private void Awake()
{
_requestManager = GetComponent <PathRequestManager>();
_grid = GetComponent <Grid>();
switch (_pathType)
{
case PathType.AStar:
_pathAlgorithm = new AStar(_grid);
break;
case PathType.ATethaStar:
_pathAlgorithm = new ATethaStar(_grid);
break;
}
}
public void LoadAlgorithm()
{
switch (algorithmType)
{
case PathAlgorithm.SingleBezier:
pathAlgorithm = new SingleBezierAlgorithm(true, Points);
break;
case PathAlgorithm.BezierSplines:
pathAlgorithm = new BezierSplinesAlgorithm(true, Points);
break;
case PathAlgorithm.SingleBezierUnclamped:
pathAlgorithm = new SingleBezierAlgorithm(false, Points);
break;
case PathAlgorithm.BezierSplinesUnclamped:
pathAlgorithm = new BezierSplinesAlgorithm(false, Points);
break;
default:
throw new NotImplementedException($"Algorithm {algorithmType} is not implemented yet.");
}
}
public PathController(IMapRepository mapRepository, IPathAlgorithm pathAlgorithm)
{
_mapRepository = mapRepository;
_pathAlgorithm = pathAlgorithm;
}
private void btnRun_Click(object sender, EventArgs e)
{
if (cboAlgo.SelectedIndex > -1)
{
switch (cboAlgo.SelectedItem.ToString())
{
case "A*":
if (activeUc is UserControls.AStarUC && (activeUc as UserControls.AStarUC).FormValid)
{
AStarPathAlgorithm aStar = new AStarPathAlgorithm(cellGrid, start, goal);
aStar.H = (activeUc as UserControls.AStarUC).Heuristic;
PathAlgorithm = aStar;
this.DialogResult = DialogResult.OK;
this.Close();
}
else
{
MessageBox.Show("Missing data");
}
break;
case "Weighted A*":
if (activeUc is UserControls.WeightedAStarUC && (activeUc as UserControls.WeightedAStarUC).FormValid)
{
decimal w = (activeUc as UserControls.WeightedAStarUC).Weight;
WeightedAStarPathAlgorithm waStar = new WeightedAStarPathAlgorithm(cellGrid, start, goal, w);
waStar.H = (activeUc as UserControls.WeightedAStarUC).Heuristic;
PathAlgorithm = waStar;
this.DialogResult = DialogResult.OK;
this.Close();
}
else
{
MessageBox.Show("Missing data");
}
break;
case "Uniform Cost":
UniformCostSearchPathAlgorithm ucs = new UniformCostSearchPathAlgorithm(cellGrid, start, goal);
PathAlgorithm = ucs;
this.DialogResult = DialogResult.OK;
this.Close();
break;
case "Sequential A*":
if (activeUc is UserControls.SequentialAStarUC && (activeUc as UserControls.SequentialAStarUC).FormValid)
{
UserControls.SequentialAStarUC ucseq = activeUc as UserControls.SequentialAStarUC;
Delegates.HDelegate anchor = ucseq.AnchorHeuristic;
List <Delegates.HDelegate> h = ucseq.AdditionalHeuristics;
h.Insert(0, anchor);
decimal w1 = ucseq.Weight1;
decimal w2 = ucseq.Weight2;
AStarSequentialHeuristic astarseq = new AStarSequentialHeuristic(cellGrid, start, goal, h.Count, w1, w2);
astarseq.Heuristics = h.ToArray();
PathAlgorithm = astarseq;
this.DialogResult = DialogResult.OK;
this.Close();
}
else
{
MessageBox.Show("Missing data");
}
break;
case "Integrated A*":
if (activeUc is UserControls.SequentialAStarUC && (activeUc as UserControls.SequentialAStarUC).FormValid)
{
UserControls.SequentialAStarUC ucseq = activeUc as UserControls.SequentialAStarUC;
Delegates.HDelegate anchor = ucseq.AnchorHeuristic;
List <Delegates.HDelegate> h = ucseq.AdditionalHeuristics;
h.Insert(0, anchor);
decimal w1 = ucseq.Weight1;
decimal w2 = ucseq.Weight2;
AStarIntegratedAlgorithm astarin = new AStarIntegratedAlgorithm(cellGrid, start, goal, h.Count, w1, w2);
astarin.Heuristics = h.ToArray();
PathAlgorithm = astarin;
this.DialogResult = DialogResult.OK;
this.Close();
}
else
{
MessageBox.Show("Missing data");
}
break;
default:
MessageBox.Show("Invalid selection");
break;
}
}
}
