//Initializes all the objects in main_form
private void Initialization()
{
int BoardersWidth = 2 * SystemInformation.Border3DSize.Width;
if (Globals._FirstFormLoad)
{
if (File.Exists("info.txt"))
{
StreamReader reader = new StreamReader("info.txt");
try {
Globals._WidthBlocks = Convert.ToInt32(reader.ReadLine());
Globals._HeightBlocks = Convert.ToInt32(reader.ReadLine());
Globals._BlockSide = Convert.ToInt32(reader.ReadLine());
} catch { MessageBox.Show("An error has occured while parsing the file to initialize form.\nPlease delete the file."); }
reader.Dispose();
}
Globals._FirstFormLoad = false;
}
isLoad = new int[Globals._WidthBlocks, Globals._HeightBlocks];
//m_rectangels is an array of two 1d arrays
//declares the length of the first 1d array
m_rectangles = new GridBox[Globals._WidthBlocks][];
for (int widthTrav = 0; widthTrav < Globals._WidthBlocks; widthTrav++)
{
//declares the length of the seconds 1d array
m_rectangles[widthTrav] = new GridBox[Globals._HeightBlocks];
for (int heightTrav = 0; heightTrav < Globals._HeightBlocks; heightTrav++)
{
//dynamically add the gridboxes into the m_rectangles.
//size of the m_rectangels is constantly increasing (while adding
//the gridbox values) until size=height or size = width.
//if (imported) { //this IF is executed as long as the user has imported a map of his choice
// m_rectangles[widthTrav][heightTrav] = new GridBox((widthTrav * Globals._BlockSide) - BoardersWidth, heightTrav * Globals._BlockSide + Globals._TopBarOffset, importmap[widthTrav, heightTrav]);
//if (importmap[widthTrav, heightTrav] == BoxType.Load) {
// isLoad[widthTrav, heightTrav] = 1;
// }
//} else {
m_rectangles[widthTrav][heightTrav] = new GridBox((widthTrav * Globals._BlockSide) - BoardersWidth, heightTrav * Globals._BlockSide + Globals._TopBarOffset, BoxType.Normal);
isLoad[widthTrav, heightTrav] = 2;
//}
}
}
if (imported)
{
imported = false;
}
searchGrid = new StaticGrid(Globals._WidthBlocks, Globals._HeightBlocks);
jumpParam = new AStarParam(searchGrid, Convert.ToSingle(Globals._AStarWeight)); //Default value until user edit it
jumpParam.SetHeuristic(HeuristicMode.MANHATTAN); //default value until user edit it
ConfigUI();
}
public GridLine(GridBox iFrom, GridBox iTo)
{
fromX = iFrom.boxRec.X + ((Globals._BlockSide / 2) - 1);
fromY = iFrom.boxRec.Y + ((Globals._BlockSide / 2) - 1);
toX = iTo.boxRec.X + ((Globals._BlockSide / 2) - 1);
toY = iTo.boxRec.Y + ((Globals._BlockSide / 2) - 1);
pen = new Pen(Color.BlueViolet);
pen.Width = 1;
}
//function that resets all of the used objects so they are ready for reuse, preventing memory leaks
private void FullyRestore()
{
if (trappedStatus != null)
{
Array.Clear(trappedStatus, 0, trappedStatus.GetLength(0));
}
//if (importmap != null) {
// Array.Clear(importmap, 0, importmap.GetLength(0));
// Array.Clear(importmap, 0, importmap.GetLength(1));
// }
if (BackgroundImage != null)
{
BackgroundImage = null;
}
startPos = new List <GridPos>();
selectedColor = Color.DarkGray;
for (int i = 0; i < startPos.Count(); i++)
{
AGVs[i].JumpPoints = new List <GridPos>();
}
searchGrid = new StaticGrid(Globals._WidthBlocks, Globals._HeightBlocks);
alwaysCross =
aGVIndexToolStripMenuItem.Checked =
beforeStart =
allowHighlight = true;
atLeastOneObstacle =
ifNoObstacles =
never =
imported =
calibrated =
isMouseDown =
mapHasLoads =
overImage = false;
menuPanel.Enabled = false;
use_Halt = false;
priorityRulesbetaToolStripMenuItem.Checked = false;
importedLayout = null;
jumpParam = null;
paper = null;
a
= b
= new int();
AGVs = new List <Vehicle>();
allowHighlight = true;
highlightOverCurrentBoxToolStripMenuItem.Enabled = true;
highlightOverCurrentBoxToolStripMenuItem.Checked = true;
isLoad = new int[Globals._WidthBlocks, Globals._HeightBlocks];
m_rectangles = new GridBox[Globals._WidthBlocks][];
for (int widthTrav = 0; widthTrav < Globals._WidthBlocks; widthTrav++)
{
m_rectangles[widthTrav] = new GridBox[Globals._HeightBlocks];
}
//jagged array has to be resetted like this
for (int i = 0; i < Globals._WidthBlocks; i++)
{
for (int j = 0; j < Globals._HeightBlocks; j++)
{
m_rectangles[i][j] = new GridBox(i * Globals._BlockSide, j * Globals._BlockSide + Globals._TopBarOffset, BoxType.Normal);
}
}
Initialization();
main_form_Load(new object(), new EventArgs());
for (int i = 0; i < AGVs.Count; i++)
{
AGVs[i].Status.Busy = false;
}
Globals._TimerStep = 0;
nUD_AGVs.Value = AGVs.Count;
}
//The most important event.When we let our mouse click up,all our changes are
//shown in the screen
private void main_form_MouseUp(object sender, MouseEventArgs e)
{
if (timer0.Enabled ||
timer1.Enabled ||
timer2.Enabled ||
timer3.Enabled ||
timer4.Enabled)
{
return;
}
if (e.Button == MouseButtons.Right)
{
_tp.Hide(this);
return;
}
Point clickCoords = new Point(e.X, e.Y);
if (!Isvalid(clickCoords) || nUD_AGVs.Value == 0)
{
return;
}
_isMouseDown = false;
if (rb_load.Checked)
{
for (var widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
for (var heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
if (_rectangles[widthTrav][heightTrav].BoxRec.IntersectsWith(new Rectangle(e.Location, new Size(1, 1))))
{
_lastBoxType = _rectangles[widthTrav][heightTrav].BoxType;
_lastBoxSelect = _rectangles[widthTrav][heightTrav];
switch (_lastBoxType)
{
case BoxType.Normal:
_rectangles[widthTrav][heightTrav].SwitchLoad();
_isLoad[widthTrav, heightTrav] = 1;
break;
case BoxType.Load:
_loads--;
_rectangles[widthTrav][heightTrav].SwitchLoad();
_isLoad[widthTrav, heightTrav] = 2;
break;
case BoxType.Wall:
case BoxType.Start:
case BoxType.End:
break;
}
}
}
}
}
if (rb_start.Checked)
{
if (nUD_AGVs.Value == 1)//Saves only the last Click position to place the Start (1 start exists)
{
for (var widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
for (var heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
if (_rectangles[widthTrav][heightTrav].BoxType == BoxType.Start)
{
_rectangles[widthTrav][heightTrav].SwitchEnd_StartToNormal();
}
}
}
}
else if (nUD_AGVs.Value > 1) //Deletes the start with the smallest iX - iY coords and keeps the rest
{
int startsCounter = 0;
int[,] startsPosition = new int[2, Convert.ToInt32(nUD_AGVs.Value)];
for (int widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
for (int heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
if (_rectangles[widthTrav][heightTrav].BoxType == BoxType.Start)
{
startsPosition[0, startsCounter] = widthTrav;
startsPosition[1, startsCounter] = heightTrav;
startsCounter++;
}
if (startsCounter == nUD_AGVs.Value)
{
_rectangles[startsPosition[0, 0]][startsPosition[1, 0]].SwitchEnd_StartToNormal();
}
}
}
}
//Converts the clicked box to Start point
for (var widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
for (var heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
if (_rectangles[widthTrav][heightTrav].BoxRec.Contains(clickCoords) &&
_rectangles[widthTrav][heightTrav].BoxType == BoxType.Normal)
{
_rectangles[widthTrav][heightTrav] = new GridBox((widthTrav * Globals.BlockSide) + Globals.LeftBarOffset, heightTrav * Globals.BlockSide + Globals.TopBarOffset, BoxType.Start);
}
}
}
}
//same for Stop
if (rb_stop.Checked)
{
for (var widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
for (var heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
if (_rectangles[widthTrav][heightTrav].BoxType == BoxType.End)
{
_rectangles[widthTrav][heightTrav].SwitchEnd_StartToNormal();//allow only one end point
}
}
}
for (var widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
for (var heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
if (_rectangles[widthTrav][heightTrav].BoxRec.Contains(clickCoords)
&&
_rectangles[widthTrav][heightTrav].BoxType == BoxType.Normal)
{
_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * Globals.BlockSide + Globals.LeftBarOffset, heightTrav * Globals.BlockSide + Globals.TopBarOffset, BoxType.End);
}
}
}
}
Redraw();//The main function of this executable.Contains almost every drawing and calculating stuff
Invalidate();
}
private void main_form_MouseDown(object sender, MouseEventArgs e)
{
//If the simulation is running, do not do anything.leave the function explicitly
if (timer0.Enabled || timer1.Enabled || timer2.Enabled || timer3.Enabled || timer4.Enabled)
{
return;
}
//Supposing that timers are not enabled(that means that the simulation is not running)
//we have a clicked point.Check if that point is valid.if not explicitly leave
if (!Isvalid(new Point(e.X, e.Y)))
{
return;
}
//if the clicked point is inside a rectangle...
_isMouseDown = true;
if ((e.Button == MouseButtons.Left) && (rb_wall.Checked))
{
for (int widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
for (int heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
if (_rectangles[widthTrav][heightTrav].BoxRec.IntersectsWith(new Rectangle(e.Location, new Size(1, 1))))
{
_lastBoxType = _rectangles[widthTrav][heightTrav].BoxType;
_lastBoxSelect = _rectangles[widthTrav][heightTrav];
switch (_lastBoxType) //...measure the reaction
{
case BoxType.Normal: //if its wall or normal ,switch it to the opposite.
case BoxType.Wall:
_rectangles[widthTrav][heightTrav].SwitchBox();
Invalidate();
break;
case BoxType.Start: //if its start or end,do nothing.
case BoxType.End:
break;
}
}
}
}
}
//if the user press the right button of the mouse
if (e.Button == MouseButtons.Right)
{
//prepare the tooltip
Point mycoords = new Point(e.X, e.Y);
GridBox clickedBox = null;
bool isBorder = true;
string currentBoxCoords = "X: - Y: -\r\n";
string currentBoxIndex = "Index: N/A\r\n";
string currentBoxType = "Block type: Border\r\n";
string isPath = "Is part of path: N/A\r\n";
bool isPathBlock = false;
for (var widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
for (var heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
if (_rectangles[widthTrav][heightTrav].BoxRec.Contains(mycoords))
{
currentBoxType =
"Block type: " +
_rectangles[widthTrav][heightTrav].BoxType + "\r\n";
currentBoxCoords =
"X: " +
_rectangles[widthTrav][heightTrav].BoxRec.X + " " +
"Y: " +
_rectangles[widthTrav][heightTrav].BoxRec.Y + "\r\n";
currentBoxIndex =
"Index: " +
"iX: " + widthTrav + " " + "iY: " + heightTrav + "\r\n";
int agvIndex = 0;
if (_startPos != null)
{
for (int j = 0; j < _startPos.Count; j++)
{
for (int i = 0; i < Globals.MaximumSteps; i++)
{
if (_rectangles[widthTrav][heightTrav].BoxRec.Contains
(
new Point(
Convert.ToInt32(_AGVs[j].Steps[i].X),
Convert.ToInt32(_AGVs[j].Steps[i].Y)
)
))
{
isPathBlock = true;
agvIndex = j;
i = Globals.MaximumSteps;
j = _startPos.Count;
}
}
}
clickedBox = _rectangles[widthTrav][heightTrav];
}
_tp.ToolTipIcon = ToolTipIcon.Info;
if (isPathBlock && _startPos != null)
{
isPath = "Is part of AGV" + (agvIndex) + " path";
_tp.Show(currentBoxType + currentBoxCoords + currentBoxIndex + isPath
, this
, clickedBox.BoxRec.X
, clickedBox.BoxRec.Y - Globals.TopBarOffset + 17);
isBorder = false;
}
else
{
isPath = "Is part of path:No\r\n";
clickedBox = new GridBox(e.X, e.Y, BoxType.Normal);
//show the tooltip
_tp.Show(currentBoxType + currentBoxCoords + currentBoxIndex + isPath
, this
, clickedBox.BoxRec.X - 10
, clickedBox.BoxRec.Y - Globals.TopBarOffset + 12);
isBorder = false;
}
}
}
}
if (isBorder)
{
_tp.ToolTipIcon = ToolTipIcon.Error;
//show the tooltip
_tp.Show(currentBoxType + currentBoxCoords + currentBoxIndex + isPath
, this
, e.X - 8
, e.Y - Globals.TopBarOffset + 14);
}
}
}
private void main_form_MouseClick(object sender, MouseEventArgs e)
{
if (!menuPanel.Enabled)
{
return;
}
Point click_coords = new Point(e.X, e.Y);
if (!Isvalid(click_coords) || e.Button != MouseButtons.Left || !overImage)
{
return;
}
if (rb_load.Checked)
{
for (int widthTrav = 0; widthTrav < Globals._WidthBlocks; widthTrav++)
{
for (int heightTrav = 0; heightTrav < Globals._HeightBlocks; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxRec.IntersectsWith(new Rectangle(e.Location, new Size(1, 1))))
{
m_lastBoxType = m_rectangles[widthTrav][heightTrav].boxType;
m_lastBoxSelect = m_rectangles[widthTrav][heightTrav];
switch (m_lastBoxType)
{
case BoxType.Normal:
//loads++;
m_rectangles[widthTrav][heightTrav].SwitchLoad();
//isLoad[widthTrav, heightTrav] = 1;
//Invalidate();
break;
case BoxType.Load:
m_rectangles[widthTrav][heightTrav].SwitchLoad();
//isLoad[widthTrav, heightTrav] = 2;
//Invalidate();
break;
/*case BoxType.Wall:
* case BoxType.Start:
* case BoxType.End:
* break;
*/
}
}
}
}
}
return;
if (rb_start.Checked && nUD_AGVs.Value != 0)
{
if (nUD_AGVs.Value == 1)//Saves only the last Click position to place the Start (1 start exists)
{
for (int widthTrav = 0; widthTrav < Globals._WidthBlocks; widthTrav++)
{
for (int heightTrav = 0; heightTrav < Globals._HeightBlocks; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxType == BoxType.Start)
{
m_rectangles[widthTrav][heightTrav].SwitchEnd_StartToNormal();
}
}
}
}
else if (nUD_AGVs.Value > 1) //Deletes the start with the smallest iX - iY coords and keeps the rest
{
int starts_counter = 0;
int[,] starts_position = new int[2, Convert.ToInt32(nUD_AGVs.Value)];
for (int widthTrav = 0; widthTrav < Globals._WidthBlocks; widthTrav++)
{
for (int heightTrav = 0; heightTrav < Globals._HeightBlocks; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxType == BoxType.Start)
{
starts_position[0, starts_counter] = widthTrav;
starts_position[1, starts_counter] = heightTrav;
starts_counter++;
}
if (starts_counter == nUD_AGVs.Value)
{
m_rectangles[starts_position[0, 0]][starts_position[1, 0]].SwitchEnd_StartToNormal();
}
}
}
}
//Converts the clicked box to Start point
for (int widthTrav = 0; widthTrav < Globals._WidthBlocks; widthTrav++)
{
for (int heightTrav = 0; heightTrav < Globals._HeightBlocks; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxRec.Contains(click_coords) &&
m_rectangles[widthTrav][heightTrav].boxType == BoxType.Normal)
{
m_rectangles[widthTrav][heightTrav] = new GridBox((widthTrav * Globals._BlockSide), heightTrav * Globals._BlockSide + Globals._TopBarOffset, BoxType.Start);
}
}
}
}
//same for Stop
if (rb_stop.Checked)
{
for (int widthTrav = 0; widthTrav < Globals._WidthBlocks; widthTrav++)
{
for (int heightTrav = 0; heightTrav < Globals._HeightBlocks; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxType == BoxType.End)
{
m_rectangles[widthTrav][heightTrav].SwitchEnd_StartToNormal();//allow only one end point
}
}
}
for (int widthTrav = 0; widthTrav < Globals._WidthBlocks; widthTrav++)
{
for (int heightTrav = 0; heightTrav < Globals._HeightBlocks; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxRec.Contains(click_coords)
&&
m_rectangles[widthTrav][heightTrav].boxType == BoxType.Normal)
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * Globals._BlockSide, heightTrav * Globals._BlockSide + Globals._TopBarOffset, BoxType.End);
}
}
}
}
Invalidate();
}
//function that resets all of the used objects so they are ready for reuse, preventing memory leaks
private void FullyRestore()
{
if (tree_stats.Nodes[1].IsExpanded)
{
tree_stats.Nodes[1].Collapse();
}
tree_stats.Nodes[1].Nodes[0].Text = "CO: -";
tree_stats.Nodes[1].Nodes[1].Text = "CO2: -";
tree_stats.Nodes[1].Nodes[2].Text = "NOx: -";
tree_stats.Nodes[1].Nodes[3].Text = "THC: -";
tree_stats.Nodes[1].Nodes[4].Text = "Global Warming eq: -";
_labeled_loads = 0;
if (_onWhichStep != null)
{
Array.Clear(_onWhichStep, 0, _onWhichStep.GetLength(0));
}
if (_trappedStatus != null)
{
Array.Clear(_trappedStatus, 0, _trappedStatus.GetLength(0));
}
for (short i = 0; i < _AGVs.Count; i++)
{
_AGVs[i].KillIcon();
}
if (_importmap != null)
{
Array.Clear(_importmap, 0, _importmap.GetLength(0));
Array.Clear(_importmap, 0, _importmap.GetLength(1));
}
if (BackgroundImage != null)
{
BackgroundImage = null;
}
StackTrace trace = new StackTrace();
if (trace.GetFrame(1).GetMethod().Name != "Import")
{
Globals.SemiTransparency = false;
_boxDefaultColor = (Globals.SemiTransparency) ? Color.FromArgb(Globals.Opacity, Color.WhiteSmoke) : Color.WhiteSmoke;
}
_fromstart = new bool[Globals.MaximumAGVs];
_startPos = new List <GridPos>();
_endPointCoords = new Point(-1, -1);
_selectedColor = Color.DarkGray;
for (short i = 0; i < _startPos.Count(); i++)
{
_AGVs[i].JumpPoints = new List <GridPos>();
}
_searchGrid = new StaticGrid(Globals.WidthBlocks, Globals.HeightBlocks);
_alwaysCross =
aGVIndexToolStripMenuItem.Checked =
_beforeStart =
_allowHighlight = true;
_atLeastOneObstacle =
_ifNoObstacles =
_never =
_imported =
_calibrated =
_isMouseDown =
_mapHasLoads = false;
_useHalt = false;
priorityRulesbetaToolStripMenuItem.Checked = false;
_importedLayout = null;
_jumpParam = null;
_paper = null;
_loads = _posIndex = 0;
_a
= _b
= new int();
_AGVs = new List <Vehicle>();
_CO2 = _CO = _NOx = _THC = _globalWarming = 0;
_allowHighlight = true;
highlightOverCurrentBoxToolStripMenuItem.Enabled = true;
highlightOverCurrentBoxToolStripMenuItem.Checked = true;
_isLoad = new int[Globals.WidthBlocks, Globals.HeightBlocks];
_rectangles = new GridBox[Globals.WidthBlocks][];
for (var widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
_rectangles[widthTrav] = new GridBox[Globals.HeightBlocks];
}
//jagged array has to be resetted like this
for (var i = 0; i < Globals.WidthBlocks; i++)
{
for (var j = 0; j < Globals.HeightBlocks; j++)
{
_rectangles[i][j] = new GridBox(i * Globals.BlockSide, j * Globals.BlockSide + Globals.TopBarOffset, BoxType.Normal);
}
}
Initialization();
main_form_Load(new object(), new EventArgs());
for (short i = 0; i < _AGVs.Count; i++)
{
_AGVs[i].Status.Busy = false;
}
Globals.TimerStep = 0;
timer0.Interval = timer1.Interval = timer2.Interval = timer3.Interval = timer4.Interval = Globals.TimerInterval;
nUD_AGVs.Value = _AGVs.Count;
tree_stats.Nodes[2].Text = "Loads remaining: ";
}
//Initializes all the objects in main_form
private void Initialization()
{
DiagonalMovement diagonalMovement = DiagonalMovement.Always;
HeuristicMode heuristicMode = HeuristicMode.Manhattan;
char[] delim = { ':', ' ', '(' };
if (File.Exists("info.txt"))
{
if (Globals.FirstFormLoad)
{
StreamReader reader = new StreamReader("info.txt");
try {
Globals.WidthBlocks = Convert.ToInt32(reader.ReadLine().Split(delim)[1]);
Globals.HeightBlocks = Convert.ToInt32(reader.ReadLine().Split(delim)[1]);
Globals.BlockSide = Convert.ToInt32(reader.ReadLine().Split(delim)[1]);
diagonalMovement = (DiagonalMovement)Enum.Parse(typeof(DiagonalMovement), reader.ReadLine().Split(delim)[1]);
heuristicMode = (HeuristicMode)Enum.Parse(typeof(HeuristicMode), reader.ReadLine().Split(delim)[2]);
stepsToolStripMenuItem.Checked = Convert.ToBoolean(reader.ReadLine().Split(delim)[1]);
linesToolStripMenuItem.Checked = Convert.ToBoolean(reader.ReadLine().Split(delim)[1]);
dotsToolStripMenuItem.Checked = Convert.ToBoolean(reader.ReadLine().Split(delim)[1]);
bordersToolStripMenuItem.Checked = Convert.ToBoolean(reader.ReadLine().Split(delim)[1]);
highlightOverCurrentBoxToolStripMenuItem.Checked = Convert.ToBoolean(reader.ReadLine().Split(delim)[1]);
aGVIndexToolStripMenuItem.Checked = Convert.ToBoolean(reader.ReadLine().Split(delim)[1]);
} catch {
MessageBox.Show("An error has occured while parsing the file to initialize form.\nPlease delete the file.");
}
reader.Close();
}
Globals.FirstFormLoad = false;
}
_isLoad = new int[Globals.WidthBlocks, Globals.HeightBlocks];
//m_rectangels is an array of two 1d arrays
//declares the length of the first 1d array
_rectangles = new GridBox[Globals.WidthBlocks][];
for (var widthTrav = 0; widthTrav < Globals.WidthBlocks; widthTrav++)
{
//declares the length of the seconds 1d array
_rectangles[widthTrav] = new GridBox[Globals.HeightBlocks];
for (var heightTrav = 0; heightTrav < Globals.HeightBlocks; heightTrav++)
{
//dynamically add the gridboxes into the _rectangles.
//size of the m_rectangels is constantly increasing (while adding
//the gridbox values) until size=height or size = width.
if (_imported) //this IF is executed as long as the user has imported a map of his choice
{
_rectangles[widthTrav][heightTrav] = new GridBox((widthTrav * Globals.BlockSide) + Globals.LeftBarOffset, heightTrav * Globals.BlockSide + Globals.TopBarOffset, _importmap[widthTrav, heightTrav]);
if (_importmap[widthTrav, heightTrav] == BoxType.Load)
{
_isLoad[widthTrav, heightTrav] = 1;
_loads++;
}
}
else
{
_rectangles[widthTrav][heightTrav] = new GridBox((widthTrav * Globals.BlockSide) + Globals.LeftBarOffset, heightTrav * Globals.BlockSide + Globals.TopBarOffset, BoxType.Normal);
_isLoad[widthTrav, heightTrav] = 2;
}
}
}
if (_imported)
{
_imported = false;
}
_searchGrid = new StaticGrid(Globals.WidthBlocks, Globals.HeightBlocks);
_jumpParam = new AStarParam(
_searchGrid,
Convert.ToSingle(Globals.AStarWeight),
diagonalMovement,
heuristicMode
);
ConfigUi();
}
