void MapCommand::invoke(vector<string>& parameters) {
cout << "Map command." << endl;
if (parameters.size() > 0) {
TestMode* mode = dynamic_cast<TestMode*>(m_game->getMode(BlockWorld::TEST_MODE));
if (mode) {
cout << "Found mode." << endl;
MapLoader* loader = new MapLoader();
MapDirectory* map = NULL;
loader->loadDirectory("Resources/Maps");
list<MapDirectory*>& maps = loader->getMaps();
list<MapDirectory*>::iterator it = maps.begin();
for ( ; it != maps.end(); it++) {
cout << "Map: " << (*it)->getDirectoryName() << " (" << parameters[0] << ")" << endl;
if ((*it)->getDirectoryName().compare(parameters[0]) == 0) {
map = *it;
break;
}
}
if (map) {
cout << "Found map." << endl;
mode->setMap(map);
m_game->setCurrentMode(BlockWorld::TEST_MODE);
}
delete loader;
}
}
}
void MenuScene::Initialize()
{
camera = new Camera(Vector2(0, 0), Vector2(game->Render->GetWidth(), game->Render->GetHeight()));
camVelocity = Vector2(0.4, 0.7);
MapLoader* ml = new MapLoader(this->game);
Map = ml->LoadMap("maps/mainmenu.xml", this);
delete ml;
// Setup buttons
singleButton = new Button(game, game->Content->LoadTexture("gui/buttons/Green250.png"),
game->Content->LoadTexture("gui/buttons/Hover250.png"),
framework::Rectangle(game->Render->GetWidth() / 2 - 100, game->Render->GetHeight() / 2 - 100, 200, 40), this);
singleButton->LButtonDownCallback = &singlePlayerButtonDown;
multiButton = new Button(game, game->Content->LoadTexture("gui/buttons/Green250.png"),
game->Content->LoadTexture("gui/buttons/Hover250.png"),
framework::Rectangle(game->Render->GetWidth() / 2 - 100, game->Render->GetHeight() / 2 - 50, 200, 40), this);
settingsButton = new Button(game, game->Content->LoadTexture("gui/buttons/Blue250.png"),
game->Content->LoadTexture("gui/buttons/Hover250.png"),
framework::Rectangle(game->Render->GetWidth() / 2 - 100, game->Render->GetHeight() / 2, 200, 40), this);
exitButton = new Button(game, game->Content->LoadTexture("gui/buttons/Red250.png"),
game->Content->LoadTexture("gui/buttons/Hover250.png"),
framework::Rectangle(game->Render->GetWidth() / 2 - 100, game->Render->GetHeight() / 2 + 50, 200, 40), this);
exitButton->LButtonDownCallback = &exitButtonDown;
Scene::Initialize();
}
int main(int argc, char **argv)
{
QCoreApplication application(argc, argv);
QStringList arguments = application.arguments();
if(arguments.count() > 1)
{
QString baseName = arguments[1];
QString outputFilename = QStringEx::format("%1.map", baseName);
QFile outputFile(outputFilename);
if(outputFile.open(QIODevice::WriteOnly))
{
MapLoader mapLoader;
Map map = mapLoader.load(baseName);
QDataStream stream(&outputFile);
stream << map;
}
else
{
qDebug() << "Could not open output file for writing";
}
}
return 0;
}
void ECBSSearch::printPaths(const MapLoader& ml) {
for (size_t i = 0; i < paths.size(); i++) {
cout << "AGENT " << i << " Path: ";
for (auto& entry : *paths[i]) {
std::cout << entry.location << " " << entry.action << ", ";
}
cout << endl;
}
{
using namespace pt;
ptree pt;
ptree agents;
for (size_t ag = 0; ag < paths.size(); ag++) {
ptree agent;
std::stringstream sstr;
sstr << "create" << ag + 1;
agent.put("name", sstr.str());
ptree path;
size_t t = 0;
for (auto& entry : *paths[ag]) {
ptree pathentry;
pathentry.put("x", ml.col_coordinate(entry.location));
pathentry.put("y", ml.row_coordinate(entry.location));
pathentry.put("theta", theta(entry.orientation));
pathentry.put("arrival", t);
path.push_back(std::make_pair("", pathentry));
++t;
}
agent.add_child("path", path);
agents.push_back(std::make_pair("", agent));
}
pt.add_child("agents", agents);
write_json("schedule_discrete.json", pt);
}
}
void NetworkTestMode::onLoadMap(LoadMapMessage& message)
{
performStop();
MapLoader* loader = new MapLoader();
MapDirectory* map = NULL;
loader->loadDirectory("Resources/Maps");
list<MapDirectory*>& maps = loader->getMaps();
list<MapDirectory*>::iterator it = maps.begin();
for ( ; it != maps.end(); it++) {
if ((*it)->getDirectoryName().compare(message.getName()) == 0) {
map = *it;
break;
}
}
if (map) {
Engine* engine = m_game->getEngine();
ImageMapWorldCreator* worldCreator = new ImageMapWorldCreator();
m_world = worldCreator->createWorld(*engine, *map);
m_camera = new MouseScrollCamera(*m_world, *engine);
delete worldCreator;
m_objectManager = new ObjectManager();
m_gibLoader = new GibResourceLoader(*engine);
m_gibLoader->loadFile("Resources/Gibs/gibs.xml");
// If we get here the map should be successfully loaded ;)
// Therefore we send the message to the server.
MapLoadedMessage loaded(m_thisNetworkID);
m_game->getNetwork()->sendMessage(loaded);
}
delete loader;
}
// Load all maps from the resources folder
void loadMaps()
{
MapLoader loader;
int fIndex = agk::OpenToRead("maps.dat");
string line;
int counter = 0;
while(!agk::FileEOF(fIndex))
{
line = agk::ReadLine(fIndex);
loader.loadFile(line.c_str());
tracks[counter] = loader.getTrack();
counter++;
}
agk::CloseFile(fIndex);
}
int MapTileLayer::_tileRegion(const Coordinate& a, const Coordinate& b, int lod, bool async)
{
MapLoader* loader = MapViewLayer::Context.Loader;
auto ai = loader->getTileIndex(a, lod);
auto bi = loader->getTileIndex(b, lod);
Coordinate size = loader->getTileSize(lod);
cocos2d::log("Map rebuild (%d,%d) (%d,%d)", ai.first, ai.second, bi.first, bi.second);
int tilesNotYetLoaded = 0;
for(int i = ai.second; i <= bi.second; ++i) // y axis
{
for(int j = ai.first; j <= bi.first; ++j) // x axis
{
Coordinate position = Coordinate(j*size.x, i*size.y);
const MapTileInfo& tileInfo = loader->getMapTileInfo({j, i}, lod);
tilesNotYetLoaded += addTile(tileInfo, position, size, async);
}
}
return tilesNotYetLoaded;
}
void GameManager::Run()
{
std::string title("Ball Game");
DrawManager::Instance()->CreateWindow( title, 1360, 768, true, 60 );
ComponentRegistrator::Register( *ComponentFactory::Instance() );
ObjectTemplateManager::Instance()->LoadObjects( std::string("../resources/data/objects/") );
MapLoader loader;
loader.LoadMap( std::string( "../resources/data/maps/protomap/" ) );
ObjectManager::Instance()->InitAllObjects();
Camera::Instance()->SetActiveCameraID( 0 );
sf::RenderWindow* windowPtr = DrawManager::Instance()->Window();
while( windowPtr->isOpen() )
{
input->ResetKeyStates();
sf::Event event;
while( windowPtr->pollEvent( event ) )
{
if(event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Escape)
{
windowPtr->close();
}
input->PollInput( event );
}
float delta = fpsTimer->GetMilliseconds();
fpsTimer->Restart();
PhysicsManager::Instance()->Step();
Camera::Instance()->Update( delta );
ObjectManager::Instance()->UpdateObjects( delta );
DrawManager::Instance()->Render();
}
}
void MapTileLayer::tileRegion(const Coordinate& a, const Coordinate& b, int lod)
{
MapLoader* loader = MapViewLayer::Context.Loader;
auto ai = loader->getTileIndex(a, lod);
auto bi = loader->getTileIndex(b, lod);
if(ai == m_indexA && bi == m_indexB && m_lod == lod){
// don't rebuild map
return;
}
removeAllChildren();
m_indexA = ai;
m_indexB = bi;
m_lod = lod;
int tilesPending = _tileRegion(a, b, lod, true);
if(tilesPending > 0)
{
_tileRegion(a, b, lod+1, false);
}
}
void ResourcesLoader::loadGameData()
{
MapLoader mapLoader;
mapLoader.loadFromFile();
_resHolder->setData(mapLoader.getMapsData());
_resHolder->setData(mapLoader.loadSpecialMaps(), true);
EnemiesLoader enemiesLoader(_errorHandler);
enemiesLoader.loadFromFile();
_resHolder->setData(enemiesLoader.getEnemiesData());
_resHolder->setData(enemiesLoader.getSpecialEnemiesData(), true);
WeaponsLoader weaponsLoader(_errorHandler);
weaponsLoader.loadFromFile();
_resHolder->setData(weaponsLoader.getWeaponsData());
ArmoursLoader armoursLoader(_errorHandler);
armoursLoader.loadFromFile();
_resHolder->setData(armoursLoader.getArmoursData());
ConsumablesLoader consumablesLoader(_errorHandler);
consumablesLoader.loadFromFile();
_resHolder->setData(consumablesLoader.getConsumablesData());
}
void CoronaRenderer::defineMesh(mtco_MayaObject *obj)
{
MObject meshObject = obj->mobject;
MStatus stat = MStatus::kSuccess;
bool hasDisplacement = false;
Corona::Abstract::Map *displacementMap = NULL;
float displacementMin = 0.0f;
float displacementMax = 0.01f;
// I do it here for displacement mapping, maybe we should to another place
getObjectShadingGroups(obj->dagPath, obj->perFaceAssignments, obj->shadingGroups);
if( obj->shadingGroups.length() > 0)
{
MFnDependencyNode shadingGroup(obj->shadingGroups[0]);
MString sgn = shadingGroup.name();
MObject displacementObj = getConnectedInNode(obj->shadingGroups[0], "displacementShader");
MString doo = getObjectName(displacementObj);
if( (displacementObj != MObject::kNullObj) && (displacementObj.hasFn(MFn::kDisplacementShader)))
{
MObject displacementMapObj = getConnectedInNode(displacementObj, "displacement");
if( (displacementMapObj != MObject::kNullObj) && (displacementMapObj.hasFn(MFn::kFileTexture)))
{
MFnDependencyNode displacmentMapNode(displacementObj);
getFloat("mtco_displacementMin", displacmentMapNode, displacementMin);
getFloat("mtco_displacementMax", displacmentMapNode, displacementMax);
MString fileTexturePath = getConnectedFileTexturePath(MString("displacement"), displacmentMapNode);
if( fileTexturePath != "")
{
MapLoader loader;
displacementMap = loader.loadBitmap(fileTexturePath.asChar());
hasDisplacement = true;
}
}
}
}
MFnMesh meshFn(meshObject, &stat);
CHECK_MSTATUS(stat);
MItMeshPolygon faceIt(meshObject, &stat);
CHECK_MSTATUS(stat);
MPointArray points;
meshFn.getPoints(points);
MFloatVectorArray normals;
meshFn.getNormals( normals, MSpace::kWorld );
MFloatArray uArray, vArray;
meshFn.getUVs(uArray, vArray);
//logger.debug(MString("Translating mesh object ") + meshFn.name().asChar());
MString meshFullName = makeGoodString(meshFn.fullPathName());
Corona::TriangleData td;
Corona::IGeometryGroup* geom = NULL;
geom = this->context.scene->addGeomGroup();
obj->geom = geom;
for( uint vtxId = 0; vtxId < points.length(); vtxId++)
{
geom->getVertices().push(Corona::Pos(points[vtxId].x,points[vtxId].y,points[vtxId].z));
}
for( uint nId = 0; nId < normals.length(); nId++)
{
geom->getNormals().push(Corona::Dir(normals[nId].x,normals[nId].y,normals[nId].z));
}
for( uint tId = 0; tId < uArray.length(); tId++)
{
geom->getMapCoords().push(Corona::Pos(uArray[tId],vArray[tId],0.0f));
geom->getMapCoordIndices().push(geom->getMapCoordIndices().size());
}
MPointArray triPoints;
MIntArray triVtxIds;
MIntArray faceVtxIds;
MIntArray faceNormalIds;
for(faceIt.reset(); !faceIt.isDone(); faceIt.next())
{
int faceId = faceIt.index();
int numTris;
faceIt.numTriangles(numTris);
faceIt.getVertices(faceVtxIds);
MIntArray faceUVIndices;
faceNormalIds.clear();
for( uint vtxId = 0; vtxId < faceVtxIds.length(); vtxId++)
{
faceNormalIds.append(faceIt.normalIndex(vtxId));
int uvIndex;
faceIt.getUVIndex(vtxId, uvIndex);
faceUVIndices.append(uvIndex);
}
for( int triId = 0; triId < numTris; triId++)
{
int faceRelIds[3];
faceIt.getTriangle(triId, triPoints, triVtxIds);
for( uint triVtxId = 0; triVtxId < 3; triVtxId++)
{
for(uint faceVtxId = 0; faceVtxId < faceVtxIds.length(); faceVtxId++)
{
if( faceVtxIds[faceVtxId] == triVtxIds[triVtxId])
{
faceRelIds[triVtxId] = faceVtxId;
}
}
}
uint vtxId0 = faceVtxIds[faceRelIds[0]];
uint vtxId1 = faceVtxIds[faceRelIds[1]];
uint vtxId2 = faceVtxIds[faceRelIds[2]];
uint normalId0 = faceNormalIds[faceRelIds[0]];
uint normalId1 = faceNormalIds[faceRelIds[1]];
uint normalId2 = faceNormalIds[faceRelIds[2]];
uint uvId0 = faceUVIndices[faceRelIds[0]];
uint uvId1 = faceUVIndices[faceRelIds[1]];
uint uvId2 = faceUVIndices[faceRelIds[2]];
if( hasDisplacement )
{
Corona::DisplacedTriangleData tri;
tri.displacement.map = displacementMap;
MPoint p0 = points[vtxId0];
MPoint p1 = points[vtxId1];
MPoint p2 = points[vtxId2];
tri.v[0] = Corona::AnimatedPos(Corona::Pos(p0.x, p0.y, p0.z));
tri.v[1] = Corona::AnimatedPos(Corona::Pos(p1.x, p1.y, p1.z));
tri.v[2] = Corona::AnimatedPos(Corona::Pos(p2.x, p2.y, p2.z));
MVector n0 = normals[normalId0];
MVector n1 = normals[normalId1];
MVector n2 = normals[normalId2];
Corona::Dir dir0(n0.x, n0.y, n0.z);
Corona::Dir dir1(n1.x, n1.y, n1.z);
Corona::Dir dir2(n2.x, n2.y, n2.z);
tri.n[0] = Corona::AnimatedDir(dir0);
tri.n[1] = Corona::AnimatedDir(dir1);
tri.n[2] = Corona::AnimatedDir(dir2);
Corona::Pos uv0(uArray[uvId0],vArray[uvId0],0.0);
Corona::Pos uv1(uArray[uvId1],vArray[uvId1],0.0);
Corona::Pos uv2(uArray[uvId2],vArray[uvId2],0.0);
Corona::StaticArray<Corona::Pos, 3> uvp;
uvp[0] = uv0;
uvp[1] = uv1;
uvp[2] = uv2;
tri.t.push(uvp);
tri.materialId = 0;
tri.displacement.min = displacementMin;
tri.displacement.max = displacementMax;
geom->addPrimitive(tri);
}else{
Corona::TriangleData tri;
tri.v = Corona::AnimatedPosI3(vtxId0, vtxId1, vtxId2);
tri.n = Corona::AnimatedDirI3(normalId0, normalId1, normalId2);
tri.t[0] = uvId0;
tri.t[1] = uvId1;
tri.t[2] = uvId2;
tri.materialId = 0;
geom->addPrimitive(tri);
}
}
}
}
CBSSearch::CBSSearch(MapLoader& ml, const AgentsLoader& al, const EgraphReader& egr, double e_w, bool tweak_g_val) {
cols = ml.cols;
num_expanded = 0;
num_of_types = al.num_of_types;
nums_of_agents = al.nums_of_agents;
map_size = ml.rows*ml.cols;
solution_found = false;
solution_cost = -1;
current_makespan = 0;
max_makespan = 1.5 * (ml.rows + ml.cols);
start_locations = vector<vector<int>>(num_of_types);
goal_locations = vector<vector<int>>(num_of_types);
search_engines = vector < SingleTypeSearch* >(num_of_types);
for (int t = 0; t < num_of_types; t++) {
vector<int> init_locs_list(nums_of_agents[t]);
vector<int> goal_locs_list(nums_of_agents[t]);
for (int i = 0; i < nums_of_agents[t]; i++) {
int init_loc = ml.linearize_coordinate(al.initial_locations[t][i].first, al.initial_locations[t][i].second);
int goal_loc = ml.linearize_coordinate(al.goal_locations[t][i].first, al.goal_locations[t][i].second);
init_locs_list[i] = init_loc;
goal_locs_list[i] = goal_loc;
}
start_locations[t] = init_locs_list;
goal_locations[t] = goal_locs_list;
//determine starting makespan
for (int i = 0; i < nums_of_agents[t]; i++) {
int min_distance_to_a_goal = map_size;
//vector<int> distances = ml.getDistancesToAllLocations(init_locs_list[i]);
//ComputeHeuristic ch(goal_locs_list[i], ml.get_map(), ml.rows*ml.cols, ml.actions_offset, e_w, &egr);
for (int j = 0; j < nums_of_agents[t]; j++) {
//int manhattan_distance = distances[goal_locs_list[j]];
int manhattan_distance = abs(ml.row_coordinate(init_locs_list[i]) - ml.row_coordinate(goal_locs_list[j])) + abs(ml.col_coordinate(init_locs_list[i]) - ml.col_coordinate(goal_locs_list[j]));
min_distance_to_a_goal = (manhattan_distance < min_distance_to_a_goal) ? manhattan_distance : min_distance_to_a_goal;
}
current_makespan = (current_makespan < min_distance_to_a_goal) ? min_distance_to_a_goal : current_makespan;
}
}
// initialize paths_found_initially (contain all individual optimal policies)
paths_found_initially.resize(num_of_types);
bool all_agents_found_path = true;
std::clock_t start;
start = std::clock();
for (int t = 0; t < num_of_types; t++) {
paths = paths_found_initially;
search_engines[t] = new SingleTypeSearch(t, start_locations[t], goal_locations[t],
NULL,
ml.get_map(), ml.rows, ml.cols, ml.actions_offset,
&egr,
e_w,
tweak_g_val);
for (this->current_makespan; this->current_makespan <= max_makespan; this->current_makespan++) {
if (search_engines[t]->findPath(paths, current_makespan) == true) {
paths_found_initially[t] = new vector<vector<int> >(*search_engines[t]->getPath());
break;
}
}
if (current_makespan == max_makespan) {
all_agents_found_path = false;
}
}
pre_time = (std::clock() - start);
if (all_agents_found_path == false) {
cout << "NO SOLUTION EXISTS";
}
paths = paths_found_initially;
dummy_start = new CBSNode();
dummy_start->type_id = -1;
dummy_start->g_val = current_makespan;//compute_g_val(num_of_types);
dummy_start->open_handle = heap.push(dummy_start);
current_makespan = dummy_start->g_val;
}
void InGameState::restart()
{
if (m_io)
{
m_victoryTime = 0;
m_defeatTime = 0;
m_toneOutTimer = 0;
m_io->clearSpriteInfos();
for (unsigned int i = 0; i < m_gameObjects.size(); i++)
{
if( m_gameObjects[i] != NULL)
{
delete m_gameObjects[i];
m_gameObjects[i] = NULL;
}
}
m_gameObjects.clear();
m_monsters.clear();
m_bombs.clear();
if (m_tileMap)
{
delete m_tileMap;
m_tileMap = NULL;
}
if (m_gui)
{
delete m_gui;
m_gui = NULL;
}
m_tileMap = 0;
MapLoader mapParser;
int tscore = 0;
if (m_stats)
{
tscore = m_stats->getTotalScore();
delete m_stats;
}
m_stats = new GameStats(m_parent->getNewTimerInstance(), m_maps[m_currentMap].parTime, tscore);
stringstream ss;
ss << m_currentMap;
string mapString = "../Maps/" + m_maps[m_currentMap].filename;
mapParser.parseMap(mapString, m_io, m_stats, m_factory);
m_tileMap = mapParser.getTileMap();
m_gameObjects = mapParser.getGameObjects();
m_avatar = mapParser.getAvatar();
m_monsters = mapParser.getMonsters();
m_traps = mapParser.getTraps();
m_gui = mapParser.getGUI();
m_paused = false;
if (m_avatar)
m_startTile = m_avatar->getCurrentTile();
m_io->fadeSceneToBlack(1.0f);
}
m_parent->stopMainTimer();
m_parent->startMainTimer();
//Ugly - Should be corrected. Leave for now
if (m_backgroundMusic)
{
m_backgroundMusic->deleted = true;
}
m_backgroundMusic = new SoundInfo();
m_backgroundMusic->id = "../Sounds/Music/" + m_maps[m_currentMap].backgroundMusic;
m_backgroundMusic->play = true;
m_backgroundMusic->volume = 0;
m_io->addSong(m_backgroundMusic);
//Add sound effects
if (m_clock)
{
m_clock->deleted = true;
}
m_clock = m_factory->CreateSoundInfo("../Sounds/bell.wav", 100);
if (m_defeat)
{
m_defeat->deleted = true;
}
m_defeat = m_factory->CreateSoundInfo("../Sounds/failure.wav", 100);
if (m_victory)
{
m_victory->deleted = true;
}
m_victory = m_factory->CreateSoundInfo("../Sounds/victory.wav", 100);
//ANTON FIX!
//Makes sure the game starts at time 0
m_stats->getGameTimer()->stop();
m_stats->getGameTimer()->start();
}
void OgitorWorld::Load(const MapLoader &loader, const Register::Table &worldEntityDef)
{
const auto &hive = loader.GetStaticEntitiesHive();
for(auto it : hive)
{
Register::Table *dict = static_cast<Register::Table *>(it.second);
try
{
const String_t &name = dict->GetString("name");
const String_t &type = dict->GetString("typename");
if(this->LoadGlobalObject(type, *dict))
continue;
//make sure this is not duplicated
StaticObjectsMap_t::iterator objIt = m_mapStaticObjects.lower_bound(name);
if((objIt != m_mapStaticObjects.end()) && !(m_mapStaticObjects.key_comp()(name, objIt->first)))
{
LogMakeStream() << "[OgitorWorld::Load] Static object " << name << " is duplicated\n";
continue;
}
StaticObject_s object;
if(!this->LoadStaticObject(object, name, type, *dict))
continue;
m_mapStaticObjects.insert(objIt, std::make_pair(name, object));
}
catch(Exception &ex)
{
LogMakeStream() << "[OgitorWorld::Load] Exception loading static object: " << ex.what();
}
}
//time to fix parents
for(StaticObjectsMap_t::value_type &pair : m_mapStaticObjects)
{
StaticObject_s &object = pair.second;
if(StringIsBlank(object.strParent) || (object.strParent.compare("SceneManager") == 0))
continue;
StaticObjectsMap_t::iterator it = m_mapStaticObjects.find(object.strParent);
if(it == m_mapStaticObjects.end())
{
LogMakeStream() << "[OgitorWorld::Load] Static object " << pair.first << " without parent " << object.strParent << "\n";
continue;
}
if(object.m_pclSceneNode->getParent())
object.m_pclSceneNode->getParent()->removeChild(object.m_pclSceneNode);
it->second.m_pclSceneNode->addChild(object.m_pclSceneNode);
}
//configure physics
Physics::Manager &physicsManager = Physics::Manager::GetInstance();
Physics::CollisionTag staticCollisionTag = Physics::Settings::CreateStaticWorldCollisionTag();
for(auto &pair : m_mapStaticObjects)
{
StaticObject_s &object = pair.second;
if(object.m_pclEntity == NULL)
continue;
//Why using those _ functions: http://89.151.96.106/forums/viewtopic.php?f=22&t=62386
//http://www.ogre3d.org/forums/viewtopic.php?p=221113
//http://www.ogre3d.org/tikiwiki/-SceneNode
Engine::Math::Transform transform(
object.m_pclSceneNode->_getDerivedPosition(),
object.m_pclSceneNode->_getDerivedOrientation()
);
BaseOgreWorld::CreateStaticObjectRigidBody(object, transform, object.m_pclSceneNode->_getDerivedScale(), staticCollisionTag);
}
if(m_pclTerrainGroupTable != NULL)
{
this->LoadTerrainGroup(*m_pclTerrainGroupTable);
m_pclTerrainGroupTable = NULL;
}
if(m_pclTerrainPageTable != NULL)
{
this->LoadTerrainPage(*m_pclTerrainPageTable, worldEntityDef);
m_pclTerrainPageTable = NULL;
}
}
void Scene::load(bool loadGameObjects)
{
CoreSubsystem::getSingleton().getWorld()->clearScene();
MapLoader* loader = new MapLoader();
loader->loadScene(mMaps, loadGameObjects);
}
ECBSSearch::ECBSSearch(const MapLoader& ml, const AgentsLoader& al, const EgraphReader& egr, double e_w, double f_w, bool tweak_g_val) {
focal_w = f_w;
HL_num_expanded = 0;
HL_num_generated = 0;
LL_num_expanded = 0;
LL_num_generated = 0;
num_of_agents = al.num_of_agents;
map_size = ml.rows*ml.cols;
solution_found = false;
solution_cost = -1;
ll_min_f_vals = vector <double> (num_of_agents);
paths_costs = vector <double> (num_of_agents);
ll_min_f_vals_found_initially = vector <double> (num_of_agents);
paths_costs_found_initially = vector <double> (num_of_agents);
search_engines = vector < SingleAgentECBS* > (num_of_agents);
for (int i = 0; i < num_of_agents; i++) {
int init_loc = ml.linearize_coordinate((al.initial_locations[i]).first, (al.initial_locations[i]).second);
int goal_loc = ml.linearize_coordinate((al.goal_locations[i]).first, (al.goal_locations[i]).second);
ComputeHeuristic ch(goal_loc, ml.get_map(), ml.rows*ml.cols, ml.moves_offset, ml.actions_offset, e_w, &egr);
search_engines[i] = new SingleAgentECBS(init_loc, goal_loc, MapLoader::orientation_t::FACE_EAST,
ch.getHVals(),
ml.get_map(), ml.rows*ml.cols,
ml.moves_offset, ml.actions_offset,
&egr,
e_w,
tweak_g_val);
}
// initialize allNodes_table (hash table)
empty_node = new ECBSNode();
empty_node->time_generated = -2; empty_node->agent_id = -2;
deleted_node = new ECBSNode();
deleted_node->time_generated = -3; deleted_node->agent_id = -3;
allNodes_table.set_empty_key(empty_node);
allNodes_table.set_deleted_key(deleted_node);
// initialize all initial paths to NULL
paths_found_initially.resize(num_of_agents);
for (int ag=0; ag < num_of_agents; ag++)
paths_found_initially[ag] = NULL;
// initialize paths_found_initially
for (int i = 0; i < num_of_agents; i++) {
// cout << "Computing initial path for agent " << i << endl; fflush(stdout);
paths = paths_found_initially;
size_t max_plan_len = getPathsMaxLength();
bool* res_table = new bool[map_size * max_plan_len](); // initialized to false
updateReservationTable(res_table, max_plan_len, i);
// cout << "*** CALCULATING INIT PATH FOR AGENT " << i << ". Reservation Table[MAP_SIZE x MAX_PLAN_LEN]: " << endl;
// printResTable(res_table, max_plan_len);
if ( search_engines[i]->findPath ( f_w, NULL, res_table, max_plan_len ) == false)
cout << "NO SOLUTION EXISTS";
paths_found_initially[i] = new vector<pathEntry> (*(search_engines[i]->getPath()));
ll_min_f_vals_found_initially[i] = search_engines[i]->min_f_val;
paths_costs_found_initially[i] = search_engines[i]->path_cost;
LL_num_expanded += search_engines[i]->num_expanded;
LL_num_generated += search_engines[i]->num_generated;
delete[] res_table;
// cout << endl;
}
paths = paths_found_initially;
ll_min_f_vals = ll_min_f_vals_found_initially;
paths_costs = paths_costs_found_initially;
// generate dummy start and update data structures
dummy_start = new ECBSNode();
dummy_start->agent_id = -1;
dummy_start->g_val = 0;
for (int i = 0; i < num_of_agents; i++)
dummy_start->g_val += paths_costs[i];
dummy_start->ll_min_f_val = 0;
dummy_start->sum_min_f_vals = compute_hl_lower_bound();
dummy_start->open_handle = open_list.push(dummy_start);
dummy_start->focal_handle = focal_list.push(dummy_start);
HL_num_generated++;
dummy_start->time_generated = HL_num_generated;
allNodes_table[dummy_start] = dummy_start;
min_sum_f_vals = dummy_start->sum_min_f_vals;
focal_list_threshold = focal_w * dummy_start->sum_min_f_vals;
// cout << "Paths in START (high-level) node:" << endl;
// printPaths();
// cout << "SUM-MIN-F-VALS: " << dummy_start->sum_min_f_vals << endl;
}
int main()
{
init();
map = mapLoader.FileMapper();
int x = mapLoader.GetX();
int y = mapLoader.GetY();
char** mapArr = mapLoader.GetMap(map, x, y);
char** safetyCopy = mapLoader.GetMap(map, x, y);
ostringstream os;
Image title = Image("title.txt");
renderEngine.Render(title);
getch();
system("cls");
mapArr[playerX][playerY] = '0';
renderEngine.DrawMap(mapArr, x, y);
while(true) {
mapArr[playerX][playerY] = safetyCopy[playerX][playerY];
switch(getch()) {
case 'w':
if(playerCanMove('w', safetyCopy[playerX][playerY-1])) {
playerY--;
}
break;
case 's':
if(playerCanMove('s', safetyCopy[playerX][playerY+1])) {
playerY++;
}
break;
case 'a':
if(playerCanMove('a', safetyCopy[playerX-1][playerY])) {
playerX--;
}
break;
case 'd':
if(playerCanMove('d', safetyCopy[playerX+1][playerY])) {
playerX++;
}
break;
case '0':
return EXIT_SUCCESS;
break;
default:
break;
}
switch(command.Interact(safetyCopy[playerX][playerY])) {
case 'a':
pos++;
os.str("");
os << "next" << pos << ".txt";
mapLoader.SetPath(os.str());
renderEngine.SetEnvironment("fields");
map = mapLoader.FileMapper();
x = mapLoader.GetX();
y = mapLoader.GetY();
playerX = 20;
playerY = 2;
mapArr = mapLoader.GetMap(map, x, y);
safetyCopy = mapLoader.GetMap(map, x, y);
break;
case 'p':
pos--;
os.str("");
os << "next" << pos << ".txt";
mapLoader.SetPath(os.str());
renderEngine.SetEnvironment("house");
map = mapLoader.FileMapper();
x = mapLoader.GetX();
y = mapLoader.GetY();
playerX = 8;
playerY = 12;
mapArr = mapLoader.GetMap(map, x, y);
safetyCopy = mapLoader.GetMap(map, x, y);
break;
case 'n':
break;
}
system("cls");
mapArr[playerX][playerY] = '0';
renderEngine.DrawMap(mapArr, x, y);
}
return EXIT_SUCCESS;
}