mirror of
https://github.com/zenorogue/hyperrogue.git
synced 2024-08-23 18:16:39 +00:00
184 lines
4.7 KiB
C++
184 lines
4.7 KiB
C++
namespace nilrider {
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bool nospeed = false;
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int goal_id = 0;
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ld solver_unit = .25;
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void level::solve() {
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ld xunit = solver_unit, yunit = solver_unit, eunit = xunit * yunit / 2;
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struct edge {
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int id;
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int dz;
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ld zval1;
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ld length;
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};
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struct vertex {
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int id;
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int x, y;
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flagtype collected;
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ld zval;
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hyperpoint where;
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bool goal;
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map<int, pair<ld, pair<int, int> > > visited;
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vector<edge> edges;
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};
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map<tuple<int, int, flagtype>, int> xy_to_id;
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vector<vertex> vertices;
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auto getpt = [&] (int x, int y) {
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hyperpoint p = point31(start.where[0] + x * xunit, start.where[1] + y * yunit, 0);
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p[2] = surface(p);
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return p;
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};
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auto get_id = [&] (int x, int y, flagtype co) {
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if(xy_to_id.count({x, y, co}))
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return xy_to_id[{x, y, co}];
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else {
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int id = isize(vertices);
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xy_to_id[{x,y, co}] = id;
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vertices.emplace_back();
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auto& b = vertices.back();
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b.where = getpt(x, y);
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b.id = id;
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b.x = x; b.y = y;
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b.collected = co;
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return id;
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}
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};
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get_id(0, 0, 0);
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transmatrix Rstart = gpushxto0(vertices[0].where);
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for(int id=0; id<isize(vertices); id++) {
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auto& v = vertices[id];
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/* we need to copy because getpt may invalidate v */
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auto x0 = v.x;
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auto y0 = v.y;
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auto point0 = v.where;
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xy_float f0 = get_xy_f(point0);
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timestamp ts;
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ts.where = point0;
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ts.collected_triangles = v.collected;
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ts.timer = 0;
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loaded_or_planned = true;
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ts.collect(this);
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checkerparam p {&ts, this, 0};
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auto res = goals[goal_id].check(p);
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if(res == grFailed) continue;
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v.goal = res == grSuccess;
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v.zval = (Rstart * point0)[2];
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for(int dx=-2; dx<=2; dx++)
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for(int dy=-2; dy<=2; dy++) if(dx%2 || dy%2) {
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int x1 = x0 + dx;
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int y1 = y0 + dy;
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edge e;
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e.dz = (x1 + x1) * (y1 - y0);
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hyperpoint point1 = getpt(x1, y1);
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e.zval1 = (Rstart * point1)[2];
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xy_float f1 = get_xy_f(point1);
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int txmin = floor(min(f0.first, f1.first) - 1e-3);
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int txmax = floor(max(f0.first, f1.first) + 1e-3);
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int tymin = floor(min(f0.second, f1.second) - 1e-3);
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int tymax = floor(max(f0.second, f1.second) + 1e-3);
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bool bad = false;
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for(int tyi=tymin; tyi<=tymax; tyi++)
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for(int txi=txmin; txi<=txmax; txi++)
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if(among(mapchar(xy_int{txi, tyi}), '!', 'r')) bad = true;
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if(bad) continue;
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hyperpoint rpoint = gpushxto0(point1) * point0;
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rpoint[2] -= rpoint[0] * rpoint[1] / 2;
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e.length = hypot_d(3, rpoint);
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e.id = get_id(x1, y1, ts.collected_triangles);
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vertices[id].edges.push_back(e);
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}
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}
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std::priority_queue<pair<ld, pair<int, int> > > dijkstra_queue;
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auto visit = [&] (ld nt, int id, int z, int bid, int bz) {
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auto& t = vertices[id].visited[z];
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if(t.first == 0 || t.first > nt) {
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t.first = nt;
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t.second = {bid, bz};
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pair<ld, pair<int, int> > d = {-nt, {id, z}};
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dijkstra_queue.emplace(d);
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}
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};
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visit(1e-15, 0, 0, 0, 0); /* more than 0 to mark it */
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// h[0] * h[1] / 2 yields 0
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int step = 0;
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while(!dijkstra_queue.empty()) {
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auto q = dijkstra_queue.top();
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dijkstra_queue.pop();
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ld t0 = -q.first;
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int id0 = q.second.first;
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int z0 = q.second.second;
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auto& v = vertices[id0];
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if(step % 10000 == 0) println(hlog, t0, " : ", tie(id0, z0), " edges = ", isize(v.edges));
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step++;
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if(v.goal) {
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if(nospeed && z0 * eunit - v.zval > eunit) continue;
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println(hlog, "reached the goal in time ", t0);
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vector<hyperpoint> positions;
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while(id0 || z0) {
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println(hlog, "z = ", z0);
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positions.emplace_back(vertices[id0].where);
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auto& b = vertices[id0].visited[z0];
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id0 = b.second.first;
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z0 = b.second.second;
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}
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positions.emplace_back(vertices[0].where);
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reverse(positions.begin(), positions.end());
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println(hlog, positions);
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plan.clear();
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for(auto pos: positions) {
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plan.emplace_back(pos, hpxy(0, 0));
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}
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return;
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}
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for(auto& e: v.edges) {
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int z1 = z0 + e.dz;
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ld energy0 = z0 * eunit - v.zval;
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ld energy1 = z1 * eunit - e.zval1;
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if(energy0 < -1e-6) continue;
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if(energy0 < 0) energy0 = 0;
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if(energy1 < -1e-6) continue;
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if(energy1 < 0) energy1 = 0;
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ld t1 = t0 + e.length / (sqrt(energy0) + sqrt(energy1));
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visit(t1, e.id, z1, id0, z0);
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}
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// exit(1);
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}
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println(hlog, "failed to reach the goal!");
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exit(1);
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}
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}
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