private int heuritic(Spot neighbor, Spot end)
{
return((int)Math.Sqrt(Math.Pow(Math.Abs(end.I - neighbor.I), 2) + Math.Pow(Math.Abs(end.J - neighbor.J), 2)));
}
private void Bw_DoWork(object sender, DoWorkEventArgs e)
{
while (_storage.Loop)
{
Thread.Sleep(1000 / _storage.Framerate);
Application.Current.Dispatcher.Invoke((Action)(() =>
{
Spot current = null;
if (_storage.OpenSet.Count > 0)
{
int winner = 0;
for (int i = 0; i < _storage.OpenSet.Count; i++)
{
if (_storage.OpenSet.ElementAt(i).F < _storage.OpenSet.ElementAt(winner).F)
{
winner = i;
}
}
current = _storage.OpenSet.ElementAt(winner);
if (current == _storage.End)
{
if (!_storage.Path.Contains(current))
{
_storage.Path.Enqueue(current);
}
_storage.Loop = false;
}
_storage.OpenSet.Remove(current);
_storage.ClosedSet.Add(current);
List <Spot> neighbors = current.Neighbors;
for (int i = 0; i < neighbors.Count; i++)
{
Spot neighbor = neighbors.ElementAt(i);
if (!_storage.ClosedSet.Contains(neighbor) && !neighbor.Wall)
{
int tempG = current.G + 1;
bool newPath = false;
if (_storage.OpenSet.Contains(neighbor))
{
if (tempG < neighbor.G)
{
neighbor.G = tempG;
newPath = true;
}
}
else
{
neighbor.G = tempG;
newPath = true;
_storage.OpenSet.Add(neighbor);
}
if (newPath)
{
neighbor.H = heuritic(neighbor, _storage.End);
neighbor.F = neighbor.G + neighbor.H;
neighbor.Previous = current;
}
}
}
}
else
{
Console.WriteLine("No solution!");
txtNoSolution.Visibility = Visibility.Visible;
_storage.Loop = false;
}
for (int i = 0; i < _storage.Cols; i++)
{
for (int j = 0; j < _storage.Rows; j++)
{
_storage.Grid[i, j].show(Storage.WHITE);
}
}
for (int i = 0; i < _storage.ClosedSet.Count; i++)
{
_storage.ClosedSet.ElementAt(i).show(Storage.RED);
}
for (int i = 0; i < _storage.OpenSet.Count; i++)
{
_storage.OpenSet.ElementAt(i).show(Storage.GREEN);
}
Spot temp = current;
if (temp != null)
{
_storage.Path.Clear();
_storage.Path.Enqueue(temp);
while (temp.Previous != null)
{
temp.show(Storage.BLUE);
_storage.Path.Enqueue(temp.Previous);
temp = temp.Previous;
}
}
for (int i = 0; i < _storage.Path.Count; i++)
{
_storage.Path.ElementAt(i).show(Storage.TRANSPARENT);
}
for (int i = 0; i < _storage.Lines.Count; i++)
{
mainCanvas.Children.Remove(_storage.Lines.ElementAt(i));
}
for (int i = 0; i < mainCanvas.Children.Count; i++)
{
if (mainCanvas.Children[i] is Line)
{
mainCanvas.Children.RemoveAt(i);
}
}
Thread.Sleep(5);
_storage.Lines.Clear();
for (int i = 0; i < _storage.Path.Count; i++)
{
if (i < _storage.Path.Count - 1)
{
Line line = new Line()
{
X1 = _storage.Path.ElementAt(i).I *_storage.WidthOfOneSpot + _storage.WidthOfOneSpot / 2,
Y1 = _storage.Path.ElementAt(i).J *_storage.HeigthOfOneSpot + _storage.HeigthOfOneSpot / 2,
X2 = _storage.Path.ElementAt(i + 1).I *_storage.WidthOfOneSpot + _storage.WidthOfOneSpot / 2,
Y2 = _storage.Path.ElementAt(i + 1).J *_storage.HeigthOfOneSpot + _storage.HeigthOfOneSpot / 2,
Stroke = Storage.PURPLE,
StrokeThickness = _storage.LineThickness,
StrokeStartLineCap = PenLineCap.Round,
StrokeEndLineCap = PenLineCap.Round
};
_storage.Lines.Add(line);
mainCanvas.Children.Add(line);
Console.WriteLine("i = " + i + " | " + line.X1 + ", " + line.Y1 + " -> " + line.X2 + ", " + line.Y2 + " | ");
}
}
Console.WriteLine(); Console.WriteLine();
}));
}
}