}//end of vs
public void Analys(object sender, EventArgs e)
{
if (tgx.Text == "" || tgy.Text == "" || tsx.Text == "" || tsy.Text == "")
{
MessageBox.Show("Erorr in Entries of Goal or Start Coordinates");
}
else
{
Form1.ActiveForm.Refresh();
starttime = DateTime.Now;
gx = int.Parse(tgx.Text);
gy = int.Parse(tgy.Text);
sx = int.Parse(tsx.Text);
sy = int.Parse(tsy.Text);
for (int j = 0; j < hp; j++)
{
for (int i = 0; i < wp; i++)
{
state[i, j] = new node();
}
}
setdimval(state, hp, wp);
settag(state, hp, wp);
setstatus(state, hp, wp, pixel, gx, gy, sx, sy);
state[gx, gy].h = 0.0;
state[gx, gy].k = 0.0;
insert(OpenList, state[gx, gy]);
double kold;
int iold, jold, ind;
node d = new node();
int[] si = new int[8];
int[] sj = new int[8];
do
{
d = (node)OpenList.Dequeue();
kold = d.k;
iold = d.ni;
jold = d.nj;
state[iold, jold].tag = "CLOSE";
vs(si, sj, iold, jold);
for (int i = 0; i < 8; i++)
{
int row = si[i], col = sj[i];
if ((row <= wp - 1 && row >= 0) && (col <= hp - 1 && col >= 0))
{
if (row != iold && col != jold)
{
crossmove(row, col, state[row, col], state[iold, jold], OpenList);
}
else
{
linemove(row, col, state[row, col], state[iold, jold], OpenList);
}
}
}
ind = OpenList.Count;
sortqueue(OpenList, state);
text2.Text = text2.Text + "[" + iold.ToString() + "," + jold.ToString() + "] " + state[iold, jold].k.ToString() + " - ";
} while (state[iold, jold].status != "START");
correnti = iold;
correntj = jold;
textBox4.Text = "Finished";
text2.Visible = true;
}
findpath(sender, e);
}
// // // // // // // // // // // // // // // // // // // // // // // // // // // // //
private void findpath(object sender, EventArgs e)
{
double[] mink = new double[1]; mink[0] = 100000;
int[] mi = new int[1]; mi[0] = 0;
int[] mj = new int[1]; mj[0] = 0;
int[] neighbori = new int[8];
int[] neighborj = new int[8];
int[] Mi = new int[4];
int[] Mj = new int[4];
string[] y = new string[4];
string[] z = new string[4];
double pathcoast = 0.0;
pathcoast += state[correnti, correntj].h;
int goali = gx;
int goalj = gy;
bool ddd = true;
textBox5.Text = textBox5.Text + "(" + correnti.ToString() + ", " + correntj.ToString() + ") - ";
do
{
vs(neighbori, neighborj, correnti, correntj);
mink[0] = 10000;
for (int i = 0; i < 8; i++)
{
int row = neighbori[i]; int col = neighborj[i];
if ((row <= wp - 1 && row >= 0) && (col <= hp - 1 && col >= 0) && (state[row, col].status != "OBSTACLE"))
{
k_min(row, col, state[row, col], mink, mi, mj);
}
}
int mii = mi[0]; int mjj = mj[0];
//To Here we find the minimum k value
Mi[0] = correnti + 1; Mj[0] = correntj + 1;
Mi[1] = correnti + 1; Mj[1] = correntj - 1;
Mi[2] = correnti - 1; Mj[2] = correntj + 1;
Mi[3] = correnti - 1; Mj[3] = correntj - 1;
if (correntj + 1 > hp - 1)
{
z[0] = "NULL";
}
else
{
z[0] = state[correnti, correntj + 1].status;
}
if (correntj - 1 < 0)
{
z[1] = "NULL";
}
else
{
z[1] = state[correnti, correntj - 1].status;
}
if (correnti - 1 < 0)
{
z[2] = "NULL";
}
else
{
z[2] = state[correnti - 1, correntj].status;
}
z[3] = z[1];
if (correnti + 1 > wp - 1)
{
y[0] = "NULL";
}
else
{
y[0] = state[correnti + 1, correntj].status;
}
y[1] = y[0];
if (correntj + 1 > hp - 1)
{
y[2] = "NULL";
}
else
{
y[2] = state[correnti, correntj + 1].status;
}
if (correnti - 1 < 0)
{
y[3] = "NULL";
}
else
{
y[3] = state[correnti - 1, correntj].status;
}
for (int ii = 0; ii < 4; ii++)
{
if (mii == Mi[ii] && mjj == Mj[ii])
{
if (y[ii] == "OBSTACLE" && z[ii] == "OBSTACLE")
{
state[mii, mjj].h = 10000;
state[mii, mjj].status = "OBSTACLE";
insert(OpenList, state[mii, mjj]);
int[] si = new int[8];
int[] sj = new int[8];
vs(si, sj, mii, mjj);
for (int i = 0; i < 8; i++)
{
if (state[si[i], sj[i]].tag == "CLOSE")
{
insert(OpenList, state[si[i], sj[i]]);
}
}
int iold, jold;
double kold;
bool good;
good = true;
sortqueue(OpenList, state);
do
{
node d = new node();
d = (node)OpenList.Dequeue();
kold = d.k;
iold = d.ni;
jold = d.nj;
state[iold, jold].tag = "CLOSE";
if (iold == correnti && jold == correntj)
{
good = false;
}
vs(si, sj, iold, jold);
if (kold == state[iold, jold].h)
{
for (int i = 0; i < 8; i++)
{
int r = si[i];
int c = sj[i];
if ((r <= wp - 1 && r >= 0) && (c <= hp - 1 && c >= 0))
{
double co = cost(iold, jold, r, c);
double tt = co + state[iold, jold].h;
if (state[r, c].tag == "NEW")
{
state[r, c].b = state[iold, jold];
state[r, c].h = tt;
state[r, c].k = tt;
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
else if (((state[r, c].b == state[iold, jold]) && (state[r, c].h != tt)) || ((state[r, c].b != state[iold, jold]) && ((float)state[r, c].h > (float)tt)))
{
if (state[r, c].status != "OBSTACLE")
{
state[r, c].b = state[iold, jold];
state[r, c].h = tt;
if (state[r, c].tag == "CLOSE")
{
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
}
}
}
}
}
if (kold < state[iold, jold].h)
{
for (int i = 0; i < 8; i++)
{
int r = si[i];
int c = sj[i];
if ((r <= wp - 1 && r >= 0) && (c <= hp - 1 && c >= 0))
{
double co = cost(iold, jold, r, c);
double tt = co + state[iold, jold].h;
if (state[r, c].tag == "NEW")
{
state[r, c].b = state[iold, jold];
state[r, c].h = tt;
state[r, c].k = tt;
insert(OpenList, state[r, c]);
}
else
{
if ((state[r, c].b == state[iold, jold]) && (state[r, c].h != tt))
{
state[r, c].b = state[iold, jold];
if (state[r, c].tag == "CLOSE")
{
if (state[iold, jold].h == 10000)
{
state[r, c].h = 10000;
}
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
else
{
state[r, c].h = tt;
if (state[r, c].h > 10000)
{
state[r, c].h = 10000;
}
}
}
else
{
if ((state[r, c].b != state[iold, jold]) && (state[r, c].h > tt))
{
state[iold, jold].k = tt;
insert(OpenList, state[iold, jold]);
sortqueue(OpenList, state);
}
else
{
if (state[r, c].b != state[iold, jold])
{
if (state[iold, jold].h > state[r, c].h + cost(iold, jold, r, c))
{
if (state[r, c].tag == "CLOSE")
{
if (state[r, c].h > kold)
{
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
}
}
}
}
}
}
}
}
}
} while (good);
bool end = true;
while (end)
{
node d = new node();
d = (node)OpenList.Dequeue();
kold = d.k;
iold = d.ni;
jold = d.nj;
state[iold, jold].tag = "CLOSE";
if (kold < state[correnti, correntj].h)
{
vs(si, sj, iold, jold);
if (kold == state[iold, jold].h)
{
for (int i = 0; i < 8; i++)
{
int r = si[i];
int c = sj[i];
if ((r <= wp - 1 && r >= 0) && (c <= hp - 1 && c >= 0))
{
double co = cost(iold, jold, r, c);
double tt = state[iold, jold].h + co;
if (state[r, c].tag == "NEW")
{
state[r, c].b = state[iold, jold];
state[r, c].h = state[iold, jold].h + co;
state[r, c].k = state[r, c].h;
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
else if (((state[r, c].b == state[iold, jold]) && ((float)state[r, c].h != (float)tt)) || ((state[r, c].b != state[iold, jold]) && ((float)state[r, c].h > (float)tt)))
{
if (state[r, c].status != "OBSTACLE")
{
state[r, c].b = state[iold, jold];
state[r, c].h = state[iold, jold].h + co;
state[r, c].k = state[r, c].h;
if (state[r, c].tag == "CLOSE")
{
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
}
}
}
}
}
else if (kold < state[iold, jold].h)
{
for (int i = 0; i < 8; i++)
{
int r = si[i];
int c = sj[i];
if ((r <= 4 && r >= 0) && (c <= 4 && c >= 0))
{
double co = cost(iold, jold, r, c);
double tt = state[iold, jold].h + co;
if (state[r, c].tag == "NEW")
{
state[r, c].b = state[iold, jold];
state[r, c].h = tt;
state[r, c].k = tt;
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
else if ((state[r, c].b == state[iold, jold]) && ((float)state[r, c].h != (float)tt))
{
state[r, c].b = state[iold, jold];
if (state[r, c].tag == "CLOSE")
{
state[r, c].h = tt;
if (state[r, c].h > 10000)
{
state[r, c].h = 10000;
}
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
}
else if ((state[r, c].b != state[iold, jold]) && ((float)state[r, c].h > (float)tt))
{
if (state[iold, jold].tag == "CLOSE")
{
state[iold, jold].k = state[iold, jold].h;
insert(OpenList, state[iold, jold]);
sortqueue(OpenList, state);
}
}
else if ((state[r, c].b != state[iold, jold]) && ((float)state[iold, jold].h > (float)(state[r, c].h + co)) && (state[r, c].tag == "CLOSE") && (state[r, c].h > (float)kold))
{
insert(OpenList, state[r, c]);
sortqueue(OpenList, state);
}
}
}
}
}
else
{
end = false;
OpenList.Enqueue(state[iold, jold]);
sortqueue(OpenList, state);
}
}
mii = correnti;
mjj = correntj;
}
}
}
correnti = mii;
correntj = mjj;
if ((correnti == goali) && (correntj == goalj))
{
ddd = false;
}
textBox5.Text = textBox5.Text + "(" + correnti.ToString() + ", " + correntj.ToString() + ") - ";
orb.SetPixel(correnti, correntj, Color.Green);
Form1.ActiveForm.Refresh();
pathcoast += state[correnti, correntj].h;
} while (ddd);
orb.SetPixel(correnti, correntj, Color.Gold);
textBox1.Text = pathcoast.ToString();
textBox5.Visible = true;
endtime = DateTime.Now;
TimeSpan duration = endtime - starttime;
int sec = duration.Seconds;
int milli = duration.Milliseconds;
textBox2.Text = sec.ToString() + " Sec , " + milli.ToString() + " MS";
Form1.ActiveForm.Refresh();
}
}//end of sortqueue
//INSERT THE ELEMENT S INTO OPENLIST
static void insert(Queue OpenList, node s)
{
s.tag = "OPEN";
OpenList.Enqueue(s);
}//end of insert