RemoveAt(onSample.y);
child.samples.Remove(onSample);
//SampleWorld.nodesGenerated++;
children.Add(child);
@@ -306,11 +303,8 @@ public class Node
public bool isOpen(Vector2Int position)
{
// check that agent is not trying to move into an obstacle
for (int i = 0; i < obstacles.Count(); i++)
{
if (obstacles[i].x.Equals(position.x) && obstacles[i].y.Equals(position.y))
return false;
}
if (obstacles.Contains(agent))
return false;
if ((position.y < 0) || (position.y > Pathfinder.height - 1) || (position.x < 0) || (position.x > Pathfinder.width - 1))
return false;
@@ -325,9 +319,24 @@ public class Node
// returns the coordinates of the sample closest to the agent's current location
public Vector2Int nearestSample()
{
Vector2Int s = new Vector2Int(-1, -1);
if (samples.Count == 0)
return agent;
double lowest = 9999999;
double dist = 0;
foreach (Vector2Int sample in samples)
{
dist = Vector2Int.Distance(agent, sample);
if(dist < lowest)
{
lowest = dist;
s = sample;
}
}
return s;
/*
Vector2Int s = samples[0];
double lowest = Vector2.Distance(agent, samples[0]);
double dist;
@@ -341,7 +350,7 @@ public class Node
s = samples[i];
}
}
return s;
return s;*/
}
// helper function for nearestSample()
/* public static double distance(Vector2Int a, Vector2Int b)
@@ -362,9 +371,15 @@ public class Node
{
// default to false
Vector2Int result = new Vector2Int();
result.x = 0;
result.x = -1;
result.y = -1;
if(samples.Contains(agent))
result = agent;
return result;
/*
for (int i = 0; i < this.samples.Count; i++)
{
if ((this.agent.y == samples[i].y) && (this.agent.x == samples[i].x))
@@ -374,7 +389,7 @@ public class Node
return result;
}
}
return result;
return result;*/
}
// returns only the dynamic information directly related to the Node's state.
@@ -411,9 +426,9 @@ public class Node
public class State
{
Vector2Int agent;
List<Vector2Int> samples;
HashSet<Vector2Int> samples;
public State(Vector2Int agent, List<Vector2Int> samples)
public State(Vector2Int agent, HashSet<Vector2Int> samples)
{
this.agent = agent;
this.samples = samples;