private void DijkstraChart_MouseClick(object sender, MouseEventArgs e)
{
if (isWalking)
{
return;
}
var results = dijkstraChart.HitTest(
e.X, e.Y, false, ChartElementType.PlottingArea);
foreach (var result in results)
{
if (result.ChartElementType == ChartElementType.PlottingArea)
{
var xVal = result.ChartArea.AxisX.PixelPositionToValue(e.X);
var yVal = result.ChartArea.AxisY.PixelPositionToValue(e.Y);
var dest = map.Points[(int)yVal, (int)xVal];
if (DijkstraPoint.IsPassable(dest))
{
isWalking = true;
Task.Run(() => DoDijkstra(dest))
.ContinueWith((_) => isWalking = false);
}
}
}
}
public void RedrawRoute()
{
Stopwatch sw;
sw = Stopwatch.StartNew();
Point3D start = new Point3D(beginx, beginy, beginz);
Point3D target = new Point3D(endx, endy, endz);
var res = Pathfinder.FindRoute(start, target, new Bitmap(mapImages[start.Z]));
DijkstraPoint point = res.Item1;
var rects = res.Item2;
sw.Stop();
Console.WriteLine("Find Route: {0}ms", sw.Elapsed.TotalMilliseconds);
Bitmap bitmap = new Bitmap(mapImages[beginz]);
DijkstraPoint tempPoint = point;
while (point != null)
{
if (point.point.X < mapX)
{
mapX = point.point.X - 20;
}
if (point.point.X > mapX + mapWidth)
{
mapWidth = point.point.X - mapX + 20;
}
if (point.point.Y < mapY)
{
mapY = point.point.Y - 20;
}
if (point.point.Y > mapY + mapHeight)
{
mapHeight = point.point.Y - mapY + 20;
}
point = point.previous;
}
point = tempPoint;
using (Graphics gr = Graphics.FromImage(bitmap)) {
while (point.previous != null)
{
gr.DrawLine(Pens.Black, new Point((int)point.point.X, (int)point.point.Y), new Point((int)point.previous.point.X, (int)point.previous.point.Y));
point = point.previous;
}
foreach (Rectangle3D rect in rects)
{
gr.DrawRectangle(Pens.Yellow, rect.Rect);
}
}
bigMap = bitmap;
UpdateMap();
}
private void UpdatePointColor(DijkstraPoint p, Color color)
{
int index = (p.Y * map.Width) + p.X;
void UpdatePointColor()
{
dijkstraChart.Series[0].Points[index].Color = color;
};
ExecuteInUI(UpdatePointColor);
}
private void DoDijkstra(DijkstraPoint dest)
{
var route = Dijsktra.FindShortestPath(
map, map.CurrentPosition, dest, UpdateColor);
route = route.Reverse();
DisplayRoute(route.Skip(1));
WalkRoute(route.Take(route.Count() - 1));
UpdatePointColor(route.Last(), Color.Red);
map.CurrentPosition = route.Last();
ResetMap();
}
private void UpdateColor(DijkstraPoint point, Color color)
{
void UpdateColor()
{
dijkstraChart.Series[0].Points[point.Y * map.Width + point.X].Color =
color;
}
ExecuteInUI(UpdateColor);
//RefreshChart(dijkstraChart);
}
public void FillSeries()
{
dijkstraSeries["PointWidth"] = "0.2";
foreach (var point in map.Points)
{
var p = new DataPoint(point.X, point.Y)
{
Color = DijkstraPoint.TypeToColor(point.Type),
MarkerSize = 7,
MarkerStyle = MarkerStyle.Square,
};
dijkstraSeries.Points.Add(p);
}
int index = (map.CurrentPosition.Y * map.Width) +
map.CurrentPosition.X;
dijkstraSeries.Points[index].Color = Color.Red;
}
private Color GetDijkstraPointColor(DijkstraPoint p)
{
int index = (p.Y * map.Width) + p.X;
return(dijkstraChart.Series[0].Points[index].Color);
}
