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||||
|
||||
# JetBrains Rider
|
||||
*.sln.iml
|
||||
@@ -0,0 +1,21 @@
|
||||
MIT License
|
||||
|
||||
Copyright (c) 2025 Stone_Red
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
SOFTWARE.
|
||||
@@ -0,0 +1,2 @@
|
||||
# LargeGridPathfinding
|
||||
A zone-based pathfinding algorithm that efficiently handles concurrent navigation of numerous agents across large, grid-based maps
|
||||
@@ -0,0 +1,22 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio Version 17
|
||||
VisualStudioVersion = 17.12.35707.178
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LargeGridPathfinding", "LargeGridPathfinding\LargeGridPathfinding.csproj", "{4F58A5EA-B389-4AFE-979C-0F0B0AAAD86C}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Any CPU = Debug|Any CPU
|
||||
Release|Any CPU = Release|Any CPU
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{4F58A5EA-B389-4AFE-979C-0F0B0AAAD86C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{4F58A5EA-B389-4AFE-979C-0F0B0AAAD86C}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{4F58A5EA-B389-4AFE-979C-0F0B0AAAD86C}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{4F58A5EA-B389-4AFE-979C-0F0B0AAAD86C}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
@@ -0,0 +1,36 @@
|
||||
{
|
||||
"version": 1,
|
||||
"isRoot": true,
|
||||
"tools": {
|
||||
"dotnet-mgcb": {
|
||||
"version": "3.8.2.1105",
|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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"dotnet-mgcb-editor-windows": {
|
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|
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|
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|
||||
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|
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|
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"dotnet-mgcb-editor-mac": {
|
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|
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|
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|
||||
]
|
||||
}
|
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}
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
using Microsoft.Xna.Framework;
|
||||
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace LargeGridPathfinding;
|
||||
|
||||
internal class Agent(Vector2 position)
|
||||
{
|
||||
public Vector2 Position { get; set; } = position;
|
||||
|
||||
public Point GridPosition => new Point((int)Math.Round(Position.X), (int)Math.Round(Position.Y));
|
||||
|
||||
public Vector2 NextPosition { get; set; }
|
||||
|
||||
public Point? Destination { get; set; }
|
||||
|
||||
public List<Vector2>? Path { get; set; }
|
||||
}
|
||||
@@ -0,0 +1,22 @@
|
||||
|
||||
#----------------------------- Global Properties ----------------------------#
|
||||
|
||||
/outputDir:bin/$(Platform)
|
||||
/intermediateDir:obj/$(Platform)
|
||||
/platform:DesktopGL
|
||||
/config:
|
||||
/profile:Reach
|
||||
/compress:False
|
||||
|
||||
#-------------------------------- References --------------------------------#
|
||||
|
||||
|
||||
#---------------------------------- Content ---------------------------------#
|
||||
|
||||
#begin File1.spritefont
|
||||
/importer:FontDescriptionImporter
|
||||
/processor:FontDescriptionProcessor
|
||||
/processorParam:PremultiplyAlpha=True
|
||||
/processorParam:TextureFormat=Compressed
|
||||
/build:File1.spritefont;ManoloMono.spritefont
|
||||
|
||||
@@ -0,0 +1,60 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!--
|
||||
This file contains an xml description of a font, and will be read by the XNA
|
||||
Framework Content Pipeline. Follow the comments to customize the appearance
|
||||
of the font in your game, and to change the characters which are available to draw
|
||||
with.
|
||||
-->
|
||||
<XnaContent xmlns:Graphics="Microsoft.Xna.Framework.Content.Pipeline.Graphics">
|
||||
<Asset Type="Graphics:FontDescription">
|
||||
|
||||
<!--
|
||||
Modify this string to change the font that will be imported.
|
||||
-->
|
||||
<FontName>Arial</FontName>
|
||||
|
||||
<!--
|
||||
Size is a float value, measured in points. Modify this value to change
|
||||
the size of the font.
|
||||
-->
|
||||
<Size>12</Size>
|
||||
|
||||
<!--
|
||||
Spacing is a float value, measured in pixels. Modify this value to change
|
||||
the amount of spacing in between characters.
|
||||
-->
|
||||
<Spacing>0</Spacing>
|
||||
|
||||
<!--
|
||||
UseKerning controls the layout of the font. If this value is true, kerning information
|
||||
will be used when placing characters.
|
||||
-->
|
||||
<UseKerning>true</UseKerning>
|
||||
|
||||
<!--
|
||||
Style controls the style of the font. Valid entries are "Regular", "Bold", "Italic",
|
||||
and "Bold, Italic", and are case sensitive.
|
||||
-->
|
||||
<Style>Regular</Style>
|
||||
|
||||
<!--
|
||||
If you uncomment this line, the default character will be substituted if you draw
|
||||
or measure text that contains characters which were not included in the font.
|
||||
-->
|
||||
<!-- <DefaultCharacter>*</DefaultCharacter> -->
|
||||
|
||||
<!--
|
||||
CharacterRegions control what letters are available in the font. Every
|
||||
character from Start to End will be built and made available for drawing. The
|
||||
default range is from 32, (ASCII space), to 126, ('~'), covering the basic Latin
|
||||
character set. The characters are ordered according to the Unicode standard.
|
||||
See the documentation for more information.
|
||||
-->
|
||||
<CharacterRegions>
|
||||
<CharacterRegion>
|
||||
<Start> </Start>
|
||||
<End>~</End>
|
||||
</CharacterRegion>
|
||||
</CharacterRegions>
|
||||
</Asset>
|
||||
</XnaContent>
|
||||
@@ -0,0 +1,60 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!--
|
||||
This file contains an xml description of a font, and will be read by the XNA
|
||||
Framework Content Pipeline. Follow the comments to customize the appearance
|
||||
of the font in your game, and to change the characters which are available to draw
|
||||
with.
|
||||
-->
|
||||
<XnaContent xmlns:Graphics="Microsoft.Xna.Framework.Content.Pipeline.Graphics">
|
||||
<Asset Type="Graphics:FontDescription">
|
||||
|
||||
<!--
|
||||
Modify this string to change the font that will be imported.
|
||||
-->
|
||||
<FontName>ManoloMono</FontName>
|
||||
|
||||
<!--
|
||||
Size is a float value, measured in points. Modify this value to change
|
||||
the size of the font.
|
||||
-->
|
||||
<Size>12</Size>
|
||||
|
||||
<!--
|
||||
Spacing is a float value, measured in pixels. Modify this value to change
|
||||
the amount of spacing in between characters.
|
||||
-->
|
||||
<Spacing>0</Spacing>
|
||||
|
||||
<!--
|
||||
UseKerning controls the layout of the font. If this value is true, kerning information
|
||||
will be used when placing characters.
|
||||
-->
|
||||
<UseKerning>true</UseKerning>
|
||||
|
||||
<!--
|
||||
Style controls the style of the font. Valid entries are "Regular", "Bold", "Italic",
|
||||
and "Bold, Italic", and are case sensitive.
|
||||
-->
|
||||
<Style>Regular</Style>
|
||||
|
||||
<!--
|
||||
If you uncomment this line, the default character will be substituted if you draw
|
||||
or measure text that contains characters which were not included in the font.
|
||||
-->
|
||||
<!-- <DefaultCharacter>*</DefaultCharacter> -->
|
||||
|
||||
<!--
|
||||
CharacterRegions control what letters are available in the font. Every
|
||||
character from Start to End will be built and made available for drawing. The
|
||||
default range is from 32, (ASCII space), to 126, ('~'), covering the basic Latin
|
||||
character set. The characters are ordered according to the Unicode standard.
|
||||
See the documentation for more information.
|
||||
-->
|
||||
<CharacterRegions>
|
||||
<CharacterRegion>
|
||||
<Start> </Start>
|
||||
<End>~</End>
|
||||
</CharacterRegion>
|
||||
</CharacterRegions>
|
||||
</Asset>
|
||||
</XnaContent>
|
||||
Binary file not shown.
@@ -0,0 +1,297 @@
|
||||
using Microsoft.Xna.Framework;
|
||||
|
||||
using System;
|
||||
using System.Collections.Concurrent;
|
||||
using System.Collections.Generic;
|
||||
using System.Diagnostics;
|
||||
using System.Linq;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace LargeGridPathfinding;
|
||||
|
||||
internal class GridFiller
|
||||
{
|
||||
private int currentLabel = 1;
|
||||
private int currentObstacleLabel = -1;
|
||||
public int[,] Grid { get; }
|
||||
public ConcurrentDictionary<int, Rectangle> PlacedRectangles { get; }
|
||||
public int Width { get; }
|
||||
public int Height { get; }
|
||||
|
||||
public GridFiller(int width, int height, List<Rectangle> obstacles)
|
||||
{
|
||||
Width = width;
|
||||
Height = height;
|
||||
Grid = new int[height, width];
|
||||
PlacedRectangles = [];
|
||||
|
||||
foreach (Rectangle rectangle in obstacles)
|
||||
{
|
||||
PlaceObstacle(rectangle);
|
||||
}
|
||||
}
|
||||
|
||||
public void FillGrid(int? x1 = null, int? y1 = null, int? x2 = null, int? y2 = null, bool fillAll = false, IProgress<float>? totalProgress = null, IProgress<float>? calculatingCandidatesProgress = null, IProgress<float>? placingCandidatesProgress = null)
|
||||
{
|
||||
x1 ??= 0;
|
||||
y1 ??= 0;
|
||||
x2 ??= Width;
|
||||
y2 ??= Height;
|
||||
|
||||
if (fillAll)
|
||||
{
|
||||
PlacedRectangles.Clear();
|
||||
for (int y = y1.Value; y < y2; y++)
|
||||
{
|
||||
for (int x = x1.Value; x < x2; x++)
|
||||
{
|
||||
if (Grid[y, x] > 0)
|
||||
{
|
||||
Grid[y, x] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Collect all valid rectangle placements
|
||||
ConcurrentBag<(int x, int y, int w, int h)> candidates = [];
|
||||
|
||||
int cells = Grid.GetLength(0) * Grid.GetLength(1);
|
||||
int areaPlaced = 0;
|
||||
int maxRectangleSize = Math.Max((Grid.GetLength(0) + Grid.GetLength(1)) / 20, 100);
|
||||
int reportInterval = cells / 100;
|
||||
|
||||
do
|
||||
{
|
||||
candidates.Clear();
|
||||
|
||||
Debug.WriteLine("Calculating candidates...");
|
||||
|
||||
// Calculate all possible rectangle placements
|
||||
_ = Parallel.For(y1.Value, y2.Value, (y, loopState) =>
|
||||
{
|
||||
for (int x = x1.Value; x < x2; x++)
|
||||
{
|
||||
if (Grid[y, x] == 0)
|
||||
{
|
||||
(int w, int h) = GetMaxRectangleSize(x, y, maxRectangleSize, maxRectangleSize);
|
||||
|
||||
if (w > 0 && h > 0)
|
||||
{
|
||||
candidates.Add((x, y, w, h));
|
||||
}
|
||||
|
||||
if (w >= maxRectangleSize && h >= maxRectangleSize)
|
||||
{
|
||||
loopState.Break();
|
||||
return;
|
||||
}
|
||||
|
||||
if (candidates.Count % reportInterval == 0)
|
||||
{
|
||||
calculatingCandidatesProgress?.Report((float)candidates.Count / (cells - areaPlaced));
|
||||
Debug.WriteLine($"Candidates Progress: {candidates.Count} / {cells - areaPlaced} ({(float)candidates.Count / (cells - areaPlaced):P2})");
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
Debug.WriteLine($"Candidates: {candidates.Count}");
|
||||
Debug.WriteLine("Sorting candidates...");
|
||||
|
||||
// Sort by area (largest first)
|
||||
List<(int x, int y, int w, int h)> sortedCandidates = [.. candidates];
|
||||
sortedCandidates.Sort((a, b) => (b.w * b.h).CompareTo(a.w * a.h));
|
||||
|
||||
Debug.WriteLine("Placing rectangles...");
|
||||
|
||||
int placed = 0;
|
||||
int reportIntervalPlacing = Math.Max(sortedCandidates.Count / 10, 1);
|
||||
|
||||
// Place rectangles, ensuring no overlap
|
||||
foreach ((int x, int y, int w, int h) in sortedCandidates)
|
||||
{
|
||||
// Check if area is still free
|
||||
if (IsAreaFree(x, y, w, h))
|
||||
{
|
||||
Rectangle rectangle = new Rectangle(x, y, w, h);
|
||||
PlaceRectangle(rectangle);
|
||||
areaPlaced += w * h;
|
||||
}
|
||||
|
||||
placed++;
|
||||
|
||||
if (placed % reportIntervalPlacing == 0)
|
||||
{
|
||||
totalProgress?.Report((float)areaPlaced / cells);
|
||||
placingCandidatesProgress?.Report((float)placed / (sortedCandidates.Count + 1));
|
||||
Debug.WriteLine($"Placed Progress: {placed} / {sortedCandidates.Count} ({(float)placed / sortedCandidates.Count:P2})");
|
||||
}
|
||||
}
|
||||
|
||||
totalProgress?.Report((float)areaPlaced / cells);
|
||||
} while (!candidates.IsEmpty);
|
||||
|
||||
totalProgress?.Report(1);
|
||||
calculatingCandidatesProgress?.Report(1);
|
||||
placingCandidatesProgress?.Report(1);
|
||||
}
|
||||
|
||||
public void PlaceObstacle(Rectangle rectangle)
|
||||
{
|
||||
// Check area around the rectangle to update all adjacent rectangles
|
||||
|
||||
int y = int.Clamp(rectangle.Y - 1, 0, Height);
|
||||
int x = int.Clamp(rectangle.X - 1, 0, Width);
|
||||
int h = int.Clamp(rectangle.Y + rectangle.Height + 2, 0, Height);
|
||||
int w = int.Clamp(rectangle.X + rectangle.Width + 2, 0, Width);
|
||||
|
||||
List<Rectangle> removedRectangles = [new Rectangle(x, y, w - x, h - y)];
|
||||
|
||||
int obstacle = currentObstacleLabel--;
|
||||
|
||||
for (int dy = y; dy < h; dy++)
|
||||
{
|
||||
for (int dx = x; dx < w; dx++)
|
||||
{
|
||||
if (Grid[dy, dx] > 0 && PlacedRectangles.ContainsKey(Grid[dy, dx]))
|
||||
{
|
||||
removedRectangles.Add(RemoveRectangle(Grid[dy, dx]));
|
||||
}
|
||||
|
||||
if (Grid[dy, dx] >= 0 && dy < rectangle.Y + rectangle.Height && dx < rectangle.X + rectangle.Width && dy >= rectangle.Y && dx >= rectangle.X)
|
||||
{
|
||||
Grid[dy, dx] = obstacle;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (removedRectangles.Count == 1)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
int minStartX = removedRectangles.Min(r => r.X);
|
||||
int minStartY = removedRectangles.Min(r => r.Y);
|
||||
int maxEndX = removedRectangles.Max(r => r.X + r.Width);
|
||||
int maxEndY = removedRectangles.Max(r => r.Y + r.Height);
|
||||
|
||||
FillGrid(minStartX, minStartY, maxEndX, maxEndY);
|
||||
|
||||
Debug.WriteLine("Placed obstacle");
|
||||
Debug.WriteLine($"Placed obstacle {rectangle.X}, {rectangle.Y}, {rectangle.Width}, {rectangle.Height}");
|
||||
Debug.WriteLine($"minX: {minStartX}, minY: {minStartY}, maxX: {maxEndX}, maxY: {maxEndY}");
|
||||
}
|
||||
|
||||
public void RemoveObstacle(Rectangle rectangle)
|
||||
{
|
||||
// Check area around the rectangle to update all adjacent rectangles
|
||||
|
||||
int y = int.Clamp(rectangle.Y - 1, 0, Height);
|
||||
int x = int.Clamp(rectangle.X - 1, 0, Width);
|
||||
int h = int.Clamp(rectangle.Y + rectangle.Height + 2, 0, Height);
|
||||
int w = int.Clamp(rectangle.X + rectangle.Width + 2, 0, Width);
|
||||
|
||||
List<Rectangle> removedRectangles = [new Rectangle(x, y, w - x, h - y)];
|
||||
|
||||
for (int dy = y; dy < h; dy++)
|
||||
{
|
||||
for (int dx = x; dx < w; dx++)
|
||||
{
|
||||
if (Grid[dy, dx] > 0)
|
||||
{
|
||||
removedRectangles.Add(RemoveRectangle(Grid[dy, dx]));
|
||||
}
|
||||
|
||||
if (Grid[dy, dx] < 0 && dy < rectangle.Y + rectangle.Height && dx < rectangle.X + rectangle.Width && dy >= rectangle.Y && dx >= rectangle.X)
|
||||
{
|
||||
Grid[dy, dx] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int minStartX = removedRectangles.Min(r => r.X);
|
||||
int minStartY = removedRectangles.Min(r => r.Y);
|
||||
int maxEndX = removedRectangles.Max(r => r.X + r.Width);
|
||||
int maxEndY = removedRectangles.Max(r => r.Y + r.Height);
|
||||
|
||||
FillGrid(minStartX, minStartY, maxEndX, maxEndY);
|
||||
|
||||
Debug.WriteLine("Removed obstacle");
|
||||
Debug.WriteLine($"Placed obstacle {rectangle.X}, {rectangle.Y}, {rectangle.Width}, {rectangle.Height}");
|
||||
Debug.WriteLine($"minX: {minStartX}, minY: {minStartY}, maxX: {maxEndX}, maxY: {maxEndY}");
|
||||
}
|
||||
|
||||
// Helper method to check if a rectangle can still be placed
|
||||
private bool IsAreaFree(int x, int y, int w, int h)
|
||||
{
|
||||
for (int dy = 0; dy < h; dy++)
|
||||
{
|
||||
for (int dx = 0; dx < w; dx++)
|
||||
{
|
||||
if (Grid[y + dy, x + dx] != 0) // Not empty
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
private (int, int) GetMaxRectangleSize(int startX, int startY, int limitW, int limitH)
|
||||
{
|
||||
int maxWidth = 0, maxHeight = 0;
|
||||
|
||||
for (int x = startX; x < Width && maxWidth < limitW && Grid[startY, x] == 0; x++)
|
||||
{
|
||||
maxWidth++;
|
||||
}
|
||||
|
||||
for (int h = 1; h <= Math.Min(Height - startY, limitH); h++)
|
||||
{
|
||||
for (int x = startX; x < startX + maxWidth; x++)
|
||||
{
|
||||
if (Grid[startY + h - 1, x] != 0)
|
||||
{
|
||||
return (maxWidth, h - 1);
|
||||
}
|
||||
}
|
||||
maxHeight = h;
|
||||
}
|
||||
|
||||
return (maxWidth, maxHeight);
|
||||
}
|
||||
|
||||
private void PlaceRectangle(Rectangle rectangle)
|
||||
{
|
||||
int label = currentLabel++;
|
||||
|
||||
for (int dy = 0; dy < rectangle.Height; dy++)
|
||||
{
|
||||
for (int dx = 0; dx < rectangle.Width; dx++)
|
||||
{
|
||||
Grid[rectangle.Y + dy, rectangle.X + dx] = label;
|
||||
}
|
||||
}
|
||||
|
||||
PlacedRectangles[label] = rectangle;
|
||||
}
|
||||
|
||||
private Rectangle RemoveRectangle(int label)
|
||||
{
|
||||
if (!PlacedRectangles.TryRemove(label, out Rectangle rectangle))
|
||||
{
|
||||
return Rectangle.Empty;
|
||||
}
|
||||
|
||||
for (int dy = 0; dy < rectangle.Height; dy++)
|
||||
{
|
||||
for (int dx = 0; dx < rectangle.Width; dx++)
|
||||
{
|
||||
Grid[rectangle.Y + dy, rectangle.X + dx] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return rectangle;
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 256 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 144 KiB |
@@ -0,0 +1,31 @@
|
||||
using Microsoft.Xna.Framework;
|
||||
using Microsoft.Xna.Framework.Input;
|
||||
|
||||
using MonoGame.Extended.Input;
|
||||
|
||||
namespace LargeGridPathfinding;
|
||||
|
||||
internal static class InputHelper
|
||||
{
|
||||
public static Vector2 GetMovementDirection(this KeyboardStateExtended keyboardState)
|
||||
{
|
||||
Vector2 movementDirection = Vector2.Zero;
|
||||
if (keyboardState.IsKeyDown(Keys.S))
|
||||
{
|
||||
movementDirection += Vector2.UnitY;
|
||||
}
|
||||
if (keyboardState.IsKeyDown(Keys.W))
|
||||
{
|
||||
movementDirection -= Vector2.UnitY;
|
||||
}
|
||||
if (keyboardState.IsKeyDown(Keys.A))
|
||||
{
|
||||
movementDirection -= Vector2.UnitX;
|
||||
}
|
||||
if (keyboardState.IsKeyDown(Keys.D))
|
||||
{
|
||||
movementDirection += Vector2.UnitX;
|
||||
}
|
||||
return movementDirection;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
<PropertyGroup>
|
||||
<OutputType>WinExe</OutputType>
|
||||
<TargetFramework>net8.0</TargetFramework>
|
||||
<RollForward>Major</RollForward>
|
||||
<PublishReadyToRun>false</PublishReadyToRun>
|
||||
<TieredCompilation>false</TieredCompilation>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup>
|
||||
<ApplicationManifest>app.manifest</ApplicationManifest>
|
||||
<ApplicationIcon>Icon.ico</ApplicationIcon>
|
||||
<Nullable>enable</Nullable>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<None Remove="Icon.ico" />
|
||||
<None Remove="Icon.bmp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<EmbeddedResource Include="Icon.ico">
|
||||
<LogicalName>Icon.ico</LogicalName>
|
||||
</EmbeddedResource>
|
||||
<EmbeddedResource Include="Icon.bmp">
|
||||
<LogicalName>Icon.bmp</LogicalName>
|
||||
</EmbeddedResource>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<PackageReference Include="MonoGame.Extended" Version="4.0.4" />
|
||||
<PackageReference Include="MonoGame.Framework.DesktopGL" Version="3.8.2.1105" />
|
||||
<PackageReference Include="MonoGame.Content.Builder.Task" Version="3.8.2.1105" />
|
||||
</ItemGroup>
|
||||
<Target Name="RestoreDotnetTools" BeforeTargets="Restore">
|
||||
<Message Text="Restoring dotnet tools" Importance="High" />
|
||||
<Exec Command="dotnet tool restore" />
|
||||
</Target>
|
||||
</Project>
|
||||
@@ -0,0 +1,652 @@
|
||||
using Microsoft.Xna.Framework;
|
||||
using Microsoft.Xna.Framework.Graphics;
|
||||
using Microsoft.Xna.Framework.Input;
|
||||
|
||||
using MonoGame.Extended;
|
||||
using MonoGame.Extended.Input;
|
||||
|
||||
using System;
|
||||
using System.Collections.Concurrent;
|
||||
using System.Collections.Generic;
|
||||
using System.Diagnostics;
|
||||
using System.Linq;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace LargeGridPathfinding;
|
||||
|
||||
public class LargeGridPathfindingGame : Game
|
||||
{
|
||||
private readonly ConcurrentDictionary<Vector2, Color> temporaryIndicators = [];
|
||||
private readonly ProgressTracker progressTracker = new ProgressTracker();
|
||||
private readonly List<Agent> agents = [];
|
||||
private SpriteBatch spriteBatch = null!;
|
||||
private SpriteBatch uiSpriteBatch = null!;
|
||||
private SpriteFont uiFont = null!;
|
||||
private OrthographicCamera camera = null!;
|
||||
private GridFiller gridFiller = null!;
|
||||
private Pathfinder pathfinder = null!;
|
||||
private bool gridChanged;
|
||||
private bool inputBlocked = true;
|
||||
private bool showZones = true;
|
||||
private bool showGrid = false;
|
||||
private bool showPaths = false;
|
||||
private Vector2? previousMousePosition;
|
||||
|
||||
public LargeGridPathfindingGame()
|
||||
{
|
||||
_ = new GraphicsDeviceManager(this)
|
||||
{
|
||||
PreferredBackBufferWidth = 1920,
|
||||
PreferredBackBufferHeight = 1080
|
||||
};
|
||||
|
||||
Content.RootDirectory = "Content";
|
||||
IsMouseVisible = true;
|
||||
|
||||
Window.Title = "Large Grid Pathfinding";
|
||||
Window.AllowUserResizing = true;
|
||||
}
|
||||
|
||||
protected override void Initialize()
|
||||
{
|
||||
camera = new OrthographicCamera(GraphicsDevice)
|
||||
{
|
||||
MinimumZoom = 0.1f,
|
||||
MaximumZoom = 2,
|
||||
Zoom = 0.5f,
|
||||
};
|
||||
|
||||
StartInitializationTask();
|
||||
|
||||
base.Initialize();
|
||||
}
|
||||
|
||||
protected override void LoadContent()
|
||||
{
|
||||
spriteBatch = new SpriteBatch(GraphicsDevice);
|
||||
uiSpriteBatch = new SpriteBatch(GraphicsDevice);
|
||||
uiFont = Content.Load<SpriteFont>("ManoloMono");
|
||||
}
|
||||
|
||||
protected override void Update(GameTime gameTime)
|
||||
{
|
||||
if (!IsActive)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (pathfinder is not null)
|
||||
{
|
||||
// Update agent positions
|
||||
foreach (Agent agent in agents)
|
||||
{
|
||||
if (agent.Path is null || agent.Path.Count < 2)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
if (Vector2.Distance(agent.Position, agent.NextPosition) < 0.1)
|
||||
{
|
||||
if (agent.NextPosition == agent.Path[^1])
|
||||
{
|
||||
agent.Path = null;
|
||||
agent.Destination = null;
|
||||
}
|
||||
else
|
||||
{
|
||||
agent.NextPosition = agent.Path[agent.Path.LastIndexOf(agent.NextPosition) + 1];
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
float distance = Vector2.Distance(agent.Position, agent.NextPosition);
|
||||
float lerpFactor = Math.Min(10 / distance * gameTime.GetElapsedSeconds(), 1);
|
||||
|
||||
Vector2 nextPosition = Vector2.Lerp(agent.Position, agent.NextPosition, lerpFactor);
|
||||
|
||||
int newX = (int)Math.Round(nextPosition.X);
|
||||
int newY = (int)Math.Round(nextPosition.Y);
|
||||
|
||||
int[,] grid = gridFiller.Grid;
|
||||
|
||||
if (grid[newY, newX] < 0)
|
||||
{
|
||||
agent.Path = null;
|
||||
continue;
|
||||
}
|
||||
|
||||
agent.Position = nextPosition;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
MouseExtended.Update();
|
||||
KeyboardExtended.Update();
|
||||
|
||||
MouseStateExtended mouseState = MouseExtended.GetState();
|
||||
KeyboardStateExtended keyboardState = KeyboardExtended.GetState();
|
||||
|
||||
float movementSpeed = (float)Math.Pow(200, 2 - camera.Zoom);
|
||||
|
||||
movementSpeed = Math.Clamp(movementSpeed, 1000, 20000);
|
||||
|
||||
camera.Move(keyboardState.GetMovementDirection() * movementSpeed * gameTime.GetElapsedSeconds());
|
||||
|
||||
if (mouseState.DeltaScrollWheelValue < 0)
|
||||
{
|
||||
camera.ZoomIn(0.1f);
|
||||
}
|
||||
else if (mouseState.DeltaScrollWheelValue > 0)
|
||||
{
|
||||
camera.ZoomOut(0.1f);
|
||||
}
|
||||
|
||||
if (inputBlocked)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// Toggle debug options
|
||||
|
||||
if (keyboardState.WasKeyPressed(Keys.Z))
|
||||
{
|
||||
showZones = !showZones;
|
||||
}
|
||||
|
||||
if (keyboardState.WasKeyPressed(Keys.G))
|
||||
{
|
||||
showGrid = !showGrid;
|
||||
}
|
||||
|
||||
if (keyboardState.WasKeyPressed(Keys.P))
|
||||
{
|
||||
showPaths = !showPaths;
|
||||
}
|
||||
|
||||
if (keyboardState.WasKeyPressed(Keys.F))
|
||||
{
|
||||
Debug.WriteLine("Filling grid...");
|
||||
|
||||
_ = progressTracker.AddProgress("Filling grid", out IProgress<float> fillingGridProgressReporter);
|
||||
_ = progressTracker.AddProgress("Calculating candidates", out IProgress<float> calculatingCandidatesProgressReporter);
|
||||
_ = progressTracker.AddProgress("Placing zones", out IProgress<float> placingCandidatesProgressReporter);
|
||||
|
||||
bool showZonesBefore = showZones;
|
||||
bool showGridBefore = showGrid;
|
||||
bool showPathsBefore = showPaths;
|
||||
showZones = true;
|
||||
showGrid = false;
|
||||
showPaths = false;
|
||||
inputBlocked = true;
|
||||
|
||||
_ = Task.Run(() =>
|
||||
{
|
||||
gridFiller.FillGrid(fillAll: true, totalProgress: fillingGridProgressReporter, calculatingCandidatesProgress: calculatingCandidatesProgressReporter, placingCandidatesProgress: placingCandidatesProgressReporter);
|
||||
gridChanged = true;
|
||||
inputBlocked = false;
|
||||
showZones = showZonesBefore;
|
||||
showGrid = showGridBefore;
|
||||
showPaths = showPathsBefore;
|
||||
});
|
||||
}
|
||||
|
||||
// Place or remove obstacles via mouse input
|
||||
|
||||
if (mouseState.IsButtonDown(MouseButton.Left))
|
||||
{
|
||||
Vector2 mousePosition = camera.ScreenToWorld(mouseState.Position.ToVector2());
|
||||
Vector2 gridPosition = new Vector2((int)mousePosition.X / 10, (int)mousePosition.Y / 10);
|
||||
|
||||
if (gridPosition.X < 0 || gridPosition.X >= gridFiller.Width || gridPosition.Y < 0 || gridPosition.Y >= gridFiller.Height || gridFiller.Grid[(int)gridPosition.Y, (int)gridPosition.X] < 0 || temporaryIndicators.ContainsKey(gridPosition))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Vector2? previousGridPosition = null;
|
||||
if (previousMousePosition is not null)
|
||||
{
|
||||
previousGridPosition = new Vector2((int)previousMousePosition.Value.X / 10, (int)previousMousePosition.Value.Y / 10);
|
||||
}
|
||||
|
||||
// Place temporary indicators to show the obstacle is scheduled for placement
|
||||
temporaryIndicators[gridPosition] = Color.Red;
|
||||
|
||||
previousMousePosition = mousePosition;
|
||||
|
||||
_ = Task.Run(() =>
|
||||
{
|
||||
if (previousGridPosition is not null)
|
||||
{
|
||||
List<Vector2> interpolatedPositions = [];
|
||||
|
||||
// Interpolate between previous and current mouse position to place obstacles in a straight line to prevent gaps
|
||||
float distance = Vector2.Distance(previousGridPosition.Value, gridPosition);
|
||||
float lerpSteps = distance * 10;
|
||||
|
||||
for (float t = 0; t <= 1; t += 1 / lerpSteps)
|
||||
{
|
||||
Vector2 interpolatedPosition = Vector2.Lerp(previousGridPosition.Value, gridPosition, t);
|
||||
interpolatedPosition.Round();
|
||||
interpolatedPositions.Add(interpolatedPosition);
|
||||
temporaryIndicators[interpolatedPosition] = Color.Red;
|
||||
}
|
||||
|
||||
foreach (Vector2 interpolatedPosition in interpolatedPositions.Distinct())
|
||||
{
|
||||
gridFiller.PlaceObstacle(new Rectangle((int)interpolatedPosition.X, (int)interpolatedPosition.Y, 1, 1));
|
||||
_ = temporaryIndicators.TryRemove(interpolatedPosition, out _);
|
||||
}
|
||||
}
|
||||
|
||||
gridFiller.PlaceObstacle(new Rectangle((int)gridPosition.X, (int)gridPosition.Y, 1, 1));
|
||||
gridChanged = true;
|
||||
_ = temporaryIndicators.TryRemove(gridPosition, out _);
|
||||
});
|
||||
}
|
||||
else if (mouseState.IsButtonDown(MouseButton.Right))
|
||||
{
|
||||
Vector2 mousePosition = camera.ScreenToWorld(mouseState.Position.ToVector2());
|
||||
Vector2 gridPosition = new Vector2((int)mousePosition.X / 10, (int)mousePosition.Y / 10);
|
||||
|
||||
if (gridPosition.X < 0 || gridPosition.X >= gridFiller.Width || gridPosition.Y < 0 || gridPosition.Y >= gridFiller.Height || gridFiller.Grid[(int)gridPosition.Y, (int)gridPosition.X] > 0 || temporaryIndicators.ContainsKey(gridPosition))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Vector2? previousGridPosition = null;
|
||||
if (previousMousePosition is not null)
|
||||
{
|
||||
previousGridPosition = new Vector2((int)previousMousePosition.Value.X / 10, (int)previousMousePosition.Value.Y / 10);
|
||||
}
|
||||
|
||||
// Place temporary indicators to show the obstacle is scheduled for removal
|
||||
temporaryIndicators[gridPosition] = Color.Yellow;
|
||||
|
||||
previousMousePosition = mousePosition;
|
||||
|
||||
_ = Task.Run(() =>
|
||||
{
|
||||
if (previousGridPosition is not null)
|
||||
{
|
||||
List<Vector2> interpolatedPositions = [];
|
||||
|
||||
// Interpolate between previous and current mouse position to place obstacles in a straight line to prevent gaps
|
||||
|
||||
float distance = Vector2.Distance(previousGridPosition.Value, gridPosition);
|
||||
float lerpSteps = distance * 10;
|
||||
|
||||
for (float t = 0; t <= 1; t += 1 / lerpSteps)
|
||||
{
|
||||
Vector2 interpolatedPosition = Vector2.Lerp(previousGridPosition.Value, gridPosition, t);
|
||||
interpolatedPosition.Round();
|
||||
interpolatedPositions.Add(interpolatedPosition);
|
||||
temporaryIndicators[interpolatedPosition] = Color.Yellow;
|
||||
}
|
||||
|
||||
foreach (Vector2 interpolatedPosition in interpolatedPositions.Distinct())
|
||||
{
|
||||
gridFiller.RemoveObstacle(new Rectangle((int)interpolatedPosition.X, (int)interpolatedPosition.Y, 1, 1));
|
||||
_ = temporaryIndicators.TryRemove(interpolatedPosition, out _);
|
||||
}
|
||||
}
|
||||
|
||||
gridFiller.RemoveObstacle(new Rectangle((int)gridPosition.X, (int)gridPosition.Y, 1, 1));
|
||||
gridChanged = true;
|
||||
_ = temporaryIndicators.TryRemove(gridPosition, out _);
|
||||
});
|
||||
}
|
||||
else
|
||||
{
|
||||
previousMousePosition = null;
|
||||
}
|
||||
|
||||
base.Update(gameTime);
|
||||
}
|
||||
|
||||
protected override void Draw(GameTime gameTime)
|
||||
{
|
||||
if (gridFiller is null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
GraphicsDevice.Clear(Color.CornflowerBlue);
|
||||
|
||||
Matrix transformMatrix = camera.GetViewMatrix();
|
||||
|
||||
int yStart = Math.Max(0, (int)(camera.BoundingRectangle.Top / 10) - 2);
|
||||
int xStart = Math.Max(0, (int)(camera.BoundingRectangle.Left / 10) - 2);
|
||||
int yEnd = Math.Min(gridFiller.Height, (int)(camera.BoundingRectangle.Bottom / 10) + 2);
|
||||
int xEnd = Math.Min(gridFiller.Width, (int)(camera.BoundingRectangle.Right / 10) + 2);
|
||||
|
||||
int[,] grid = gridFiller.Grid;
|
||||
Rectangle cellRect = new Rectangle(0, 0, 10, 10);
|
||||
|
||||
Color[] colorLookup = [
|
||||
Color.Blue, Color.Cyan, Color.Magenta, Color.Yellow, Color.Orange,
|
||||
Color.DarkMagenta, Color.DarkCyan, Color.Tan, Color.RosyBrown,
|
||||
Color.DarkKhaki, Color.DarkSalmon, Color.DarkSlateGray,
|
||||
Color.DarkTurquoise, Color.DarkGoldenrod, Color.Aqua, Color.Aquamarine,
|
||||
Color.Bisque, Color.DarkSlateBlue, Color.BlueViolet, Color.Brown,
|
||||
Color.BurlyWood, Color.CadetBlue, Color.Chartreuse, Color.Chocolate,
|
||||
Color.Coral, Color.CornflowerBlue, Color.Crimson, Color.DarkBlue
|
||||
];
|
||||
|
||||
// Draw grid cells
|
||||
spriteBatch.Begin(SpriteSortMode.Deferred, samplerState: SamplerState.PointClamp, transformMatrix: transformMatrix);
|
||||
|
||||
spriteBatch.FillRectangle(new Rectangle(0, 0, gridFiller.Width * 10, gridFiller.Height * 10), Color.White, layerDepth: 0.4f);
|
||||
|
||||
if (showZones)
|
||||
{
|
||||
Dictionary<int, Rectangle> rectangles = new Dictionary<int, Rectangle>(gridFiller.PlacedRectangles);
|
||||
|
||||
foreach ((int label, Rectangle rectangle) in rectangles)
|
||||
{
|
||||
Color color = colorLookup[label % 28];
|
||||
|
||||
spriteBatch.FillRectangle(new Rectangle(rectangle.X * 10, rectangle.Y * 10, rectangle.Width * 10, rectangle.Height * 10), color, layerDepth: 0.2f);
|
||||
}
|
||||
}
|
||||
|
||||
for (int y = yStart; y < yEnd; y++)
|
||||
{
|
||||
for (int x = xStart; x < xEnd; x++)
|
||||
{
|
||||
cellRect.X = x * 10;
|
||||
cellRect.Y = y * 10;
|
||||
|
||||
int cellValue = grid[y, x];
|
||||
|
||||
if (cellValue < 0)
|
||||
{
|
||||
spriteBatch.FillRectangle(cellRect, Color.Red, layerDepth: 0.3f);
|
||||
}
|
||||
|
||||
if (temporaryIndicators.TryGetValue(new Vector2(x, y), out Color indicatorColor))
|
||||
{
|
||||
spriteBatch.DrawCircle(cellRect.Center.ToVector2(), 5, 10, indicatorColor, 2f, layerDepth: 0.2f);
|
||||
}
|
||||
|
||||
if (showGrid)
|
||||
{
|
||||
spriteBatch.DrawRectangle(cellRect, Color.Black, layerDepth: 0.2f);
|
||||
}
|
||||
}
|
||||
}
|
||||
spriteBatch.End();
|
||||
|
||||
// Draw paths in a separate batch if needed
|
||||
if (showPaths)
|
||||
{
|
||||
spriteBatch.Begin(SpriteSortMode.Deferred, samplerState: SamplerState.PointClamp, transformMatrix: transformMatrix);
|
||||
foreach (List<Vector2>? path in agents.Select(a => a.Path))
|
||||
{
|
||||
if (path is null)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
for (int i = 0; i < path.Count - 1; i++)
|
||||
{
|
||||
Vector2 start = (path[i] * 10) + new Vector2(5, 5);
|
||||
Vector2 end = (path[i + 1] * 10) + new Vector2(5, 5);
|
||||
|
||||
if ((start.X < camera.BoundingRectangle.Left - 10 && end.X < camera.BoundingRectangle.Left - 10) ||
|
||||
(start.X > camera.BoundingRectangle.Right + 10 && end.X > camera.BoundingRectangle.Right + 10) ||
|
||||
(start.Y < camera.BoundingRectangle.Top - 10 && end.Y < camera.BoundingRectangle.Top - 10) ||
|
||||
(start.Y > camera.BoundingRectangle.Bottom + 10 && end.Y > camera.BoundingRectangle.Bottom + 10))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
spriteBatch.DrawLine(start, end, Color.Black, 2f, layerDepth: 0.1f);
|
||||
spriteBatch.DrawCircle(start, 5, 10, i == 0 ? Color.Green : Color.Black, 2f, layerDepth: 0.1f);
|
||||
spriteBatch.DrawCircle(end, 5, 10, i == path.Count - 2 ? Color.Red : Color.Black, 2f, layerDepth: 0.1f);
|
||||
}
|
||||
}
|
||||
spriteBatch.End();
|
||||
}
|
||||
|
||||
// Draw agents
|
||||
spriteBatch.Begin(SpriteSortMode.Deferred, samplerState: SamplerState.PointClamp, transformMatrix: transformMatrix);
|
||||
|
||||
foreach (Vector2 currentPosition in agents.Select(a => a.Position))
|
||||
{
|
||||
if (currentPosition.X < xStart || currentPosition.X > xEnd || currentPosition.Y < yStart || currentPosition.Y > yEnd)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
spriteBatch.DrawCircle((currentPosition + new Vector2(0.5f, 0.5f)) * 10, 5, 10, Color.Blue, 2f, layerDepth: 0.1f);
|
||||
}
|
||||
|
||||
spriteBatch.End();
|
||||
|
||||
// Draw UI elements
|
||||
uiSpriteBatch.Begin(SpriteSortMode.Deferred, samplerState: SamplerState.PointClamp);
|
||||
|
||||
uiSpriteBatch.DrawString(uiFont, $"FPS: {1 / gameTime.GetElapsedSeconds():0}", new Vector2(10, 10), Color.Black);
|
||||
uiSpriteBatch.DrawString(uiFont, $"Grid: {gridFiller.Width}x{gridFiller.Height}", new Vector2(10, 30), Color.Black);
|
||||
uiSpriteBatch.DrawString(uiFont, $"Zones: {gridFiller.PlacedRectangles.Count}", new Vector2(10, 50), Color.Black);
|
||||
uiSpriteBatch.DrawString(uiFont, $"Agents: {agents.Count}", new Vector2(10, 70), Color.Black);
|
||||
|
||||
IReadOnlyList<ProgressTracker.ProgressData> progresses = progressTracker.GetProgresses();
|
||||
|
||||
for (int i = 0; i < progresses.Count; i++)
|
||||
{
|
||||
ProgressTracker.ProgressData progressData = progresses[i];
|
||||
|
||||
string progress = progressData.Indeterminate ? "..." : progressData.Progress.ToString("P0");
|
||||
|
||||
uiSpriteBatch.DrawString(uiFont, $"{progressData.Name}: {progress}", new Vector2(10, 90 + (i * 20)), Color.Black);
|
||||
}
|
||||
|
||||
uiSpriteBatch.End();
|
||||
|
||||
base.Draw(gameTime);
|
||||
}
|
||||
|
||||
private void StartInitializationTask()
|
||||
{
|
||||
_ = Task.Run(() =>
|
||||
{
|
||||
// Configuration options
|
||||
int width = 1000;
|
||||
int height = 1000;
|
||||
int agentCount = 10000;
|
||||
|
||||
bool pathRandomization = true; // Randomize path costs to prevent agents from following the same path
|
||||
bool penalizeStretchedRectangles = true; // (EXPERIMENTAL) Penalize paths that go through stretched rectangles to prevent too many agents in a small area
|
||||
|
||||
for (int i = 0; i < agentCount; i++)
|
||||
{
|
||||
int x = Random.Shared.Next(0, width - 1);
|
||||
int y = Random.Shared.Next(0, height - 1);
|
||||
|
||||
agents.Add(new(new Vector2(x, y)));
|
||||
}
|
||||
|
||||
List<Rectangle> obstacles = [];
|
||||
|
||||
Debug.WriteLine("Generating random obstacles...");
|
||||
|
||||
// Generate room/building like obstacles with walls and doors
|
||||
|
||||
for (int i = 0; i < (width + height) / 2; i++)
|
||||
{
|
||||
int x = Random.Shared.Next(0, width - 1);
|
||||
int y = Random.Shared.Next(0, height - 1);
|
||||
int w = Random.Shared.Next(5, (width + height) / 100);
|
||||
int h = Random.Shared.Next(5, (width + height) / 100);
|
||||
|
||||
Rectangle wall1 = new(x, y, w, 1); // Top wall
|
||||
Rectangle wall2 = new(x, y, 1, h); // Left wall
|
||||
Rectangle wall3 = new(x + w - 1, y, 1, h); // Right wall
|
||||
Rectangle wall4 = new(x, y + h - 1, w, 1); // Bottom wall
|
||||
|
||||
int doorSide = Random.Shared.Next(4); // Choose a random side for the door
|
||||
|
||||
if (doorSide == 0) // Bottom side
|
||||
{
|
||||
obstacles.Add(wall1);
|
||||
obstacles.Add(wall2);
|
||||
obstacles.Add(wall3);
|
||||
|
||||
int doorX = x + Random.Shared.Next(1, w - 2);
|
||||
Rectangle doorWall1 = new(x, y + h - 1, doorX - x, 1);
|
||||
Rectangle doorWall2 = new(doorX + 2, y + h - 1, x + w - (doorX + 2), 1);
|
||||
|
||||
obstacles.Add(doorWall1);
|
||||
obstacles.Add(doorWall2);
|
||||
}
|
||||
else if (doorSide == 1) // Top side
|
||||
{
|
||||
obstacles.Add(wall2);
|
||||
obstacles.Add(wall3);
|
||||
obstacles.Add(wall4);
|
||||
|
||||
int doorX = x + Random.Shared.Next(1, w - 2);
|
||||
Rectangle doorWall1 = new(x, y, doorX - x, 1);
|
||||
Rectangle doorWall2 = new(doorX + 2, y, x + w - (doorX + 2), 1);
|
||||
|
||||
obstacles.Add(doorWall1);
|
||||
obstacles.Add(doorWall2);
|
||||
}
|
||||
else if (doorSide == 2) // Left side
|
||||
{
|
||||
obstacles.Add(wall1);
|
||||
obstacles.Add(wall3);
|
||||
obstacles.Add(wall4);
|
||||
|
||||
int doorY = y + Random.Shared.Next(1, h - 2);
|
||||
Rectangle doorWall1 = new(x, y, 1, doorY - y);
|
||||
Rectangle doorWall2 = new(x, doorY + 2, 1, y + h - (doorY + 2));
|
||||
|
||||
obstacles.Add(doorWall1);
|
||||
obstacles.Add(doorWall2);
|
||||
}
|
||||
else if (doorSide == 3) // Right side
|
||||
{
|
||||
obstacles.Add(wall1);
|
||||
obstacles.Add(wall2);
|
||||
obstacles.Add(wall4);
|
||||
|
||||
int doorY = y + Random.Shared.Next(1, h - 2);
|
||||
Rectangle doorWall1 = new(x + w - 1, y, 1, doorY - y);
|
||||
Rectangle doorWall2 = new(x + w - 1, doorY + 2, 1, y + h - (doorY + 2));
|
||||
|
||||
obstacles.Add(doorWall1);
|
||||
obstacles.Add(doorWall2);
|
||||
}
|
||||
}
|
||||
|
||||
Debug.WriteLine("Initializing grid...");
|
||||
|
||||
ProgressTracker.ProgressData progressData = progressTracker.AddProgress("Initializing grid", true, out _);
|
||||
gridFiller = new GridFiller(width, height, obstacles);
|
||||
progressTracker.RemoveProgress(progressData);
|
||||
|
||||
Debug.WriteLine("Filling grid...");
|
||||
|
||||
_ = progressTracker.AddProgress("Filling grid", out IProgress<float> fillingGridProgressReporter);
|
||||
_ = progressTracker.AddProgress("Calculating candidates", out IProgress<float> calculatingCandidatesProgressReporter);
|
||||
_ = progressTracker.AddProgress("Placing zones", out IProgress<float> placingCandidatesProgressReporter);
|
||||
|
||||
gridFiller.FillGrid(totalProgress: fillingGridProgressReporter, calculatingCandidatesProgress: calculatingCandidatesProgressReporter, placingCandidatesProgress: placingCandidatesProgressReporter);
|
||||
|
||||
pathfinder = new Pathfinder(gridFiller.PlacedRectangles, pathRandomization, penalizeStretchedRectangles);
|
||||
gridChanged = true;
|
||||
inputBlocked = false;
|
||||
showZones = false;
|
||||
showPaths = false;
|
||||
|
||||
StartUpdatePathTask();
|
||||
});
|
||||
}
|
||||
|
||||
// Handles pathfinding calculations in a separate task
|
||||
private void StartUpdatePathTask()
|
||||
{
|
||||
_ = Task.Factory.StartNew(async () =>
|
||||
{
|
||||
while (true)
|
||||
{
|
||||
try
|
||||
{
|
||||
if (gridChanged)
|
||||
{
|
||||
gridChanged = false;
|
||||
ProgressTracker.ProgressData progressDataBuildGraph = progressTracker.AddProgress("Rebuilding graph", true, out _);
|
||||
pathfinder.RebuildGraph();
|
||||
progressTracker.RemoveProgress(progressDataBuildGraph);
|
||||
}
|
||||
|
||||
Agent[] agentsRequirePath = agents.Where(a => a.Path is null).ToArray();
|
||||
|
||||
if (agentsRequirePath.Length != 0)
|
||||
{
|
||||
ProgressTracker.ProgressData progressDataPaths = progressTracker.AddProgress($"Calculating {agentsRequirePath.Length} paths", out IProgress<float> progress);
|
||||
|
||||
int pathsCalculated = 0;
|
||||
int reportInterval = Math.Max(1, agentsRequirePath.Length / 10);
|
||||
|
||||
// Calculate paths for agents that require a new path
|
||||
_ = Parallel.For(0, agentsRequirePath.Length, i =>
|
||||
{
|
||||
Agent agent = agentsRequirePath[i];
|
||||
|
||||
agent.Path = CalculatePath(agent.GridPosition, agent.Destination);
|
||||
agent.Path ??= CalculatePath();
|
||||
agent.Position = agent.Path?[0] ?? agent.Position;
|
||||
agent.NextPosition = agent.Path?[1] ?? agent.Position;
|
||||
agent.Destination = agent.Path?.LastOrDefault().ToPoint();
|
||||
|
||||
int localPathsCalculated = Interlocked.Increment(ref pathsCalculated);
|
||||
|
||||
if (localPathsCalculated % reportInterval == 0)
|
||||
{
|
||||
progress.Report((float)localPathsCalculated / agentsRequirePath.Length);
|
||||
}
|
||||
});
|
||||
|
||||
progressTracker.RemoveProgress(progressDataPaths);
|
||||
}
|
||||
|
||||
await Task.Delay(100);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Debug.WriteLine(ex);
|
||||
}
|
||||
}
|
||||
}, TaskCreationOptions.LongRunning);
|
||||
}
|
||||
|
||||
private List<Vector2>? CalculatePath(Point? start = null, Point? goal = null)
|
||||
{
|
||||
int width = gridFiller.Width;
|
||||
int height = gridFiller.Height;
|
||||
int startX = Random.Shared.Next(0, width - 1);
|
||||
int startY = Random.Shared.Next(0, height - 1);
|
||||
int goalX = Random.Shared.Next(0, width - 1);
|
||||
int goalY = Random.Shared.Next(0, height - 1);
|
||||
|
||||
start ??= new Point(startX, startY);
|
||||
goal ??= new Point(goalX, goalY);
|
||||
|
||||
int[,] grid = gridFiller.Grid;
|
||||
|
||||
List<Vector2>? path = pathfinder.FindPath(ref grid[start.Value.Y, start.Value.X], ref grid[goal.Value.Y, goal.Value.X]);
|
||||
|
||||
if (path is not null)
|
||||
{
|
||||
// Add start and goal positions to the path because the pathfinder only returns transitions between rectangles
|
||||
path.Insert(0, start.Value.ToVector2());
|
||||
path.Add(goal.Value.ToVector2());
|
||||
}
|
||||
|
||||
return path;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,231 @@
|
||||
using Microsoft.Xna.Framework;
|
||||
|
||||
using System;
|
||||
using System.Collections.Concurrent;
|
||||
using System.Collections.Generic;
|
||||
using System.Diagnostics;
|
||||
using System.Linq;
|
||||
|
||||
namespace LargeGridPathfinding;
|
||||
|
||||
internal class Pathfinder
|
||||
{
|
||||
private readonly ConcurrentDictionary<int, Rectangle> rectanglesSource;
|
||||
private readonly bool pathRandomization;
|
||||
private readonly bool penalizeStretchedRectangles;
|
||||
private Dictionary<int, Rectangle> rectangleMap;
|
||||
private Dictionary<int, List<int>> adjacencyList;
|
||||
|
||||
public Pathfinder(ConcurrentDictionary<int, Rectangle> rectangles, bool pathRandomization = false, bool penalizeStretchedRectangles = false)
|
||||
{
|
||||
rectanglesSource = rectangles;
|
||||
this.pathRandomization = pathRandomization;
|
||||
this.penalizeStretchedRectangles = penalizeStretchedRectangles;
|
||||
rectangleMap = new Dictionary<int, Rectangle>(rectangles);
|
||||
adjacencyList = BuildGraph();
|
||||
}
|
||||
|
||||
public List<Vector2>? FindPath(ref int start, ref int goal)
|
||||
{
|
||||
PriorityQueue<(int node, List<int> path, int cost), int> queue = new PriorityQueue<(int node, List<int> path, int cost), int>();
|
||||
HashSet<int> visited = [];
|
||||
queue.Enqueue((start, new List<int> { start }, 0), 0);
|
||||
|
||||
if (!rectangleMap.ContainsKey(start) || !rectangleMap.ContainsKey(goal))
|
||||
{
|
||||
Debug.WriteLine($"{(rectangleMap.ContainsKey(start) ? "Goal" : "Start")} rectangle not found.");
|
||||
return null;
|
||||
}
|
||||
|
||||
while (queue.Count > 0)
|
||||
{
|
||||
(int node, List<int> path, int cost) = queue.Dequeue();
|
||||
|
||||
if (node == goal)
|
||||
{
|
||||
// Convert rectangle path to coordinate transitions
|
||||
List<Vector2> coordinatePath = [];
|
||||
|
||||
for (int i = 0; i < path.Count - 1; i++)
|
||||
{
|
||||
(Vector2 entry, Vector2 exit) = GetTransitionPoints(path[i], path[i + 1], i + 2 < path.Count ? path[i + 2] : null);
|
||||
coordinatePath.Add(entry);
|
||||
coordinatePath.Add(exit);
|
||||
}
|
||||
|
||||
return coordinatePath;
|
||||
}
|
||||
|
||||
if (visited.Contains(node))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
_ = visited.Add(node);
|
||||
|
||||
foreach (int neighbor in adjacencyList.TryGetValue(node, out List<int>? neighbors) ? neighbors : [])
|
||||
{
|
||||
if (!visited.Contains(neighbor))
|
||||
{
|
||||
List<int> newPath = new List<int>(path) { neighbor };
|
||||
|
||||
int newCost = cost + 1;
|
||||
|
||||
if (penalizeStretchedRectangles)
|
||||
{
|
||||
newCost += Math.Max(rectangleMap[neighbor].Width, rectangleMap[neighbor].Height) / Math.Min(rectangleMap[neighbor].Width, rectangleMap[neighbor].Height);
|
||||
}
|
||||
|
||||
if (pathRandomization)
|
||||
{
|
||||
newCost += Random.Shared.Next(-1, 2);
|
||||
}
|
||||
|
||||
queue.Enqueue((neighbor, newPath, newCost), newCost);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
public void RebuildGraph()
|
||||
{
|
||||
rectangleMap = new Dictionary<int, Rectangle>(rectanglesSource);
|
||||
adjacencyList.Clear();
|
||||
adjacencyList = BuildGraph();
|
||||
}
|
||||
|
||||
private static bool AreRectanglesAdjacent(Rectangle r1, Rectangle r2)
|
||||
{
|
||||
bool adjacentHorizontally = (r1.X + r1.Width == r2.X || r2.X + r2.Width == r1.X) && r1.Y < r2.Y + r2.Height && r1.Y + r1.Height > r2.Y;
|
||||
bool adjacentVertically = (r1.Y + r1.Height == r2.Y || r2.Y + r2.Height == r1.Y) && r1.X < r2.X + r2.Width && r1.X + r1.Width > r2.X;
|
||||
return adjacentHorizontally || adjacentVertically;
|
||||
}
|
||||
|
||||
private Vector2 GetRectangleClosestEdge(Rectangle rect, Vector2 point)
|
||||
{
|
||||
if (pathRandomization)
|
||||
{
|
||||
float randomX = Random.Shared.Next(rect.Left, rect.Right);
|
||||
float randomY = Random.Shared.Next(rect.Top, rect.Bottom);
|
||||
return new Vector2(randomX, randomY);
|
||||
}
|
||||
|
||||
// Clamp the point to the closest edge of the rectangle
|
||||
float closestX = Math.Clamp(point.X, rect.Left, rect.Right - 1);
|
||||
float closestY = Math.Clamp(point.Y, rect.Top, rect.Bottom - 1);
|
||||
|
||||
// If point is inside the rectangle, push it to the nearest edge
|
||||
if (point.X >= rect.Left && point.X < rect.Right &&
|
||||
point.Y >= rect.Top && point.Y < rect.Bottom)
|
||||
{
|
||||
float leftDistance = Math.Abs(point.X - rect.Left);
|
||||
float rightDistance = Math.Abs(point.X - (rect.Right - 1));
|
||||
float topDistance = Math.Abs(point.Y - rect.Top);
|
||||
float bottomDistance = Math.Abs(point.Y - (rect.Bottom - 1));
|
||||
|
||||
float minDistance = Math.Min(Math.Min(leftDistance, rightDistance), Math.Min(topDistance, bottomDistance));
|
||||
|
||||
if (minDistance == leftDistance)
|
||||
{
|
||||
closestX = rect.Left;
|
||||
}
|
||||
else if (minDistance == rightDistance)
|
||||
{
|
||||
closestX = rect.Right - 1;
|
||||
}
|
||||
else if (minDistance == topDistance)
|
||||
{
|
||||
closestY = rect.Top;
|
||||
}
|
||||
else if (minDistance == bottomDistance)
|
||||
{
|
||||
closestY = rect.Bottom - 1;
|
||||
}
|
||||
}
|
||||
|
||||
return new Vector2(closestX, closestY);
|
||||
}
|
||||
|
||||
// Build a graph where each rectangle is a node and each edge represents an adjacency
|
||||
private Dictionary<int, List<int>> BuildGraph()
|
||||
{
|
||||
Dictionary<int, List<int>> graph = [];
|
||||
|
||||
foreach (KeyValuePair<int, Rectangle> rect1 in rectangleMap)
|
||||
{
|
||||
if (!graph.ContainsKey(rect1.Key))
|
||||
{
|
||||
graph[rect1.Key] = [];
|
||||
}
|
||||
|
||||
foreach (KeyValuePair<int, Rectangle> rect2 in rectangleMap)
|
||||
{
|
||||
if (rect1.Key != rect2.Key && AreRectanglesAdjacent(rect1.Value, rect2.Value))
|
||||
{
|
||||
graph[rect1.Key].Add(rect2.Key);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return graph;
|
||||
}
|
||||
|
||||
// Find the transition points between two rectangles
|
||||
private (Vector2 entry, Vector2 exit) GetTransitionPoints(int from, int to, int? next = null)
|
||||
{
|
||||
Rectangle r1 = rectangleMap[from];
|
||||
Rectangle r2 = rectangleMap[to];
|
||||
|
||||
// Find all possible valid transition points
|
||||
List<(Vector2 entry, Vector2 exit)> possibleTransitions = [];
|
||||
|
||||
if (r1.Right == r2.Left)
|
||||
{
|
||||
for (int y = Math.Max(r1.Top, r2.Top); y < Math.Min(r1.Bottom, r2.Bottom); y++)
|
||||
{
|
||||
possibleTransitions.Add((new Vector2(r1.Right - 1, y), new Vector2(r2.Left, y)));
|
||||
}
|
||||
}
|
||||
else if (r2.Right == r1.Left)
|
||||
{
|
||||
for (int y = Math.Max(r1.Top, r2.Top); y < Math.Min(r1.Bottom, r2.Bottom); y++)
|
||||
{
|
||||
possibleTransitions.Add((new Vector2(r1.Left, y), new Vector2(r2.Right - 1, y)));
|
||||
}
|
||||
}
|
||||
else if (r1.Bottom == r2.Top)
|
||||
{
|
||||
for (int x = Math.Max(r1.Left, r2.Left); x < Math.Min(r1.Right, r2.Right); x++)
|
||||
{
|
||||
possibleTransitions.Add((new Vector2(x, r1.Bottom - 1), new Vector2(x, r2.Top)));
|
||||
}
|
||||
}
|
||||
else if (r2.Bottom == r1.Top)
|
||||
{
|
||||
for (int x = Math.Max(r1.Left, r2.Left); x < Math.Min(r1.Right, r2.Right); x++)
|
||||
{
|
||||
possibleTransitions.Add((new Vector2(x, r1.Top), new Vector2(x, r2.Bottom - 1)));
|
||||
}
|
||||
}
|
||||
|
||||
if (possibleTransitions.Count == 0)
|
||||
{
|
||||
return (new Vector2(-1, -1), new Vector2(-1, -1));
|
||||
}
|
||||
|
||||
// If there's a next rectangle, optimize the transition to minimize the distance
|
||||
if (next is not null && rectangleMap.TryGetValue(next.Value, out Rectangle r3))
|
||||
{
|
||||
(Vector2 entry, Vector2 exit) bestTransition = possibleTransitions
|
||||
.OrderBy(t => Vector2.DistanceSquared(t.exit, GetRectangleClosestEdge(r3, t.exit)))
|
||||
.First();
|
||||
|
||||
return bestTransition;
|
||||
}
|
||||
|
||||
// Default: Pick the middle transition point
|
||||
return possibleTransitions[possibleTransitions.Count / 2];
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
using LargeGridPathfinding.LargeGridPathfindingGame game = new LargeGridPathfinding.LargeGridPathfindingGame();
|
||||
game.Run();
|
||||
@@ -0,0 +1,79 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace LargeGridPathfinding;
|
||||
|
||||
internal class ProgressTracker
|
||||
{
|
||||
private readonly List<ProgressData> progresses = [];
|
||||
|
||||
public ProgressData AddProgress(string name, out IProgress<float> progress)
|
||||
{
|
||||
return AddProgress(name, false, false, out progress);
|
||||
}
|
||||
|
||||
public ProgressData AddProgress(string name, bool indeterminate, out IProgress<float> progress)
|
||||
{
|
||||
return AddProgress(name, indeterminate, false, out progress);
|
||||
}
|
||||
|
||||
public ProgressData AddProgress(string name, bool indeterminate, bool disableAutoRemove, out IProgress<float> progress)
|
||||
{
|
||||
CustomProgress<float> newProgress = new CustomProgress<float>();
|
||||
ProgressData progressData = new ProgressData(name, indeterminate, disableAutoRemove);
|
||||
|
||||
newProgress.ProgressChanged += (_, progress) => Progress_ProgressChanged(progressData, progress);
|
||||
|
||||
lock (progresses)
|
||||
{
|
||||
progresses.Add(progressData);
|
||||
}
|
||||
|
||||
progress = newProgress;
|
||||
return progressData;
|
||||
}
|
||||
|
||||
public void RemoveProgress(ProgressData progressData)
|
||||
{
|
||||
lock (progresses)
|
||||
{
|
||||
if (!progressData.DoNotRemove)
|
||||
{
|
||||
_ = progresses.Remove(progressData);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public IReadOnlyList<ProgressData> GetProgresses()
|
||||
{
|
||||
return progresses;
|
||||
}
|
||||
|
||||
private void Progress_ProgressChanged(ProgressData progressData, float progress)
|
||||
{
|
||||
progressData.Progress = progress;
|
||||
|
||||
if (progress >= 1)
|
||||
{
|
||||
RemoveProgress(progressData);
|
||||
}
|
||||
}
|
||||
|
||||
public class ProgressData(string name, bool indeterminate, bool doNotRemove)
|
||||
{
|
||||
public string Name { get; } = name;
|
||||
public float Progress { get; set; } = 0;
|
||||
public bool Indeterminate { get; } = indeterminate;
|
||||
public bool DoNotRemove { get; } = doNotRemove;
|
||||
}
|
||||
|
||||
public class CustomProgress<T>() : IProgress<T>
|
||||
{
|
||||
public EventHandler<T>? ProgressChanged { get; set; }
|
||||
|
||||
public void Report(T value)
|
||||
{
|
||||
ProgressChanged?.Invoke(this, value);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<assembly manifestVersion="1.0" xmlns="urn:schemas-microsoft-com:asm.v1">
|
||||
<assemblyIdentity version="1.0.0.0" name="PathFinding"/>
|
||||
<trustInfo xmlns="urn:schemas-microsoft-com:asm.v2">
|
||||
<security>
|
||||
<requestedPrivileges xmlns="urn:schemas-microsoft-com:asm.v3">
|
||||
<requestedExecutionLevel level="asInvoker" uiAccess="false" />
|
||||
</requestedPrivileges>
|
||||
</security>
|
||||
</trustInfo>
|
||||
|
||||
<compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1">
|
||||
<application>
|
||||
<!-- A list of the Windows versions that this application has been tested on and is
|
||||
is designed to work with. Uncomment the appropriate elements and Windows will
|
||||
automatically selected the most compatible environment. -->
|
||||
|
||||
<!-- Windows Vista -->
|
||||
<supportedOS Id="{e2011457-1546-43c5-a5fe-008deee3d3f0}" />
|
||||
|
||||
<!-- Windows 7 -->
|
||||
<supportedOS Id="{35138b9a-5d96-4fbd-8e2d-a2440225f93a}" />
|
||||
|
||||
<!-- Windows 8 -->
|
||||
<supportedOS Id="{4a2f28e3-53b9-4441-ba9c-d69d4a4a6e38}" />
|
||||
|
||||
<!-- Windows 8.1 -->
|
||||
<supportedOS Id="{1f676c76-80e1-4239-95bb-83d0f6d0da78}" />
|
||||
|
||||
<!-- Windows 10 -->
|
||||
<supportedOS Id="{8e0f7a12-bfb3-4fe8-b9a5-48fd50a15a9a}" />
|
||||
|
||||
</application>
|
||||
</compatibility>
|
||||
|
||||
<application xmlns="urn:schemas-microsoft-com:asm.v3">
|
||||
<windowsSettings>
|
||||
<dpiAware xmlns="http://schemas.microsoft.com/SMI/2005/WindowsSettings">true/pm</dpiAware>
|
||||
<dpiAwareness xmlns="http://schemas.microsoft.com/SMI/2016/WindowsSettings">permonitorv2,permonitor</dpiAwareness>
|
||||
</windowsSettings>
|
||||
</application>
|
||||
|
||||
</assembly>
|
||||
Reference in New Issue
Block a user