public void Draw(SpriteBatch spriteBatch, GraphicsDevice graphics)
{
// Draw grid
spriteBatch.Draw(
texture: GridBackgroundTexture,
sourceRectangle: null,
effects: SpriteEffects.None,
origin: Vector2.Zero,
rotation: 0f,
destinationRectangle: gridBackgroundRect,
color: Color.DarkSlateGray,
layerDepth: 0);
// Draw all cells
for (int i = 0; i < 120; i++)
{
for (int j = 0; j < 160; j++)
{
Cells[i, j].Draw(spriteBatch);
}
}
if (AlgorithmResults != null)
{
AlgorithmResults.Draw(spriteBatch);
}
}
/// <summary>
/// Runs the algorithm
/// </summary>
/// <returns>The results of the algorithm</returns>
public AlgorithmResults Run()
{
while (this.open.Count > 0)
{
this.currentNode = PickLowestHeuristicValue();
if (notDiscoveredYet.Contains(currentNode))
{
notDiscoveredYet.Remove(currentNode);
}
// run the algorithm
if (Done())
{
// The algorithm is Done.
TracePath(goalNode);
AlgorithmResults info = new AlgorithmResults();
info.SetBestPathCost((int)goalNode.cost);
info.SetNodesExpanded(closed.Count);
info.SetSolutionPath(solutionPath);
return(info);
}
else
{
closed.Add(currentNode);
open.Remove(currentNode);
ArrayList neighbors = GetNeighbourNodes(currentNode);
for (int i = 0; i < neighbors.Count; i++)
{
Node neighbourNode = (Node)neighbors[i];
if (closed.Contains(neighbourNode))
{
continue;
}
neighbourNode.updateNodeIfNeeded(currentNode, currentNode.cost + CalculateNodeCost(currentNode, neighbourNode));
neighbourNode.heuristic = CalculateHeuristic(neighbourNode);
if (!open.Contains(neighbourNode))
{
open.Add(neighbourNode);
}
}
}
}
AlgorithmResults nfo = new AlgorithmResults();
nfo.SetBestPathCost(-1);
nfo.SetNodesExpanded(closed.Count);
nfo.SetSolutionPath(solutionPath);
return(nfo);
}
public void Update(GameTime gameTime, MouseState mouseState)
{
for (int i = 0; i < 120; i++)
{
for (int j = 0; j < 160; j++)
{
Cells[i, j].Update(gameTime, mouseState);
}
}
if (AlgorithmResults != null)
{
AlgorithmResults.Update();
}
}
protected AlgorithmResults getResults(CellData[,] finalCellData)
{
AlgorithmResults ar = new AlgorithmResults();
Vector2 s = vectorOf(goal);
while (!s.Equals(vectorOf(start)))
{
ar.Path.Add(cellAt(s));
s = finalCellData[(int)s.X, (int)s.Y].Parent.Value;
}
ar.Path.Add(start);
for (int i = 0; i < NUM_GRID_ROW; i++)
{
for (int j = 0; j < NUM_GRID_COL; j++)
{
cellGrid[i, j].H = finalCellData[i, j].H;
cellGrid[i, j].G = finalCellData[i, j].G;
cellGrid[i, j].F = finalCellData[i, j].H + finalCellData[i, j].G;
}
}
cellGrid[start.X, start.Y].G = 0;
cellGrid[start.X, start.Y].F = cellGrid[start.X, start.Y].H;
ar.PathLength = goal.G;
ar.NodesExpanded = nodesExpanded;
ar.ElapsedTime = DateTime.Now.Subtract(startTime);
//using (System.IO.Stream stream = new System.IO.MemoryStream())
//{
// System.Runtime.Serialization.Formatters.Binary.BinaryFormatter formatter = new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
// formatter.Serialize(stream, this);
// ar.MemUsed = stream.Length;
//}
ar.Success = true;
return(ar);
}
protected AlgorithmResults getResults()
{
AlgorithmResults ar = new AlgorithmResults();
ar.Success = true;
ar.ElapsedTime = elapsedTime;
Cell s = goal;
bool addedParent = false;
do
{
ar.Path.Add(s);
if (s.Equals(start))
{
addedParent = true;
}
s = s.Parent;
} while (!addedParent);
ar.NodesExpanded = nodesExpanded;
ar.PathLength = goal.G;
//using (System.IO.Stream stream = new System.IO.MemoryStream())
//{
// System.Runtime.Serialization.Formatters.Binary.BinaryFormatter formatter = new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
// formatter.Serialize(stream, this);
// ar.MemUsed = stream.Length;
//}
return(ar);
}
