/**
* This function is used to allocate the unit simulated that you want to run.
* Any parameters or other experimental setup can be done at this time.
*/
void CreateSimulation(int id)
{
Map *map;
if (gDefaultMap[0] == 0)
{
//ht_chantry.arl.map
// map = new Map("/Users/nathanst/hog2/maps/dao/lak503d.map");
//map = new Map("/Users/nathanst/hog2/maps/da2/ht_chantry.arl.map");
// map = new Map("/Users/nathanst/hog2/maps/bgmaps/AR0011SR.map");
//map = new Map("/Users/nathanst/hog2/maps/rooms/8room_000.map");
//map = new Map("/Users/nathanst/hog2/maps/mazes/maze512-16-0.map");
//map = new Map("/Users/nathanst/hog2/maps/local/weight.map");
//map = new Map("weight.map");
map = new Map(mazeSize, mazeSize);
MakeMaze(map, 5);
// map->Scale(512, 512);
}
else {
map = new Map(gDefaultMap);
//map->Scale(512, 512);
}
map->SetTileSet(kWinter);
msa = new MapSectorAbstraction(map, 8);
msa->ToggleDrawAbstraction(1);
//msa->ToggleDrawAbstraction(2);
// ->ToggleDrawAbstraction(3);
unitSims.resize(id+1);
unitSims[id] = new UnitSimulation<xyLoc, tDirection, MapEnvironment>(new MapEnvironment(map));
unitSims[id]->SetStepType(kMinTime);
SetNumPorts(id, 1);
}
void MyWindowHandler(unsigned long windowID, tWindowEventType eType)
{
if (eType == kWindowDestroyed)
{
printf("Window %ld destroyed\n", windowID);
RemoveFrameHandler(MyFrameHandler, windowID, 0);
delete ma1;
ma1 = 0;
delete ma2;
ma2 = 0;
delete gdh;
gdh = 0;
delete unitSims[windowID];
unitSims[windowID] = 0;
runningSearch1 = false;
runningSearch2 = false;
mouseTracking = false;
}
else if (eType == kWindowCreated)
{
printf("Window %ld created\n", windowID);
InstallFrameHandler(MyFrameHandler, windowID, 0);
CreateSimulation(windowID);
SetNumPorts(windowID, 1);
}
}
void MyWindowHandler(unsigned long windowID, tWindowEventType eType)
{
if (eType == kWindowDestroyed)
{
printf("Window %ld destroyed\n", windowID);
RemoveFrameHandler(MyFrameHandler, windowID, 0);
mouseTracking = false;
delete map;
delete me;
map = 0;
me = 0;
}
else if (eType == kWindowCreated)
{
printf("Window %ld created\n", windowID);
InstallFrameHandler(MyFrameHandler, windowID, 0);
SetNumPorts(windowID, 1);
delete map;
delete me;
//map = new Map("/Users/nathanst/hog2/maps/dao/lak308d.map");
//map = new Map("/Users/nathanst/hog2/maps/da2/ht_chantry.map");
//map = new Map("/Users/nathanst/hog2/maps/random/random512-35-6.map");
//map = new Map("/Users/nathanst/hog2/maps/da2/lt_backalley_g.map");
//map = new Map("/Users/nathanst/hog2/maps/bgmaps/AR0011SR.map");
map = new Map("/Users/nathanst/hog2/maps/bgmaps/AR0012SR.map");
//map = new Map("/Users/nathanst/hog2/maps/rooms/8room_000.map");
//map = new Map("/Users/nathanst/hog2/maps/mazes/maze512-16-0.map");
//map = new Map("/Users/nathanst/hog2/maps/dao/orz107d.map");
map->SetTileSet(kWinter);
me = new MapEnvironment(map);
}
}
void MyDisplayHandler(unsigned long windowID, tKeyboardModifier mod, char key)
{
switch (key)
{
case 'w':
if (searchWeight == 0)
searchWeight = 1.0;
else if (searchWeight == 1.0)
searchWeight = 10.0;
else if (searchWeight == 10.0)
searchWeight = 0;
break;
case '[': if (gStepsPerFrame >= 2) gStepsPerFrame /= 2; break;
case ']': gStepsPerFrame *= 2; break;
case '{':
if (gdh && ((GraphMapInconsistentHeuristic*)gdh)->GetMode() == kCompressed)
((GraphMapInconsistentHeuristic*)gdh)->SetMode(kMax);
else
((GraphMapInconsistentHeuristic*)gdh)->SetMode(kCompressed);
break;
case '}':
if (gdh)
((GraphMapInconsistentHeuristic*)gdh)->IncreaseDisplayHeuristic();
break;
case 'q':
if (mod != kShiftDown)
SetActivePort(windowID, (GetActivePort(windowID)+1)%GetNumPorts(windowID));
else
{
SetNumPorts(windowID, 1+(GetNumPorts(windowID)%MAXPORTS));
}
break;
case 'p': unitSims[windowID]->SetPaused(!unitSims[windowID]->GetPaused()); break;
case 'o':
{
if (runningSearch1)
{
if (a1.DoSingleSearchStep(path))
{
printf("Solution: moves %d, length %f, %lld nodes\n",
(int)path.size(), ma1->GetPathLength(path), a1.GetNodesExpanded());
runningSearch1 = false;
}
}
if (runningSearch2)
{
if (a2.DoSingleSearchStep(path))
{
printf("Solution: moves %d, length %f, %lld nodes\n",
(int)path.size(), ma1->GetPathLength(path), a2.GetNodesExpanded());
runningSearch2 = false;
}
}
}
break;
default:
break;
}
}
/**
* This function is used to allocate the unit simulated that you want to run.
* Any parameters or other experimental setup can be done at this time.
*/
void CreateSimulation(int id)
{
//Graph *g;
if (gDefaultMap[0] != 0)
{
mp = new Map(gDefaultMap);
mp->Scale(512, 512);
grp = GraphSearchConstants::GetGraph(mp);
env = new GraphEnvironment(mp, grp, new GraphMapInconsistentHeuristic(mp, grp));
while(gFrom==gTo) {
gFrom = grp->GetRandomNode()->GetNum();
gTo = grp->GetRandomNode()->GetNum();
}
}
else if (fig == 0)
{
grp = BuildInconsistentGraph(5, N, N);
// gFrom = 5*N*N-1;
// to = 0;
env = new GraphEnvironment(grp, new GraphLabelHeuristic(grp, gTo));
env->SetDirected(true);
}
else if (fig == 1)
{
grp = PropUtil::graphGenerator::genFig1(N);
gFrom = N;
gTo = 0;
env = new GraphEnvironment(grp, new GraphLabelHeuristic(grp, gTo));
}
else if(fig == 2)
{
grp = PropUtil::graphGenerator::genFig2(N);
gFrom = N;
gTo = 0;
env = new GraphEnvironment(grp, new GraphLabelHeuristic(grp, gTo));
}
else if (fig == 3){
grp = PropUtil::graphGenerator::genFig3(N);
gFrom = 0;
gTo = 2*N - 1;
env = new GraphEnvironment(grp, new GraphLabelHeuristic(grp, gTo));
}
else {
grp = PropUtil::graphGenerator::genFig4(N);
gFrom = 0;
gTo = 2*N + 1;
env = new GraphEnvironment(grp, new GraphLabelHeuristic(grp, gTo));
}
printf("Environment ready.\n");
unitSims.resize(id+1);
unitSims[id] = new GraphSimulation(env);
unitSims[id]->SetStepType(kMinTime);
SetNumPorts(id, 1);
}
void MyDisplayHandler(unsigned long windowID, tKeyboardModifier mod, char key)
{
switch (key)
{
case 'r': recording = !recording; break;
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
ts->ApplyAction(s, key-'0');
break;
case '\t':
if (mod != kShiftDown)
SetActivePort(windowID, (GetActivePort(windowID)+1)%GetNumPorts(windowID));
else
{
SetNumPorts(windowID, 1+(GetNumPorts(windowID)%MAXPORTS));
}
break;
case 'p':
break;
case 'o':
{
if (!ts) break;
if (mod == kShiftDown)
{
IDAStar<TopSpinState, TopSpinAction> ida;
std::vector<TopSpinAction> path1;
std::vector<TopSpinState> path2;
TopSpinState s(4, 4);
TopSpinState g(4, 4);
for (unsigned int x = 0; x < 500; x++)
{
std::vector<TopSpinAction> acts;
ts->GetActions(s, acts);
ts->ApplyAction(s, acts[random()%acts.size()]);
}
std::cout << "Searching from: " << std::endl << s << std::endl << g << std::endl;
Timer t;
t.StartTimer();
ida.GetPath(ts, s, g, path1);
t.EndTimer();
std::cout << "Path found, length " << path1.size() << " time:" << t.GetElapsedTime() << std::endl;
}
}
break;
default:
break;
}
}
void MyWindowHandler(unsigned long windowID, tWindowEventType eType)
{
if (eType == kWindowDestroyed)
{
printf("Window %ld destroyed\n", windowID);
RemoveFrameHandler(MyFrameHandler, windowID, 0);
}
else if (eType == kWindowCreated)
{
printf("Window %ld created\n", windowID);
InstallFrameHandler(MyFrameHandler, windowID, 0);
SetNumPorts(windowID, 1);
}
}
/**
* This function is used to allocate the unit simulated that you want to run.
* Any parameters or other experimental setup can be done at this time.
*/
void CreateSimulation(int id)
{
//Graph *g;
if (gDefaultMap[0] != 0)
{
mp = new Map(gDefaultMap);
grp = GraphSearchConstants::GetGraph(mp);
env = new GraphEnvironment(grp, new GraphMapInconsistentHeuristic(mp, grp));
while(from==to) {
from = grp->GetRandomNode()->GetNum();
to = grp->GetRandomNode()->GetNum();
}
}
else if (fig == 1)
{
grp = PropUtil::graphGenerator::genFig1(N);
from = N;
to = 0;
env = new GraphEnvironment(grp, new GraphLabelHeuristic(grp, to));
}
else
{
grp = PropUtil::graphGenerator::genFig2(N);
from = 0;
to = 2*N - 1;
env = new GraphEnvironment(grp, new GraphLabelHeuristic(grp, to));
}
printf("Environment ready.\n");
unitSims.resize(id+1);
unitSims[id] = new GraphSimulation(env);
unitSims[id]->SetStepType(kMinTime);
SetNumPorts(id, 1);
}
void MyDisplayHandler(unsigned long windowID, tKeyboardModifier mod, char key)
{
switch (key)
{
case '\t':
if (mod != kShiftDown)
SetActivePort(windowID, (GetActivePort(windowID)+1)%GetNumPorts(windowID));
else
{
SetNumPorts(windowID, 1+(GetNumPorts(windowID)%MAXPORTS));
}
break;
case 'p': unitSims[windowID]->SetPaused(!unitSims[windowID]->GetPaused()); break;
case 'o':
{
// if (CFOR == 0)
// {
// CFOR = new CFOptimalRefinement();
// while (!CFOR->InitializeSearch(unitSims[windowID]->GetEnvironment()->GetMapAbstraction(),
// unitSims[windowID]->GetEnvironment()->GetMapAbstraction()->GetAbstractGraph(0)->GetRandomNode(),
// unitSims[windowID]->GetEnvironment()->GetMapAbstraction()->GetAbstractGraph(0)->GetRandomNode()))
// {}
// }
// if (CFOR->DoOneSearchStep())
// printf("DONE!!!\n");
if(ALG == 0)
{
ALG = new Prop(vid,delta);
ALG->InitializeSearch(env,grp,from,to,thePath);
}
if(!done && ALG->DoSingleSearchStep(thePath))
{
printf("\nDone! Nodes expanded=%ld, Nodes touched=%ld, Reopenings=%d.\n",ALG->GetNodesExpanded(),ALG->GetNodesTouched(),ALG->GetReopenings());
printf("Algorithm %s, solution cost=%lf, solution edges=%d.\n", ALG->algname,ALG->GetSolutionCost(),(int)thePath.size());
done = true;
}
}
if (unitSims[windowID]->GetPaused())
{
unitSims[windowID]->SetPaused(false);
unitSims[windowID]->StepTime(1.0/30.0);
unitSims[windowID]->SetPaused(true);
}
break;
case 'k':
ALG = new Prop(0);
ALG->GetPath(env,grp,from,to,thePath);
printf("\n");
ALG = new Prop(1);
ALG->GetPath(env,grp,from,to,thePath);
printf("\n");
ALG = new Prop(2,delta);
ALG->GetPath(env,grp,from,to,thePath);
printf("\n");
ALG = new Prop(3);
ALG->GetPath(env,grp,from,to,thePath);
printf("\n");
ALG = new Prop(4);
ALG->GetPath(env,grp,from,to,thePath);
printf("\n");
break;
case ']': absType = (absType+1)%3; break;
case '[': absType = (absType+4)%3; break;
// case '{': unitSim->setPaused(true); unitSim->offsetDisplayTime(-0.5); break;
// case '}': unitSim->offsetDisplayTime(0.5); break;
default:
// set N to be whatever size I press
//GraphSizeN = key-'0';
//if (GraphSizeN == 0)
// GraphSizeN = 10;
break;
}
}
void MyRandomUnitKeyHandler(unsigned long windowID, tKeyboardModifier mod, char)
{
// if (mod == kShiftDown)
// {
// RunWorkMeasureTest();
// return;
// }
Map *m = unitSims[windowID]->GetEnvironment()->GetMap();
unitSims[windowID]->ClearAllUnits();
m->SetTileSet(kFast);
// recording = true;
// startRecording();
int x1, y1, x2, y2;
if (mod == kShiftDown)
{
x1 = 0; y1 = 0;
x2 = m->GetMapWidth()-1;
// x2 = 0;//m->GetMapWidth()-1;
y2 = m->GetMapHeight()-1;
}
else {
do {
x2 = random()%m->GetMapWidth();
y2 = random()%m->GetMapHeight();
x1 = random()%m->GetMapWidth();
y1 = random()%m->GetMapHeight();
} while ((m->GetTerrainType(x1, y1) != kGround) || (m->GetTerrainType(x2, y2) != kGround));
do {
x2 = random()%m->GetMapWidth();
y2 = random()%m->GetMapHeight();
x1 = random()%m->GetMapWidth();
y1 = random()%m->GetMapHeight();
} while ((m->GetTerrainType(x1, y1) != kGround) || (m->GetTerrainType(x2, y2) != kGround));
}
//x1 = 6; y1 = 3; x2 = 15; y2 = 72;
xySpeedHeading a(x1, y1), b(x2, y2);
//xySpeedHeading a(0, 0), b(mazeSize-1, mazeSize-1);
// xySpeedHeading a(0, 0), b(mazeSize-1, 0);
a1.GetPath(unitSims[windowID]->GetEnvironment(), a, b, path);
std::cout << "Found path -- " << a1.GetNodesExpanded() << " nodes expanded; length: " << unitSims[windowID]->GetEnvironment()->GetPathLength(path) << std::endl;
std::cout << "Solving " << a << " to " << b << std::endl;
stepsPerFrame = 1.0/120.0;
// GLdouble a1, b1, c1, r1;
// m->GetOpenGLCoord((x1+x2)/2, (y1+y2)/2, a1, b1, c1, r1);
// cameraMoveTo(a1, b1, c1-600*r1, 1.0);
// cameraLookAt(a1, b1, c1, 1.0);
// measure.MeasureDifficultly(unitSims[windowID]->GetEnvironment(), a, b);
// measure.ShowHistogram();
// LocalSensing::RIBS<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment> *u1 = new LocalSensing::RIBS<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(a, b);
// u1->SetWeight(1.0);
// u1->SetSpeed(0.02);
// unitSims[windowID]->AddUnit(u1);
// LSSLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment> *u2 = new LSSLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(a, b, new LSSLRTAStar<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(1));
// u2->SetSpeed(0.02);
// unitSims[windowID]->AddUnit(u2);
LSSLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment> *u2 = new LSSLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(a, b, new LSSLRTAStar<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(10));
u2->SetSpeed(0.02);
unitSims[windowID]->AddUnit(u2);
// LSSLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment> *u3 = new LSSLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(a, b, new LSSLRTAStar<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(10));
// u3->SetSpeed(0.02);
// unitSims[windowID]->AddUnit(u3);
// FLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment> *u4 = new FLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(a, b, new FLRTA::FLRTAStar<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(10, 1.5));
// u4->SetSpeed(0.02);
// unitSims[windowID]->AddUnit(u4);
//
// FLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment> *u5 = new FLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(a, b, new FLRTA::FLRTAStar<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(10, 5.5));
// u5->SetSpeed(0.02);
// unitSims[windowID]->AddUnit(u5);
//
FLRTA::FLRTAStar<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment> *f;
FLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment> *u6 = new FLRTAStarUnit<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(a, b, f = new FLRTA::FLRTAStar<xySpeedHeading, deltaSpeedHeading, Directional2DEnvironment>(10, 1.5));
f->SetOrderRedundant(false);
f->SetUseLocalGCost(true);
u6->SetSpeed(0.02);
unitSims[windowID]->AddUnit(u6);
unitSims[windowID]->GetStats()->AddFilter("trialDistanceMoved");
unitSims[windowID]->GetStats()->AddFilter("TotalLearning");
unitSims[windowID]->GetStats()->AddFilter("nodesExpanded");
unitSims[windowID]->GetStats()->EnablePrintOutput(true);
unitSims[windowID]->SetTrialLimit(50000);
SetNumPorts(windowID, 1+(unitSims[windowID]->GetNumUnits()-1)%MAXPORTS);
}
void MyDisplayHandler(unsigned long windowID, tKeyboardModifier mod, char key)
{
switch (key)
{
case '[': stepsPerFrame/=2.0; break;
case ']': stepsPerFrame*=2.0; break;
case '|':
unitSims[windowID]->ClearAllUnits();
break;
case '\t':
if (mod != kShiftDown)
SetActivePort(windowID, (GetActivePort(windowID)+1)%GetNumPorts(windowID));
else
{
SetNumPorts(windowID, 1+(GetNumPorts(windowID)%MAXPORTS));
}
break;
case 'p': unitSims[windowID]->SetPaused(!unitSims[windowID]->GetPaused()); break;
case 'o':
{
if (unitSims[windowID]->GetPaused())
{
unitSims[windowID]->SetPaused(false);
unitSims[windowID]->StepTime(.02);
unitSims[windowID]->SetPaused(true);
}
else
unitSims[windowID]->StepTime(1.0/30.0);
}
break;
case 'd':
{
printf("First travel:\n");
for (unsigned int x = 0; x < unitSims[windowID]->GetNumUnits(); x++)
{
statValue v;
int choice = unitSims[windowID]->GetStats()->FindNextStat("trialDistanceMoved", unitSims[windowID]->GetUnit(x)->GetName(), 0);
unitSims[windowID]->GetStats()->LookupStat(choice, v);
printf("%s\t%f\n", unitSims[windowID]->GetUnit(x)->GetName(), v.fval);
}
printf("First nodes:\n");
for (unsigned int x = 0; x < unitSims[windowID]->GetNumUnits(); x++)
{
statValue v;
int choice = unitSims[windowID]->GetStats()->FindNextStat("nodesExpanded", unitSims[windowID]->GetUnit(x)->GetName(), 0);
unitSims[windowID]->GetStats()->LookupStat(choice, v);
printf("%s\t%ld\n", unitSims[windowID]->GetUnit(x)->GetName(), v.lval);
}
printf("First Nodes/travel:\n");
for (unsigned int x = 0; x < unitSims[windowID]->GetNumUnits(); x++)
{
statValue v1;
int choice = unitSims[windowID]->GetStats()->FindNextStat("nodesExpanded", unitSims[windowID]->GetUnit(x)->GetName(), 0);
unitSims[windowID]->GetStats()->LookupStat(choice, v1);
statValue v2;
choice = unitSims[windowID]->GetStats()->FindNextStat("trialDistanceMoved", unitSims[windowID]->GetUnit(x)->GetName(), 0);
unitSims[windowID]->GetStats()->LookupStat(choice, v2);
printf("%s\t%f\n", unitSims[windowID]->GetUnit(x)->GetName(), v1.lval/v2.fval);
}
printf("Total travel:\n");
for (unsigned int x = 0; x < unitSims[windowID]->GetNumUnits(); x++)
{
printf("%s\t%f\n", unitSims[windowID]->GetUnit(x)->GetName(),
SumStatEntries(unitSims[windowID]->GetStats(),
"trialDistanceMoved",
unitSims[windowID]->GetUnit(x)->GetName()));
}
printf("Total nodes:\n");
for (unsigned int x = 0; x < unitSims[windowID]->GetNumUnits(); x++)
{
printf("%s\t%f\n", unitSims[windowID]->GetUnit(x)->GetName(),
SumStatEntries(unitSims[windowID]->GetStats(),
"nodesExpanded",
unitSims[windowID]->GetUnit(x)->GetName()));
}
printf("Nodes/travel:\n");
for (unsigned int x = 0; x < unitSims[windowID]->GetNumUnits(); x++)
{
printf("%s\t%f\n", unitSims[windowID]->GetUnit(x)->GetName(),
SumStatEntries(unitSims[windowID]->GetStats(),
"nodesExpanded",
unitSims[windowID]->GetUnit(x)->GetName())/
SumStatEntries(unitSims[windowID]->GetStats(),
"trialDistanceMoved",
unitSims[windowID]->GetUnit(x)->GetName())
);
}
}
default:
break;
}
}
void MyDisplayHandler(unsigned long windowID, tKeyboardModifier mod, char key)
{
switch (key)
{
case '\t':
if (mod != kShiftDown)
SetActivePort(windowID, (GetActivePort(windowID)+1)%GetNumPorts(windowID));
else
{
SetNumPorts(windowID, 1+(GetNumPorts(windowID)%MAXPORTS));
}
break;
case 'p': unitSims[windowID]->SetPaused(!unitSims[windowID]->GetPaused()); break;
case 'o':
{
if (ALG == 0)
{
if (vid != 6)
ALG = new Prop(vid,delta);
else
ALG = new AStarDelay();
ALG->InitializeSearch(env,grp,gFrom,gTo,gPath);
}
if(!done && ALG->DoSingleSearchStep(gPath))
{
printf("\nDone! Nodes expanded=%lld, Nodes touched=%lld, Reopenings=%lld.\n",ALG->GetNodesExpanded(),ALG->GetNodesTouched(),ALG->GetNodesReopened());
printf("Algorithm %s, solution cost=%lf, solution edges=%d.\n", ALG->GetName(),ALG->GetSolutionCost(),ALG->GetSolutionEdges());
done = true;
}
}
if (unitSims[windowID]->GetPaused())
{
unitSims[windowID]->SetPaused(false);
unitSims[windowID]->StepTime(1.0/30.0);
unitSims[windowID]->SetPaused(true);
}
break;
case 'k':
RunInconsistencyExperiment();
break;
ALG = new Prop(0);
ALG->GetPath(env,grp,gFrom,gTo,gPath);
printf("\n");
ALG = new Prop(1);
ALG->GetPath(env,grp,gFrom,gTo,gPath);
printf("\n");
ALG = new Prop(2,delta);
ALG->GetPath(env,grp,gFrom,gTo,gPath);
printf("\n");
// ALG = new Prop(3);
// ALG->GetPath(env,grp,gFrom,gTo,gPath);
// printf("\n");
// ALG = new Prop(4);
// ALG->GetPath(env,grp,gFrom,gTo,gPath);
// printf("\n");
// ALG = new Prop(5);
// ALG->GetPath(env,grp,gFrom,gTo,gPath);
// printf("\n");
ALG = new AStarDelay();
ALG->GetPath(env,grp,gFrom,gTo,gPath);
printf("Delay\t%lld\t%lld\t%lld\n",ALG->GetNodesExpanded(),ALG->GetNodesTouched(),ALG->GetNodesReopened());
// ALG = new Prop(7);
// ALG->GetPath(env,grp,gFrom,gTo,gPath);
// printf("\n");
//
// ALG = new Prop(8);
// ALG->GetPath(env,grp,gFrom,gTo,gPath);
// printf("\n");
//
// ALG = new Prop(9);
// ALG->GetPath(env,grp,gFrom,gTo,gPath);
// printf("\n");
break;
case ']': absType = (absType+1)%3; break;
case '[': absType = (absType+4)%3; break;
// case '{': unitSim->setPaused(true); unitSim->offsetDisplayTime(-0.5); break;
// case '}': unitSim->offsetDisplayTime(0.5); break;
default:
// set N to be whatever size I press
//GraphSizeN = key-'0';
//if (GraphSizeN == 0)
// GraphSizeN = 10;
break;
}
}
