private void MainForm_MouseClick(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
/// Source cell selection.
this.sourceCell = this.grid[e.X / CELL_SIZE, e.Y / CELL_SIZE];
}
else if (e.Button == MouseButtons.Right)
{
/// Target cell selection.
if (this.sourceCell == null)
{
return;
}
this.targetCell = this.grid[e.X / CELL_SIZE, e.Y / CELL_SIZE];
/// Execute the high-level pathfinding.
PathfindingAlgorithm <MC.Region> pathfinding =
new PathfindingAlgorithm <MC.Region>(this.sourceCell.GetRegion(OBJECT_SIZE), new GridTopologyGraph(this.targetCell, OBJECT_SIZE));
this.lastHighLevelResult = pathfinding.Run();
this.currentRegionIndex = 0;
this.currentStartCell = this.sourceCell;
/// Draw the result.
this.resultImageGC.Clear(Color.FromArgb(0, Color.White));
foreach (MC.Region currentRegion in this.lastHighLevelResult.ExploredNodes)
{
this.DrawRegion(currentRegion, Color.LightGray);
}
foreach (MC.Region currentRegion in this.lastHighLevelResult.Path)
{
this.DrawRegion(currentRegion, Color.Gray);
}
Console.WriteLine("Search time: {0} ms", this.lastHighLevelResult.ElapsedTime);
Console.WriteLine("Explored nodes: {0}", this.lastHighLevelResult.ExploredNodes.Count);
this.Invalidate();
}
else if (e.Button == MouseButtons.Middle)
{
if (this.currentRegionIndex == this.lastHighLevelResult.Path.Count)
{
return;
}
/// Execute the low-level pathfinding for the current region index.
IGraph <MC.Cell> graph = null;
if (this.currentRegionIndex < this.lastHighLevelResult.Path.Count - 1)
{
graph = new TransitRegionGraph(this.lastHighLevelResult.Path[this.currentRegionIndex], this.lastHighLevelResult.Path[this.currentRegionIndex + 1]);
}
else
{
graph = new TargetRegionGraph(this.lastHighLevelResult.Path[this.currentRegionIndex], this.targetCell);
}
PathfindingAlgorithm <MC.Cell> pathfinding =
new PathfindingAlgorithm <MC.Cell>(this.currentStartCell, graph);
this.lastLowLevelResult = pathfinding.Run();
this.currentRegionIndex++;
this.currentStartCell = this.lastLowLevelResult.Path.Last();
/// Draw the result.
foreach (MC.Cell currentCell in this.lastLowLevelResult.ExploredNodes)
{
this.resultImage.SetPixel(currentCell.Coords.X, currentCell.Coords.Y, Color.Red);
}
foreach (MC.Cell currentCell in this.lastLowLevelResult.Path)
{
this.resultImage.SetPixel(currentCell.Coords.X, currentCell.Coords.Y, Color.Yellow);
}
Console.WriteLine("Search time: {0} ms", this.lastLowLevelResult.ElapsedTime);
Console.WriteLine("Explored nodes: {0}", this.lastLowLevelResult.ExploredNodes.Count);
this.Invalidate();
}
}
