public float GetPriority(Node node)
{
for(int i = 0; i < values.Count; i++)
{
if (values[i] == node)
{
return priorities[i];
}
}
return 0;
}
public Node GetNeighbor(Node node)
{
if (node == node1)
{
return node2;
}
else if (node == node2)
{
return node1;
}
else
{
return null;
}
}
public void ReplacePriority(Node value, float priority)
{
int index = 0;
for (int i = 0; i < values.Count; i++)
{
if (values[i] == value)
{
index = i;
}
}
values.RemoveAt(index);
priorities.RemoveAt(index);
values.Add(value);
priorities.Add(priority);
}
public void Dequeue(out Node topValue, out float topPriority)
{
int bestIndex = 0;
float bestPriority = priorities[0];
for (int i = 1; i < priorities.Count; i++)
{
if (bestPriority > priorities[i])
{
bestPriority = priorities[i];
bestIndex = i;
}
}
topValue = values[bestIndex];
topPriority = bestPriority;
values.RemoveAt(bestIndex);
priorities.RemoveAt(bestIndex);
}
public Edge(Node node1, Node node2, float length)
{
this.node1 = node1;
this.node2 = node2;
this.length = length;
}
public void BreadthFirstSearch()
{
//Set the distance to all nodes to infinity (i.e. Int32.MaxValue)
if (nodeQueue.Count > 0)
{
curNode = nodeQueue.Dequeue();
curNode.ChangeColor = Color.Yellow;
//if we have found the target node
if (curNode == nodeGrid[(int)end.X, (int)end.Y])
{
hasResult = true;
targetPositions.Enqueue(curNode.Position);
//loop back through the backnodes to find the fastest path
while (curNode.BackNode != null)
{
curNode = curNode.BackNode.GetNeighbor(curNode);
curNode.ChangeColor = Color.Blue;
targetPositions.Enqueue(curNode.Position);
}
return;
}
//look through each neighbor to find who we have not checked yet.
foreach (Edge edge in curNode.Neighbors)
{
if (!edge.GetNeighbor(curNode).IsVisited && !edge.GetNeighbor(curNode).IsObstacle)
{
edge.GetNeighbor(curNode).IsVisited = true;
edge.GetNeighbor(curNode).BackNode = edge; //sets distance within this property: distance = curnode.GetDistance + 1;
nodeQueue.Enqueue(edge.GetNeighbor(curNode));
}
}
}
else
{
//return error
}
}
public Graph(GridCell[,] gridCell, int width, int height, HalfDeadCat cat)
{
myCat = cat;
this.gridCell = gridCell;
this.width = width;
this.height = height;
nodeGrid = new Node[width, height];
searchType = SearchType.BREADTH;
//Initializes all of the nodes
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
if (!gridCell[i, j].IsBlocked)
gridCell[i, j].ChangeColor = Color.CornflowerBlue;
nodeGrid[i, j] = new Node(gridCell[i, j], i, j);
}
}
//Sets neighboring nodes for each node
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
//if node has four neighbors
if (i != 0 && i != width - 1 && j != 0 && j != height - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> {new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1) };
}
//if node has two neighbors
else if ((i == 0 || i == width - 1) && (j == 0 || j == height - 1))
{
if (i == 0 && j == 0)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1) };
}
else if (i == 0 && j == height - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1) };
}
else if (i == width - 1 && j == 0)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1) };
}
else if (i == width - 1 && j == height - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1) };
}
}
//if node has three neighbors
else
{
if (i == 0)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1) };
}
else if (i == width - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1) };
}
else if (j == 0)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1) };
}
else if (j == height - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1) };
}
}
}
}
}
public void DijkstraSearch()
{
//Set the distance to all nodes to infinity (i.e. Int32.MaxValue)
if (priorityQueue.Count > 0)
{
priorityQueue.Dequeue(out curNode, out topPriority);
curNode.ChangeColor = Color.Yellow;
//look through each neighbor to find who we have not checked yet.
foreach (Edge edge in curNode.Neighbors)
{
if (!edge.GetNeighbor(curNode).IsVisited && !edge.GetNeighbor(curNode).IsObstacle)
{
//if we have found the target node
if (edge.GetNeighbor(curNode) == nodeGrid[(int)end.X, (int)end.Y])
{
hasResult = true;
targetPositions.Enqueue(curNode.Position);
nodeGrid[(int)end.X, (int)end.Y].BackNode = edge;
curNode = nodeGrid[(int)end.X, (int)end.Y];
//loop back through the backnodes to find the fastest path
while (curNode.BackNode != null)
{
curNode = curNode.BackNode.GetNeighbor(curNode);
curNode.ChangeColor = Color.Blue;
targetPositions.Enqueue(curNode.Position);
}
return;
}
edge.GetNeighbor(curNode).IsVisited = true;
edge.GetNeighbor(curNode).BackNode = edge; //sets distance within this property: distance = curnode.GetDistance + 1;
priorityQueue.Enqueue(edge.GetNeighbor(curNode), curNode.Length + edge.Length);
edge.GetNeighbor(curNode).Length = curNode.Length + edge.Length;
}
else if (edge.GetNeighbor(curNode).IsVisited && !edge.GetNeighbor(curNode).IsObstacle)
{
if (edge.GetNeighbor(curNode).Length > curNode.Length + edge.Length)
{
priorityQueue.ReplacePriority(edge.GetNeighbor(curNode), curNode.Length + edge.Length);
edge.GetNeighbor(curNode).Length = curNode.Length + edge.Length;
edge.GetNeighbor(curNode).BackNode = edge;
}
}
}
}
else
{
//return error
}
}
public Graph(GridCell[,] gridCell, int width, int height, bool isDijkstra, HalfDeadCat cat)
{
myCat = cat;
this.gridCell = gridCell;
this.width = width;
this.height = height;
nodeGrid = new Node[width, height];
if (isDijkstra)
{
searchType = SearchType.DIJKSTRA;
}
else
{
searchType = SearchType.ASTAR;
}
//Initializes all of the nodes
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
if (!gridCell[i, j].IsBlocked)
gridCell[i, j].ChangeColor = Color.CornflowerBlue;
nodeGrid[i, j] = new Node(gridCell[i, j], i, j);
}
}
//Sets neighboring nodes for each node
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
//if node has 8 neighbors
if (i != 0 && i != width - 1 && j != 0 && j != height - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1),
new Edge(nodeGrid[i, j], nodeGrid[i - 1, j - 1], (float)Math.Sqrt(2)), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j - 1], (float)Math.Sqrt(2)), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j + 1], (float)Math.Sqrt(2)), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j + 1], (float)Math.Sqrt(2)),};
}
//if node has 3 neighbors
else if ((i == 0 || i == width - 1) && (j == 0 || j == height - 1))
{
if (i == 0 && j == 0)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j + 1], (float)Math.Sqrt(2)) };
}
else if (i == 0 && j == height - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j - 1], (float)Math.Sqrt(2)) };
}
else if (i == width - 1 && j == 0)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j + 1], (float)Math.Sqrt(2)) };
}
else if (i == width - 1 && j == height - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j - 1], (float)Math.Sqrt(2)) };
}
}
//if node has 5 neighbors
else
{
if (i == 0)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1),
new Edge(nodeGrid[i, j], nodeGrid[i + 1, j + 1], (float)Math.Sqrt(2)), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j - 1], (float)Math.Sqrt(2))};
}
else if (i == width - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1),
new Edge(nodeGrid[i, j], nodeGrid[i - 1, j - 1], (float)Math.Sqrt(2)), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j + 1], (float)Math.Sqrt(2))};
}
else if (j == 0)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i, j + 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1),
new Edge(nodeGrid[i, j], nodeGrid[i - 1, j + 1], (float)Math.Sqrt(2)), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j + 1], (float)Math.Sqrt(2))};
}
else if (j == height - 1)
{
nodeGrid[i, j].Neighbors = new List<Edge> { new Edge(nodeGrid[i, j], nodeGrid[i + 1, j], 1), new Edge(nodeGrid[i, j], nodeGrid[i, j - 1], 1), new Edge(nodeGrid[i, j], nodeGrid[i - 1, j], 1),
new Edge(nodeGrid[i, j], nodeGrid[i - 1, j - 1], (float)Math.Sqrt(2)), new Edge(nodeGrid[i, j], nodeGrid[i + 1, j - 1], (float)Math.Sqrt(2))};
}
}
}
}
}
public void Enqueue(Node value, float priority)
{
values.Add(value);
priorities.Add(priority);
}
