/// <summary>
///
///
/// Function for Getting Possible nodes and visiting the next node once every time it is called
/// this functions also updates the values for the GUI panel
/// function is recursive till the path to end point is not found
///
/// </summary>
/// <param name="Cells"></param>
/// <param name="CurrentNode"></param>
/// <param name="colsize"></param>
/// <param name="rowsize"></param>
public void A_FindPath(Activity_1.Cell[,] Cells, Activity_1.Cell CurrentNode, int colsize, int rowsize)
{
//collect possible nodes
List <Activity_1.Cell> PossibleNodes = PathFinder.PossibleNodes(CurrentNode, colsize, rowsize, Cells);
//assign cost to each possible node for current node
PossibleNodes = PathFinder.CostOfOpenNodes(PossibleNodes, StartPos, EndPos, PathType);
foreach (Activity_1.Cell Node in PossibleNodes)
{
bool existing = false;
//loop to check if the new possible nodes already exists in the open node list or not
if (Node.visited == false && !ClosedNodes.Contains(Node) && !OpenNodes.Contains(Node))
{
OpenNodes.Add(Node);
ChangeColor(Node.CellPos.x, Node.CellPos.y, Color.Blue);
}
}
//mark current node as visited
//add the node to closed node list
//remove the node from open node list
//The least Expensive Node will be Selected
CurrentNode.visited = true;
ClosedNodes.Add(CurrentNode);
OpenNodes.Remove(CurrentNode);
ChangeColor(CurrentNode.CellPos.x, CurrentNode.CellPos.y, Color.Red);
Cells[CurrentNode.CellPos.x, CurrentNode.CellPos.y] = CurrentNode;
//Select next node wiht lowest cost from the open node list
CurrentNode = PathFinder.SelectNextNode(OpenNodes);
CurrentCell = CurrentNode;
//show the path when end point is found
if (CurrentCell.CellPos.x == EndPos.x && CurrentCell.CellPos.y == EndPos.y)
{
ShowPath(CurrentNode, ClosedNodes);
pathFound = true;
MessageBox.Show("Path Found");
return;
}
else
{
Thread.Sleep(200);
FindPath();
}
}
//fucntion Responsible for Initialising a grid for the algorithm and greate a 2D matrix to store the value
public void CreateGrid(int row, int col)
{
OpenNodes = new List <Activity_1.Cell>();
ClosedNodes = new HashSet <Activity_1.Cell>();
Path = new List <Activity_1.Cell>();
activity_1.columnsize = col;
activity_1.rowsize = row;
Cells = new Activity_1.Cell[row, col];//initialise the the cell in 2D matrix with the input row and col size
for (int x = 0; x < row; x++)
{
for (int y = 0; y < col; y++)
{
Cells[x, y] = new Activity_1.Cell(x, y, Activity_1.Box.W0);//initiates a matrix to store the values with all blocks as walkable as default until user make changes with input
}
}
}
/// <summary>
///
/// Function finds the shortest path that reaches the
///
/// Function is responsible to Display the shortest path been created using the A* algorithm in the GUI Format using the Visited Node list
///
/// </summary>
/// <param name="CurrentNode"></param>
/// <param name="ClosedNodes"></param>
public void ShowPath(Activity_1.Cell CurrentNode, HashSet <Activity_1.Cell> ClosedNodes)
{
PrevNode = CurrentNode.Parent;
Path.Add(PrevNode);
foreach (Activity_1.Cell Node in ClosedNodes)
{
if (PrevNode.CellPos.x == Node.CellPos.x && PrevNode.CellPos.y == Node.CellPos.y)
{
CurrentNode = Node;
break;
}
}
if (PrevNode.CellPos.x == StartPos.x && PrevNode.CellPos.y == StartPos.y)
{
foreach (Activity_1.Cell Node in Path)
{
ChangeColor(Node.CellPos.x, Node.CellPos.y, Color.Green);
}
}
else
{
ShowPath(CurrentNode, ClosedNodes);
}
}
private void panel1_MouseMove(object sender, MouseEventArgs e)
{
int mousePoseX = (int)((e.X / 10) - ((e.X / 10) * 0.1f));
int mousePoseY = (int)((e.Y / 10) - ((e.Y / 10) * 0.1f));
if (MouseIsDown)
{
if (mousePoseX >= 0 && mousePoseX < row && mousePoseY >= 0 && mousePoseY < col)
{
if (CurrentOption == Activity_1.Box.S)
{
ChangeColor(mousePoseX, mousePoseY, Color.AntiqueWhite);
Cells[mousePoseX, mousePoseY].box = new Activity_1.Box();
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.S;
CurrentCell = new Activity_1.Cell(mousePoseX, mousePoseY, Activity_1.Box.S);
StartPos.x = mousePoseX;
StartPos.y = mousePoseY;
}
else if (CurrentOption == Activity_1.Box.E)
{
ChangeColor(mousePoseX, mousePoseY, Color.Red);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.E;
EndPos.x = mousePoseX;
EndPos.y = mousePoseY;
}
else if (CurrentOption == Activity_1.Box.O)
{
ChangeColor(mousePoseX, mousePoseY, Color.SandyBrown);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.O;
}
else if (CurrentOption == Activity_1.Box.W)
{
ChangeColor(mousePoseX, mousePoseY, Color.Salmon);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.W;
}
else if (CurrentOption == Activity_1.Box.W0)
{
ChangeColor(mousePoseX, mousePoseY, Color.BurlyWood);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.W0;
}
else if (CurrentOption == Activity_1.Box.W90)
{
ChangeColor(mousePoseX, mousePoseY, Color.DarkSlateGray);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.W90;
}
else if (CurrentOption == Activity_1.Box.W120)
{
ChangeColor(mousePoseX, mousePoseY, Color.GreenYellow);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.W120;
}
else if (CurrentOption == Activity_1.Box.Wg)
{
ChangeColor(mousePoseX, mousePoseY, Color.LawnGreen);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.Wg;
}
else if (CurrentOption == Activity_1.Box.Wr)
{
ChangeColor(mousePoseX, mousePoseY, Color.Gray);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.Wr;
}
else if (CurrentOption == Activity_1.Box.Ww)
{
ChangeColor(mousePoseX, mousePoseY, Color.Azure);
Cells[mousePoseX, mousePoseY].box = Activity_1.Box.Ww;
}
}
}
}