private void sToolStripMenuItem_Click(object sender, EventArgs e)
{
visibilityGraphToolStripMenuItem_Click(null, null);
Wall wall = (Wall)_graphObjects.Where(s => s is Wall).First();
RectangleF bounds = wall.getBounds();
Bitmap bitmap = pictureBoxMain.Image as Bitmap;
Graphics g = setupGraphic(bitmap, bounds);
VisibilityGraph vg = new VisibilityGraph();
vg.addObjects(_graphObjects);
vg.Goal = _goal;
vg.Start = _start;
NodeGraph ng = new NodeGraph();
foreach (LineSegment line in vg.getVisibilityGraph())
{
ng.addLine(line);
}
Node start = new Node();
start.Location = _start;
Node goal = new Node();
goal.Location = _goal;
Node solution = Djikstra.ShortestPath(ng, start, goal);
ScaledDrawer.drawShortestPath(g, _shortestPathPen, solution, _scale);
pictureBoxMain.Image = bitmap;
Driver driver = new Driver(solution);
System.Threading.Thread tr = new System.Threading.Thread(driver.followPathToGoal);
tr.Start();
}
public void visibilityGraphToolStripMenuItem_Click(object sender, EventArgs e)
{
grownObstaclesToolStripMenuItem_Click(null, null);
Wall wall = (Wall)_graphObjects.Where(s => s is Wall).First();
RectangleF bounds = wall.getBounds();
Bitmap bitmap = pictureBoxMain.Image as Bitmap;
Graphics g = setupGraphic(bitmap, bounds);
ScaledDrawer.drawBoxedPoint(g, _positionPen, _start, _scale);
ScaledDrawer.drawBoxedPoint(g, _positionPen, _goal, _scale);
VisibilityGraph vg = new VisibilityGraph();
vg.addObjects(_graphObjects);
vg.Goal = _goal;
vg.Start = _start;
try
{
vg.drawVisibilityGraph(g, _scale);
}
catch (Exception exc)
{
MessageBox.Show(exc.Message);
}
pictureBoxMain.Image = bitmap;
}
