void PathFinder::solveConflicts(GoalTypes goalType, std::map<KeyType, Agent*>& agents)
{
Agent* pFirstAgent = NULL;
Agent* pCollidingAgent = NULL;
std::map<FixedCoordinate, KeyType, FixedCoordinateCompare>::iterator keyIt;
std::map<KeyType, Agent*>::iterator agentIt;
switch (goalType) {
case GoalType_Goal:
while (!mCollidingAgents.empty())
{
pCollidingAgent = mCollidingAgents.getFirst();
//pFirstAgent = agents[mAgentGoalPositions[pCollidingAgent->getPotentialInformation().getBestGoalPosition()]];
keyIt = mAgentGoalPositions.find(pCollidingAgent->getPotentialInformation().getBestGoalPosition());
assert(keyIt != mAgentGoalPositions.end());
agentIt = agents.find(keyIt->second);
assert(agentIt != agents.end());
pFirstAgent = agentIt->second;
solveGoalConflict(pFirstAgent, pCollidingAgent);
mCollidingAgents.removeFirst();
}
break;
case GoalType_NextGoal:
while (!mCollidingAgents.empty())
{
pCollidingAgent = mCollidingAgents.getFirst();
//pFirstAgent = agents[mAgentNextGoalPositions[pCollidingAgent->getPotentialInformation().getBestNextGoalPosition()]];
keyIt = mAgentNextGoalPositions.find(pCollidingAgent->getPotentialInformation().getBestNextGoalPosition());
assert(keyIt != mAgentNextGoalPositions.end());
agentIt = agents.find(keyIt->second);
assert(agentIt != agents.end());
pFirstAgent = agentIt->second;
solveNextGoalConflict(pFirstAgent, pCollidingAgent);
mCollidingAgents.removeFirst();
}
break;
}
}
void PathFinder::printMap()
{
KeyType agentMap[MAP_WIDTH][MAP_HEIGHT];
KeyType enemyMap[MAP_WIDTH][MAP_HEIGHT];
for (int i = 0; i < MAP_WIDTH; i++)
{
for (int j = 0; j < MAP_HEIGHT; j++)
{
agentMap[i][j] = INVALID_KEY;
}
}
for (int i = 0; i < MAP_WIDTH; i++)
{
for (int j = 0; j < MAP_HEIGHT; j++)
{
enemyMap[i][j] = INVALID_KEY;
}
}
// Iterate through all the agents and put the key in the local map
std::map<KeyType, Agent*>* agents = mpAgentHandler->checkOutAllAgents();
std::map<KeyType, Agent*>::iterator agentIt;
for (agentIt = agents->begin(); agentIt != agents->end(); ++agentIt)
{
Coordinate position = agentIt->second->getPosition();
agentMap[static_cast<int>(position.x+0.5f)][static_cast<int>(position.y+0.5f)] = agentIt->first;
}
mpAgentHandler->checkInAllAgents();
// Iterate through all the enemies
std::map<KeyType, Enemy*>* enemies = mpEnemyHandler->checkOutAllEnemies();
std::map<KeyType, Enemy*>::iterator enemyIt;
for (enemyIt = enemies->begin(); enemyIt != enemies->end(); ++enemyIt)
{
FixedCoordinate position = enemyIt->second->getPosition();
enemyMap[position.x][position.y] = enemyIt->first;
}
mpEnemyHandler->checkInAllEnemies();
// Print the map
std::list<std::wostream*>::iterator it;
for (it = mpOutStreams->begin(); it != mpOutStreams->end(); ++it)
{
printLine(**it, true);
std::wstring text;
std::wstringstream ss;
std::wostream& out = **it;
for (int height = 0; height < MAP_HEIGHT; height++)
{
// Print the id
for (int width = 0; width < MAP_WIDTH; width++)
{
ss.clear();
text = L"";
// Check the agent and enemy map
if (agentMap[width][height] != INVALID_KEY)
{
ss << agentMap[width][height];
}
else if (enemyMap[width][height] != INVALID_KEY)
{
ss << enemyMap[width][height];
}
ss >> text;
out << L"|" << std::setw(5) << text;
}
out << L"|" << std::endl;
// Print additional information
for (int width = 0; width < MAP_WIDTH; width++)
{
// Check the agent and enemy map
if (agentMap[width][height] != INVALID_KEY)
{
// get the goal position
Agent* pAgent = mpAgentHandler->checkOutAgent(agentMap[width][height]);
FixedCoordinate goal = pAgent->getPotentialInformation().getBestGoalPosition();
FixedCoordinate nextGoal = pAgent->getPotentialInformation().getBestNextGoalPosition();
mpAgentHandler->checkInAgent(agentMap[width][height]);
// current position
FixedCoordinate curPos;
curPos.x = width;
curPos.y = height;
text = getArrow(curPos, goal);
text += L" ";
text += getArrow(goal, nextGoal);
}
else if (enemyMap[width][height] != INVALID_KEY)
{
text = L"XXXXX";
}
else
{
text = L"";
}
out << L"|" << std::setw(5) << text;
}
out << L"|" << std::endl;
out.setf(std::ios::fixed, std::ios::floatfield);
out.precision(2);
// Print the potential info
for (int width = 0; width < MAP_WIDTH; width++)
{
out << L"|" << std::setw(5) << mEnemyPotentialMap[width][height] << text;
}
out << L"|" << std::endl;
if (height < MAP_HEIGHT - 1)
{
printLine(**it);
}
}
printLine(**it, false, true);
out << "\n\n";
}
}