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labyrinth_graph.py
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labyrinth_graph.py
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from typing import List
import numpy as np
from solid import scad_render_to_file
from collections import deque
from labyrinth_level import LabyrinthLevel
from labyrinth_cube import LabyrinthCube
class LGraphNode:
def __init__(self, location, connections):
self.location: np.ndarray = np.array(location, dtype=int)
self._connections: np.ndarray = connections
def __eq__(self, other) -> bool:
if type(other) is LGraphNode:
return np.all(self.location == other.location)
else:
raise TypeError(
f"Other has type {type(other)}, only LGraphNode is supported"
)
@property
def isValid(self):
overLowerBound = np.all(self.location >= np.zeros(3))
underUpperBound = np.all(self.location < self._connections.shape[:3])
return overLowerBound and underUpperBound
@property
def closeNodes(self) -> List["LGraphNode"]:
nodes = []
for i in range(6):
offset = np.zeros(3)
offset[i % 3] = 1 if i < 3 else -1
closeNode = LGraphNode(self.location + offset, self._connections)
if closeNode.isValid:
nodes.append(closeNode)
return nodes
@property
def linkedNeighbors(self) -> List["LGraphNode"]:
neighbors = []
for i, isNeighbor in enumerate(
self._connections[tuple(self.location.astype(int))]
):
if isNeighbor:
offset = np.zeros(3)
# connections on each level are in negative z direction
offset[i] = -1 if i == 2 else 1
neighborLocation = self.location + offset
neighbors.append(LGraphNode(neighborLocation, self._connections))
return neighbors
@property
def neighbors(self) -> List["LGraphNode"]:
neighbors = self.linkedNeighbors
for i in range(3):
offset = np.zeros(3)
# connections on each level are in negative z direction (this is reversed)
offset[i] = -1 if i == 2 else 1
neighborLocation = self.location - offset
neighbor = LGraphNode(neighborLocation, self._connections)
if neighbor.isValid and self in neighbor.linkedNeighbors:
neighbors.append(neighbor)
return neighbors
class LabyrinthGraph:
def __init__(self, cubeSize: int):
self.connections = np.zeros((cubeSize, cubeSize, cubeSize, 3), dtype=bool)
def getNode(self, location: np.ndarray):
return LGraphNode(location, self.connections)
@property
def topCornerNode(self) -> LGraphNode:
return self.getNode([0, 0, self.connections.shape[2] - 1])
@property
def bottomCornerNode(self) -> LGraphNode:
return self.getNode([*self.connections.shape[:2] - np.ones(2), 0])
def getLabyrinthCube(self, wallThickness, pathThickness, spacing):
levels = []
for k in range(self.connections.shape[2]): # z
isRoom = np.zeros(self.connections.shape[:2])
for i in range(self.connections.shape[0]): # x
for j in range(self.connections.shape[1]): # y
isRoom[i, j] = len(self.getNode(np.array([i, j, k])).neighbors) > 0
level = LabyrinthLevel(
wallThickness, pathThickness, self.connections[:, :, k, :], isRoom
)
levels.append(level)
return LabyrinthCube(levels, spacing)
def addEdge(self, node1: LGraphNode, node2: LGraphNode):
diff = node2.location - node1.location
abssum = np.sum(np.abs(diff))
if abssum == 1:
if diff[0] == 1:
self.connections[tuple([*node1.location, 0])] = True
elif diff[0] == -1:
self.connections[tuple([*node2.location, 0])] = True
elif diff[1] == 1:
self.connections[tuple([*node1.location, 1])] = True
elif diff[1] == -1:
self.connections[tuple([*node2.location, 1])] = True
elif diff[2] == 1:
self.connections[tuple([*node2.location, 2])] = True
elif diff[2] == -1:
self.connections[tuple([*node1.location, 2])] = True
return True
else:
return False
def cutList(self, list, maxLength: int):
return list[: max(len(list), maxLength)]
def keepDirection(self, list, prevNode):
pass
def prioritizeXY(self, nodes: List[LGraphNode], prevNode: LGraphNode):
def priority(node: LGraphNode):
diff = node.location - prevNode.location
if np.sum(np.abs(diff[:2])) > 0:
return 0
else:
return 1
return sorted(nodes, key=priority)
def randomShuffleList(self, nodes: List, randomState):
adjNodes = np.array(nodes)
perm = randomState.permutation(len(adjNodes))
permAdjNodes = adjNodes[perm]
return permAdjNodes
def setRandomTree(self, seed):
rs = np.random.RandomState(seed=seed)
visited = np.zeros(self.connections.shape[:3], dtype=bool)
startNode = self.topCornerNode
visited[tuple(startNode.location)] = True
stack = [startNode]
while stack:
currentNode = stack.pop()
adjNodes = currentNode.closeNodes
modifiedList = self.cutList(
self.randomShuffleList(adjNodes, rs), rs.random_sample([0, 0, 1])
)
for node in modifiedList:
if not visited[tuple(node.location)]:
self.addEdge(currentNode, node)
visited[tuple(node.location)] = True
stack.append(node)
def findPath(self, startNode: LGraphNode, goalNode: LGraphNode):
prev = np.ones((*self.connections.shape[:3], 3), dtype=int) * -10000
def retrievePath(location: np.ndarray):
path = [location]
currentLocation = location
while True:
nextLocation = prev[tuple(currentLocation)]
path.append(nextLocation)
currentLocation = nextLocation
if self.getNode(nextLocation) == startNode:
return list(reversed(path))
queue = deque()
queue.append(startNode)
prev[tuple(startNode.location)] = startNode.location
while queue:
currNode: LGraphNode = queue.popleft()
for node in currNode.neighbors:
if prev[tuple(node.location)][0] < 0:
queue.append(node)
prev[tuple(node.location)] = currNode.location
if goalNode == node:
path = retrievePath(goalNode.location)
return path
if __name__ == "__main__":
from copy import deepcopy
def testAddEdge():
print("test add edge")
lgraph = LabyrinthGraph(4)
node = lgraph.getNode([1, 1, 1])
above = lgraph.getNode([1, 1, 2])
below = lgraph.getNode([1, 1, 0])
xp = lgraph.getNode([2, 1, 1])
xn = lgraph.getNode([0, 1, 1])
yp = lgraph.getNode([1, 2, 1])
yn = lgraph.getNode([1, 0, 1])
to_test = [above, below, xp, xn, yp, yn]
for testNode in to_test:
lgraph.connections[:] = np.zeros((4, 4, 4, 3), dtype=bool)
success = lgraph.addEdge(testNode, node)
if not success:
print("failed")
if not testNode.isValid:
print("node not valid")
print(node in testNode.neighbors)
print(testNode in node.neighbors)
def testGetNeighbors():
print("test get neighbors")
lgraph = LabyrinthGraph(4)
lgraph.connections[1, 1, 1, 0] = True
lgraph.connections[1, 1, 2, 2] = True
lgraph.connections[1, 0, 1, 1] = True
print(lgraph.getNode([1, 1, 1]).neighbors)
def testCreateCube():
lgraph = LabyrinthGraph(4)
lgraph.setRandomTree(3)
lcube = lgraph.getLabyrinthCube(3, 14, 35)
path = lgraph.findPath(lgraph.topCornerNode, lgraph.bottomCornerNode)
scube = lcube.getCubeSolid()
spath = lcube.getPathSolid(path)
scad_render_to_file(scube + spath, "auto3dlab.scad")
testAddEdge()
testGetNeighbors()
testCreateCube()