int main() {
// srand(time(NULL));
Environment env;
Point *point = new Point();
ofstream pointFile("point.txt");
ofstream linkFile("link.txt");
ifstream inFile("timelist.txt");
queue<tuple<int, int, int>> data;
int id1, id2, times;
while (!inFile.eof()) {
string line;
getline(inFile, line);
sscanf_s(line.c_str(), "%d %d %d", &id1, &id2, ×);
tuple<int, int, int> tu(id1, id2, times);
data.push(tu);
}
cout << data.size() << endl;
point->id = 1;
for (int i = 0; i < 3; i++) {
point->pos[i] = 0.0;
}
env.init(point);
bool allPointAdded = false;
int step = 0;
for ( step = 0; step < 30000; step++) {
env.update();
// Sleep(100);
if (step % 1000 == 0) {
cout << "energy: " << env.getEnergy() << endl;
cout << step << ' ' << env.timePassed << ' ' << env.timeSlice << endl;
}
while (!data.empty() && get<2>(data.front()) <= env.timePassed / TIMESLICE) {
id1 = get<0>(data.front());
id2 = get<1>(data.front());
env.addPoint(id1, "", id2, "");
data.pop();
}
if (data.empty()) {
// if all points were added
break;
}
if (step % 100 == 0) {
pointFile << step / 100 << '\n';
for (Point *p : env.points) {
pointFile << p->pos[0] << '\t' << p->pos[1] << '\t' << p->pos[2] << '\t' << p->radius << '\n';
}
linkFile << step / 100 << '\n';
for (Link *l : env.links) {
linkFile << l->first->pos[0] << '\t' << l->first->pos[1] << '\t' << l->first->pos[2] << '\t';
linkFile << l->second->pos[0] << '\t' << l->second->pos[1] << '\t' << l->second->pos[2] << '\n';
}
}
}
cout << "perpare skeleton env" << endl;
// treat a group of points as one point
Environment *skeletonEnv = env.getSkeleton();
cout << "Skeleton Enviroment!!" << endl;
cout << skeletonEnv->points.size() << " points " << skeletonEnv->links.size() << " links" << endl;
for (; step < 30000; step++) {
skeletonEnv->update();
if (step % 1000 == 0) {
cout << "enerty: " << skeletonEnv->getEnergy() << endl;
cout << step << ' ' << skeletonEnv->timePassed << ' ' << skeletonEnv->timeSlice << endl;
}
if (step % 100 == 0) {
pointFile << step / 100 << '\n';
for (Point *p : skeletonEnv->points) {
pointFile << p->pos[0] << '\t' << p->pos[1] << '\t' << p->pos[2] << '\t' << p->radius << '\n';
}
linkFile << step / 100 << '\n';
for (Link *l : skeletonEnv->links) {
linkFile << l->first->pos[0] << '\t' << l->first->pos[1] << '\t' << l->first->pos[2] << '\t';
linkFile << l->second->pos[0] << '\t' << l->second->pos[1] << '\t' << l->second->pos[2] << '\n';
}
}
}
pointFile.close();
return 0;
}
void buildEnvironment()
{
/*
*----*----*--------*
| | | |
| A . | D |
| | | |
*----* C | |
| | *--- --*
| B . . |
| | . E |
*----*-------------*
*/
// Points
env.addPoint(core::Pointf(0, 0)); // 0
env.addPoint(core::Pointf(0, 10)); // 1
env.addPoint(core::Pointf(10, 10)); // 2
env.addPoint(core::Pointf(10, 0)); // 3
env.addPoint(core::Pointf(5, 0)); // 4
env.addPoint(core::Pointf(10, -10)); // 5
env.addPoint(core::Pointf(0, -10)); // 6
env.addPoint(core::Pointf(-5, -10)); // 7
env.addPoint(core::Pointf(-5, -7)); // 8
env.addPoint(core::Pointf(-10, -10)); // 9
env.addPoint(core::Pointf(-10, 0)); // 10
env.addPoint(core::Pointf(-5, 0)); // 11
env.addPoint(core::Pointf(-5, -3)); // 12
env.addPoint(core::Pointf(-5, 3)); // 13
env.addPoint(core::Pointf(-10, 10)); // 14
env.addPoint(core::Pointf(-5, 10)); // 15
env.addPoint(core::Pointf(-5, 7)); // 16
env.addPoint(core::Pointf(3, 0)); // 17
// Walls
env.addWall(Wall (14, 10, 0.0)); // 0
env.addWall(Wall (15, 14, 0.0)); // 1
env.addWall(Wall (1, 15, 0.0)); // 2
env.addWall(Wall (2, 1, 0.0)); // 3
env.addWall(Wall (3, 2, 0.0)); // 4
env.addWall(Wall (5, 3, 0.0)); // 5
env.addWall(Wall (6, 5, 0.0)); // 6
env.addWall(Wall (7, 6, 0.0)); // 7
env.addWall(Wall (9, 7, 0.0)); // 8
env.addWall(Wall (10, 9, 0.0)); // 9
env.addWall(Wall (10, 11, 0.0)); // 10
env.addWall(Wall (15, 16, 0.0)); // 11
env.addWall(Wall (13, 11, 0.0)); // 12
env.addWall(Wall (11, 12, 0.0)); // 13
env.addWall(Wall (8, 7, 0.0)); // 14
env.addWall(Wall (0, 1, 0.0)); // 15
env.addWall(Wall (17, 0, 0.0)); // 16
env.addWall(Wall (3, 4, 0.0)); // 17
env.addWall(Wall (8, 12, INFINITY)); // 18
env.addWall(Wall (0, 6, INFINITY)); // 19
env.addWall(Wall (17, 4, INFINITY)); // 20
env.addWall(Wall (16, 13, INFINITY)); // 21
// Rooms
Room rA, rB, rC, rD, rE;
rA.setIdx(0);
rB.setIdx(1);
rC.setIdx(2);
rD.setIdx(3);
rE.setIdx(4);
// Room A
rA.addWall(0, 1);
rA.addWall(1, 1);
rA.addWall(11, -1);
rA.addWall(21, -1);
rA.addWall(12, -1);
rA.addWall(10, 1);
env.addRoom(rA);
// Room B
rB.addWall(8, 1);
rB.addWall(14, -1);
rB.addWall(18, 1);
rB.addWall(13, -1);
rB.addWall(10, -1);
rB.addWall(9, 1);
env.addRoom(rB);
// Room C
rC.addWall(2, 1);
rC.addWall(11, 1);
rC.addWall(21, 1);
rC.addWall(12, 1);
rC.addWall(13, 1);
rC.addWall(18, -1);
rC.addWall(14, 1);
rC.addWall(7, 1);
rC.addWall(19, -1);
rC.addWall(15, 1);
env.addRoom(rC);
// Room D
rD.addWall(3, 1);
rD.addWall(20, 1);
rD.addWall(16, -1);
rD.addWall(15, -1);
rD.addWall(17, -1);
rD.addWall(4, 1);
env.addRoom(rD);
// Room E
rE.addWall(17, 1);
rE.addWall(20, -1);
rE.addWall(16, 1);
rE.addWall(19, 1);
rE.addWall(6, 1);
rE.addWall(5, 1);
env.addRoom(rE);
Source src(rD, core::Pointf(5, 5));
env.setSource(src);
std::vector<std::vector<Environment::GraphNode> > adj;
adj.resize(env.getRooms().size());
env.buildAdjacencyGraph(adj);
env.DFS(adj, src.getInsideRoom().getRoomIdx());
env.filterValidPaths(2);
env.getValidPaths()->getNumberOfLeaves(env.getValidPaths()->_root, numberOfPaths);
env.getValidPaths()->getDepth(env.getValidPaths()->_root, maximumDepth, 0);
std::cout << numberOfPaths << " valid paths found" << std::endl;
std::cout << "Depth: " << maximumDepth << std::endl;
}