private static void RenderPath(int width, int height, Node start, Node goal, IList <Node> path, AStarSearch search)
{
int scalar = 10;
using (var image = new Bitmap(width * scalar, height * scalar, PixelFormat.Format32bppArgb))
using (var graphics = Graphics.FromImage(image))
{
graphics.Clear(Color.Black);
foreach (Rectangle rectangle in Grid.Obstacles)
{
graphics.FillRectangle(new SolidBrush(Color.White), rectangle.X * scalar, rectangle.Y * scalar, rectangle.Width * scalar, rectangle.Height * scalar);
}
foreach (Node closedNode in search.Closed.Values)
{
CircleAtPoint(graphics, new PointF(closedNode.X * scalar, closedNode.Y * scalar), 2, Color.DimGray);
}
graphics.DrawLines(new Pen(new SolidBrush(Color.Cornsilk)), path.Select(n => new PointF(n.X * scalar, n.Y * scalar)).ToArray());
CircleAtPoint(graphics, new PointF(start.X * scalar, start.Y * scalar), 2, Color.Red);
CircleAtPoint(graphics, new PointF(goal.X * scalar, goal.Y * scalar), 2, Color.Green);
image.Save(string.Format("Paths\\{0}_{1}-{2}_{3}.png", start.X, start.Y, goal.X, goal.Y), ImageFormat.Png);
}
}
static void Main(string[] args)
{
var timer = new Stopwatch();
var times = new List <long>();
var stepTimes = new List <double>();
int i = 1;
short width = 100;
short height = 100;
int runs = 100;
var grid = new Grid(width, height);
var rnd = new Random();
for (int x = 0; x < runs; x++)
{
timer.Start();
Node start = new Node((short)(rnd.Next(1, width)), (short)(rnd.Next(1, height)));
if (grid.Collided(start.X, start.Y))
{
x--;
continue;
}
Node goal = new Node((short)(rnd.Next(1, width)), (short)(rnd.Next(1, height)));
if (grid.Collided(goal.X, goal.Y))
{
x--;
continue;
}
//Node start = new Node(10, 10);
//Node goal = new Node(90, 90);
var search = new AStarSearch(grid);
IList <Node> path = search.Find(start, goal);
if (!path.Any() || !path.Last().Equals(goal) || !path.First().Equals(start))
{
throw new Exception("Failure");
}
RenderPath(width, height, start, goal, path, search);
timer.Stop();
times.Add(timer.ElapsedMilliseconds);
stepTimes.Add((double)timer.ElapsedMilliseconds / path.Count);
Console.SetCursorPosition(0, 0);
Console.WriteLine("Start: {0} Goal: {1}", start, goal);
Console.SetCursorPosition(0, 1);
Console.WriteLine("Step: {0:0000} - {1:000.00000000}ms - {2:p}", path.Count, timer.ElapsedMilliseconds, (double)(i++) / runs);
Console.SetCursorPosition(0, 2);
Console.WriteLine("Elapsed: Avg: {0:000}ms Min: {1:000}ms Max: {2:000}ms StepAvg:{3:0.000000}ms", times.Average(), times.Min(), times.Max(), stepTimes.Average());
timer.Reset();
}
Console.ReadKey();
}
