void Quicksort(Tree[] array, int left, int right)
{
if (left < right)
{
int p = Partition(array, left, right);
Quicksort(array, left, p - 1);
Quicksort(array, p + 1, right);
}
}
public void Heapsort(Tree[] v)
{
buildMaxHeap(v);
int n = v.Length;
for (int i = v.Length - 1; i > 0; i--)
{
swap(v, i, 0);
maxHeapify(v, 0, --n);
}
}
public void DrawPath(Node goal,ref Grid grid,ref Tree[] _trees)
{
Point startingPoint = StateToPoint(nodeState.ORIGIN);
int pointX = startingPoint.X;
int pointY = startingPoint.Y;
path.Add(origin);
if (pointX == -1 && pointY == -1)
{
return;
}
while (true)
{
Point lowestPoint = Point.Zero;
int lowest = 10000;
foreach (Point movePoint in CheckStep(pointX, pointY))
{
int count = _squares[movePoint.X, movePoint.Y].distanceSteps;
if (count < lowest)
{
lowest = count;
lowestPoint.X = movePoint.X;
lowestPoint.Y = movePoint.Y;
}
}
if (lowest != 10000)
{
_squares[lowestPoint.X, lowestPoint.Y].hasPath = true;
_squares[lowestPoint.X, lowestPoint.Y].ChangeTexture(ImageLibrary.getInstance().getImage("Clear"));
path.Add(_squares[lowestPoint.X, lowestPoint.Y]);
pointX = lowestPoint.X;
pointY = lowestPoint.Y;
}
else
{
Search(origin, goal, ref grid, this.game, ref _trees, ref this.path);
return;
}
if (_squares[pointX, pointY].state == nodeState.GOAL)
{
_squares[pointX, pointY].ChangeTexture(ImageLibrary.getInstance().getImage("Origin"));
origin.ChangeTexture(ImageLibrary.getInstance().getImage("Origin"));
path.Add(_squares[pointX, pointY]);
CreateTrees(ref _trees);
break;
}
}
}
private void maxHeapify(Tree[] v, int pos, int n)
{
int max = 2 * pos + 1, right = max + 1;
if (max < n)
{
if (right < n && v[max].module > v[right].module)
max = right;
if (v[max].module < v[pos].module)
{
swap(v, max, pos);
maxHeapify(v, max, n);
}
}
}
int Partition(Tree[] array, int left, int right)
{
Tree s = array[right];
double p = s.module;
int i = left;
for (int j = left; j < right; j++)
{
if (array[j].module > p)
{
Tree temp = array[i];
array[i] = array[j];
array[j] = temp;
i++;
}
}
array[right] = array[i];
array[i] = s;
return i;
}
private void buildMaxHeap(Tree[] v)
{
for (int i = v.Length / 2 - 1; i >= 0; i--)
maxHeapify(v, i, v.Length);
}
public void Sort(Tree[] array)
{
Heapsort(array);
}
public static void swap(Tree[] v, int j, int aposJ)
{
Tree aux = v[j];
v[j] = v[aposJ];
v[aposJ] = aux;
}
public void Sort(Tree[] array)
{
Quicksort(array,0, array.Length-1);
}
private void CreateTrees(ref Tree[] _trees)
{
int length = trees.Length;
_trees = new Tree[length];
for (int i = 0; i < length; i++)
{
_trees[i] = new Tree(game, new Vector3(1, 1, 1), new Vector3(0, 0, 0), new Vector3(trees[i].getPosition().X, 0, trees[i].getPosition().Z), game.cam);
}
}
public void Search(Node origin, Node goal, ref Grid grid, Game1 game, ref Tree[] allTrees, ref List<Node> _path)
{
this.path = _path;
this.game = game;
allNodes.Clear();
ResetNodes();
this.origin = origin;
this._squares = grid.nodes;
this.row = grid.Rows;
this.column = grid.Columns;
foreach (Point p in GetPoints())
{
allNodes.Add(_squares[p.X,p.Y]);
_squares[p.X, p.Y].ChangeTexture(ImageLibrary.getInstance().getImage("Floor"));
}
allNodes.Remove(goal);
allNodes.Remove(origin);
foreach (Node tree in SortTrees(6))
{
tree.state = nodeState.CLOSED;
}
goal.state = nodeState.GOAL;
origin.state = nodeState.ORIGIN;
Pathfind();
DrawPath(goal,ref grid,ref allTrees);
}