//GenerateMaze() called when there isn't a existing grid
public void GenerateGrid()
{
Random random = new Random();
int randomNum;
for (int i = 0; i < grid.GetLength(0); i++)
{
for (int j = 0; j < grid.GetLength(1); j++)
{
//Line used to print a boarder around the maze
if (i == 0 || i == grid.GetLength(0) - 1 || j == 0 || j == grid.GetLength(1) - 1)
{
GridSquare temp = new GridSquare(ConsoleColor.Red, "Obstacle"); grid[i, j] = temp; continue;
}
randomNum = random.Next(1, 100);
if (randomNum > 75)//25 percent chance to spawn a obstacle
{
GridSquare temp = new GridSquare(ConsoleColor.Red, "Obstacle");
grid[i, j] = temp;
}
else
{
GridSquare temp = new GridSquare(ConsoleColor.Yellow, "Walkable");
grid[i, j] = temp;
}
}
}
}
//GenerateMaze(nodeGrid) overload used to generate a node grid based on visual grid
public void GenerateGrid(Node[,] nodeGrid, GridSquare[,] _grid)
{
Console.ResetColor();
Console.Clear();
grid = _grid;
for (int i = 0; i < _grid.GetLength(0); i++)
{
for (int j = 0; j < _grid.GetLength(1); j++)
{
GridSquare tempGrid = _grid[i, j];
Node tempNode = new Node(tempGrid.type, i, j);
nodeGrid[i, j] = tempNode;
}
}
}
//Used to draw a path in the console
public void VisualisePath(List <Node> path)
{
if (path == null)
{
Console.WriteLine("No path found between start node and goal node");
return;
}
foreach (Node n in path)
{
GridSquare temp = grid[n.posI, n.posJ];
temp.colour = ConsoleColor.Yellow;
temp.type = "path";
grid[n.posI, n.posJ] = temp;
}
GenerateGrid(grid);
}
public GridSquare[,] generateHeightMapFromImage()
{
//Reference a bitmap image, @ + a string of it's location
Bitmap img = new Bitmap(@"C:\Users\Noa_t\source\repos\AstarAlgorithm\BitmapAltitude.bmp");
//Bitmap img = new Bitmap(@"C:\Users\Noa_t\source\repos\AstarAlgorithm\MyMaze.bmp");
//Generate a grid to represent the maze in the console
GridSquare[,] grid = new GridSquare[img.Height, img.Width];
//Depending on the colours of a pixel do different things.
for (int i = 0; i < img.Height; i++)
{
for (int j = 0; j < img.Width; j++)
{
Color pixel = img.GetPixel(j, i);
//If the pixel RGB = black, add it as a obstacle in the array
if (pixel.R == Color.Black.R && pixel.B == Color.Black.B && pixel.G == Color.Black.G)
{
GridSquare temp = new GridSquare(ConsoleColor.Black, "Obstacle");
grid[i, j] = temp;
}
//If the pixel RGB = blue, add it as a goal in the array
else if (pixel.R == Color.Blue.R && pixel.B == Color.Blue.B && pixel.G == Color.Blue.G)
{
GridSquare temp = new GridSquare(ConsoleColor.Blue, "Goal");
grid[i, j] = temp;
}
//If the pixel RGB = green, add it as a start in the array
else if (pixel.R == Color.Green.R && pixel.B == Color.Green.B && pixel.G == 255)
{
GridSquare temp = new GridSquare(ConsoleColor.DarkGreen, "Start");
grid[i, j] = temp;
}
//If the pixel RGB = yellow, add it as a walkable in the array
else
{
GridSquare temp = new GridSquare(ConsoleColor.White, "Walkable");
grid[i, j] = temp;
}
}
}
return(grid);
}
public void generateNodeGraph(GridSquare[,] _grid)
{
grid = _grid;
nodes = new List <Node>();
for (int i = 0; i < grid.GetLength(0); i++)
{
for (int j = 0; j < grid.GetLength(1); j++)
{
//Skip current square if it = obstacle
if (grid[i, j].type == "Obstacle")
{
continue;
}
else if (grid[i, j].type == "Walkable")
{
//Place node at index based on the combination of it's neighbours
if (ShouldNodeBePlaced(i, j) == true)
{
Node tempNode = new Node(grid[i, j].type, i, j);
nodes.Add(tempNode);
grid[i, j] = new GridSquare(ConsoleColor.Gray, "Walkable");
}
else
{
continue;
}
}
//if not obstacle or walkable AKA starting and goal square, place a node.
else
{
Node tempNode = new Node(grid[i, j].type, i, j);
nodes.Add(tempNode);
}
}
}
}
//Prints the grid squares
void PrintSquare(GridSquare gridSquare)
{
Console.BackgroundColor = gridSquare.colour;
Console.Write(" ");
//Console.ResetColor();
}