bool PathFindingApp::update(yam2d::ESContext* ctx, float deltaTime)
{
if (!m_appRunning)
return false;
if (deltaTime > 0.1f)
deltaTime = 0.1f;
#if defined(_WIN32)
if( isKeyReleased(yam2d::KEY_SPACE) )
{
quit();
}
// Restart search if r pressed
if (isKeyReleased(yam2d::KEY_R))
{
m_textureStartCase = 0;
m_texturePathFound = 0;
}
#endif
if (m_textureStartCase == 0)
{
// Delete old and load new
m_texturePathFound = 0;
const char* const inFileName = "input.png";
char buf[100];
sprintf_s(buf, "Start finding path from input image: \"%s\"", inFileName);
yam2d::esLogMessage(buf);
m_text->setText(buf);
m_textureStartCase = new yam2d::Texture(inFileName, true);
// Copy input data to map.
m_searchTimer = 0.0f;
int width = m_textureStartCase->getWidth();
int height = m_textureStartCase->getHeight();
int bpp = m_textureStartCase->getBytesPerPixel();
yam2d::Ref<yam2d::StreamTexture> newTexture = new yam2d::StreamTexture();
newTexture->setData(m_textureStartCase->getData(), width, height, bpp);
m_texturePathFound = newTexture;
m_searchCompleted = false;
}
if (!m_searchCompleted)
{
// Find start and end
int startX, startY, endX, endY;
startX = startY = endX = endY = -1;
for (int y = 0; y < m_textureStartCase->getHeight(); ++y)
{
for (int x = 0; x < m_textureStartCase->getWidth(); ++x)
{
unsigned char* p = m_textureStartCase->getPixel(x, y);
if (isRed(p))
{
// Red pixel
startX = x;
startY = y;
}
else if (isGreen(p))
{
// Green pixel
}
else if (isBlue(p))
{
// Blue pixel
endX = x;
endY = y;
}
}
}
// Update path find!! Set m_searchCompleted to true, when path found, so the texture data is updated.
if (startX >= 0 && startY >= 0 && endX >= 0 && endY >= 0)
{
yam2d::ElapsedTimer timer;
timer.reset();
m_searchCompleted = doPathfinding(startX, startY, endX, endY);
m_searchTimer += timer.getTime();
// Update new data to the GPU
m_texturePathFound->updateData();
}
else
{
assert(0);
}
if (m_searchCompleted)
{
char buf[100];
sprintf_s(buf, "Path find done. Time spent %.3f seconds", m_searchTimer);
yam2d::esLogMessage("%s\n",buf);
m_text->setText(buf);
}
} // if (!m_searchCompleted)
// Clear sprite before add new dynamic sprites.
m_batch->clear();
// Add sprites.
m_batch->addSprite(m_textureStartCase, m_spriteStartCase, yam2d::vec2(-256.0f - 20.0f, 0.0f), 0.0f, yam2d::vec2(512.0f, 512.0f));
m_batch->addSprite(m_texturePathFound, m_spritePathFound, yam2d::vec2(256.0f + 20.0f, 0.0f), 0.0f, yam2d::vec2(512.0f, 512.0f));
// Add text to position -400,300
m_batch->addText(m_fontTexture, m_text, yam2d::vec2(0, ((float)ctx->height) / 2.0f - 20.0f), 0.0f);
return true;
}
int main(int argc, char* argv[])
{
Map map;
Car cars[3] = {NULL, NULL, NULL};
int x, y, i, rounds = 0, needPathfinding = 0, firstLoop = 1;
List path;
Position position;
Vector acc;
int fuel;
srand(time(NULL));
freopen("pshr4log.txt", "w+", stderr);
// freopen("map.txt", "r", stdin);
LOGINFO("Starting");
initGC();
map = Map_load(stdin);
LOGINFO("Map loaded");
while(!feof(stdin))
{
LOGINFO1I("===== Round number %d =====", rounds);
for(i = 0; i < 3; i++)
{
fscanf(stdin, "%d %d", &x, &y);
LOGINFO3I("Car number %i, position : %d %d", i, x, y);
if(cars[i] == NULL)
cars[i] = Car_new(x, y);
else
Car_updatePosition(cars[i], x, y);
if(Car_updateArrivedStatus(cars[i], map))
{
recomputeDistances(map, cars);
LOGINFO("I see you've arrived, let me see where I can park now...");
needPathfinding = 1;
}
}
if(firstLoop)
{
firstLoop = 0;
path = doPathfinding(map, cars);
List_tail(path);
List_prev(path);
}
position = List_getCurrent(path);
for(i = 1; i < 3; i++)
{
if(Position_equal(position, Car_getPosition(cars[i])))
{
needPathfinding = 1;
LOGINFO("YOU TOOK MY SPOT JERK");
}
}
if(needPathfinding)
{
freePath(path);
path = doPathfinding(map, cars);
List_tail(path);
List_prev(path);
needPathfinding = 0;
position = List_getCurrent(path);
}
if(position == NULL)
{
goRandom();
}
else
{
LOGINFO2I("Going to %d %d", position->x, position->y);
acc = Car_getAccelerationToReach(cars[0], position);
go(acc->x, acc->y);
if(Vector_squaredLength(acc) > 2)
{
Car_useBoost(cars[0]);
LOGINFO("Using a boost");
}
Vector_delete(acc);
}
List_prev(path);
rounds++;
}
LOGINFO("End");
freePath(path);
for(i = 0; i < 3; i++)
{
Car_delete(cars[i]);
}
Map_delete(map);
freeGC();
return 0;
}
