public void UpdateVertex(int x, int y, int nx, int ny)
{
worldNode current = worldNodes[x, y];
worldNode next = worldNodes[nx, ny];
float css = cost(x, y, nx, ny);
if (css == 0)
{
closedList.Add(next);
return;
}
if (current.g + css < next.g)
{
next.g = current.g + css;
next.h = computeHeuristic(nx, ny);
next.f = next.g + next.h;
next.parent = current;
if (fringe.Contains(next))
{
fringe.UpdatePriority(next, next.f);
}
else
{
fringe.Enqueue(next, next.f); // f- c*g where c = 200
}
//next.g + h - 200*next.g
}
}
public float keyMe(worldNode s)
{
if (s != null)
{
return(s.g + weight * computeHeuristic(s.x, s.y));
}
return(30000);
}
public float minkey()
{
if (fringe.Any())
{
worldNode a = fringe.Dequeue();
fringe.Enqueue(a, a.f);
return(a.f);
}
return(30000);
}
private static void snapshot(Naiive searchLocal, string filename, int w, int p, int a, int h, float w1, float w2)
{
StringBuilder buffer = new StringBuilder();
worldNode aaa = searchLocal.end;
float path = searchLocal.end.g;
//World number, s/e pair index, algo index, heuristic index, weight, weight2, pathlength, nodesexpanded, runtime, Memory,
buffer.Append($"{w},{p},{a},{h},{w1},{w2},{path},{searchLocal.expanded},{searchLocal.sw.ElapsedMilliseconds},{GC.GetTotalMemory(false)}");
using (System.IO.StreamWriter file = new System.IO.StreamWriter(filename, true))
{//Append to existing files
file.WriteLine(buffer.ToString());
}
}
private void chunkClick(object sender, RoutedEventArgs e)
{
Button clicked = (Button)sender;
int[] coordinates = (int[])clicked.Content;
if (search.worldNodes[coordinates[0], coordinates[1]] != null)
{
worldNode chunky = search.worldNodes[coordinates[0], coordinates[1]];
if (chunky != null)
{
mvm.f = chunky.f;
mvm.g = chunky.g;
mvm.h = chunky.h;
}
}
}
public void setup()
{
worldNodes = new worldNode[120, 160];
sw = Stopwatch.StartNew();
fringe = new SimplePriorityQueue <worldNode, float>();
closedList = new List <worldNode>();
worldNode currentNode = new worldNode(startx, starty);
worldNodes[startx, starty] = currentNode;
end = new worldNode(endx, endy);
worldNodes[endx, endy] = end;
currentNode.g = 0;
float h = computeHeuristic(startx, starty); //Place heuristic in here.
currentNode.f = weight * h;
fringe.Enqueue(currentNode, currentNode.f);//currentNode.g + h - 200*currentNode.g
expanded = 0;
}
public void expandNode(worldNode currentNode)
{
expanded++;
int cx = currentNode.x;
int cy = currentNode.y;
worldNode nextNode;
int nx, ny;
closedList.Add(currentNode);
for (int i = -1; i < 2; i++)
{
for (int j = -1; j < 2; j++)
{
nx = cx + i;
ny = cy + j;
if (nx < 0 || nx > 119 || ny < 0 || ny > 159)
{
continue;
}
if (worldNodes[nx, ny] == null)
{
//Was never generated.
nextNode = new worldNode(nx, ny);
worldNodes[nx, ny] = nextNode;
UpdateVertex(cx, cy, nx, ny);
}
else
{
nextNode = worldNodes[nx, ny];
if (!closedList.Contains(worldNodes[nx, ny]))
{
/*if (!fringe.Contains(worldNodes[nx, ny]))
* {
* UpdateVertex(cx, cy, nx, ny, heuristic, algo, weight, endx, endy);
* }*/
UpdateVertex(cx, cy, nx, ny);
}
}
}
}
}
private void expandState(worldNode s)
{
if (anchor.fringe.Contains(s))
{
anchor.fringe.Remove(s);
}
if (inad.fringe.Contains(s))
{
inad.fringe.Remove(s);
}
expanded++;
worldNode sp;
int nx, ny;
int cx = s.x;
int cy = s.y;
for (int i = -1; i < 2; i++)
{
for (int j = -1; j < 2; j++)
{
nx = cx + i;
ny = cy + j;
if (nx < 0 || nx > 119 || ny < 0 || ny > 159)
{
continue;
}
if (anchor.worldNodes[nx, ny] == null)
{
//Was never generated.
anchor.worldNodes[nx, ny] = new worldNode(nx, ny);
}
float cg = anchor.worldNodes[cx, cy].g;
float css = anchor.cost(cx, cy, nx, ny);
sp = anchor.worldNodes[nx, ny];
if (css == 0)
{
anchor.closedList.Add(sp);
inad.closedList.Add(sp);
}
if (sp.g > cg + css)
{
sp.g = cg + css;
sp.parent = s;
if (!anchor.closedList.Contains(sp))
{
sp.h = anchor.computeHeuristic(nx, ny);
sp.f = sp.h + sp.g;
anchor.fringe.Enqueue(sp, anchor.keyMe(sp));
if (!inad.closedList.Contains(sp))
{
for (int k = 0; k < 5; k++)
{
if (k == consistent)
{
continue;
}
if (inad.keyMe(sp) < weight2 * anchor.keyMe(sp))
{
sp.h = inad.computeHeuristic(nx, ny);
sp.f = sp.h + sp.g;
if (inad.fringe.Contains(sp))
{
inad.fringe.UpdatePriority(sp, inad.keyMe(sp));
}
else
{
inad.fringe.Enqueue(sp, inad.keyMe(sp));
}
}
}
}
}
}
}
}
}
private void recalculateAlgorithm()
{
SolidColorBrush whiteBrush = new SolidColorBrush();
whiteBrush.Color = Colors.White;
SolidColorBrush blackBrush = new SolidColorBrush();
blackBrush.Color = Colors.Black;
SolidColorBrush chartreuseBrush = new SolidColorBrush();
chartreuseBrush.Color = Colors.Chartreuse;
SolidColorBrush beigeBrush = new SolidColorBrush();
beigeBrush.Color = Colors.Beige;
SolidColorBrush grayBrush = new SolidColorBrush();
grayBrush.Color = Colors.Gray;
SolidColorBrush pathBrush = new SolidColorBrush();
pathBrush.Color = Colors.BlueViolet;
SolidColorBrush startBrush = new SolidColorBrush();
startBrush.Color = Colors.Green;
SolidColorBrush endBrush = new SolidColorBrush();
endBrush.Color = Colors.Red;
SolidColorBrush transparent = new SolidColorBrush();
transparent.Color = Colors.Transparent;
int spi = StartEndPairs.SelectedIndex;
if (spi < 0)
{
spi = 0;
}
int startx = mvm.startPairs[spi, 0];
int starty = mvm.startPairs[spi, 1];
int endx = mvm.endPairs[spi, 0];
int endy = mvm.endPairs[spi, 1];
//Rerun the algorithm, update runtime
int pairIdx = StartEndPairs.SelectedIndex;
if (pairIdx < 0)
{
pairIdx = 0;
}
float wght;
if (!float.TryParse(Weight.Text, out wght))
{
wght = 1;
}
float wght2;
if (!float.TryParse(Weight2.Text, out wght2))
{
wght2 = 1;
}
if (Algo.SelectedIndex < 3)
{
search.initAttr(Heuristic.SelectedIndex, Algo.SelectedIndex, wght, mvm.startPairs[pairIdx, 0], mvm.startPairs[pairIdx, 1],
mvm.endPairs[pairIdx, 0], mvm.endPairs[pairIdx, 1]);
search.hSearch();
}
else if (Algo.SelectedIndex == 3)
{
seqsearch.initAttr(wght, wght2, mvm.startPairs[pairIdx, 0], mvm.startPairs[pairIdx, 1],
mvm.endPairs[pairIdx, 0], mvm.endPairs[pairIdx, 1]);
search = seqsearch.seqSearch();
}
else
{
intsearch.initAttr(wght, wght2, mvm.startPairs[pairIdx, 0], mvm.startPairs[pairIdx, 1],
mvm.endPairs[pairIdx, 0], mvm.endPairs[pairIdx, 1]);
search = intsearch.intSearch();
}
mvm.Expanded = search.expanded;
myPath.Children.Clear();
//Interpret search data.
Button chunk;
worldNode a = search.end;
//int path = 1;
while (a.parent != null)
{
//path++;
chunk = new Button();
if (a.x == endx && a.y == endy)
{
chunk.BorderBrush = endBrush;
}
else
{
chunk.BorderBrush = pathBrush;
}
chunk.Background = transparent;
chunk.BorderThickness = new Thickness(1);
chunk.Content = new int[] { a.x, a.y };
chunk.Click += chunkClick;
Grid.SetColumn(chunk, a.y);
Grid.SetRow(chunk, a.x);
a = a.parent;
myPath.Children.Add(chunk);
}
//mvm.PathLen = path;
mvm.PathLen = search.end.g;
chunk = new Button();
chunk.Background = transparent;
chunk.BorderBrush = startBrush;
chunk.BorderThickness = new Thickness(1);
chunk.Content = new int[] { a.x, a.y };
chunk.Click += chunkClick;
Grid.SetColumn(chunk, a.y);
Grid.SetRow(chunk, a.x);
myPath.Children.Add(chunk);
//Update Start/end pair appearance
}