public void Expand()
{
//foreach (PixelNode temp in choices)
//{
// choices.RemoveAt(0);
//}
//System.Windows.Forms.MessageBox.Show(myCoord[0] + " " + myCoord[1]);
Form1.maze.SetPixel(myCoord[0], myCoord[1], Color.Green);
for (int i = 0; i < 9; i++)
{
if (i == 4)
{
continue;//don't need to expand same pixel;
}
PixelPath temp = new PixelPath(myPixel.path[i].getCoord()[0], myPixel.path[i].getCoord()[1], Form1.dimensions);
PixelNode choice = new PixelNode(temp, this);
if (choice.myPixel.checker[i] == true)
{
choice.depth = this.depth + 1;//add partial path cost increment in here
choice.myF.incPCost();;
choices.Add(choice);
}
else
{
//not a valid expansion choice, continue
continue;
}
}
}
public PixelNode(PixelPath pixel, PixelNode prevPixel)
{
myPixel = pixel;
myCoord = pixel.path[4].getCoord();
myF = new FCost(myCoord);
prev = prevPixel;
}
//HashSet<int[]> track = new HashSet<int[]>();
public PixelNode GSearch(int x, int y)
{
MessageBox.Show(x + " " + y);
int[] temp = { x, y };
// track.Add(temp);
PixelPath myPath = new PixelPath(x, y, dimensions);
pixel choice = new pixel(myPath.path[4].getCoord(), Color.Black);
if (myPath.path[4].getCoord()[0] == endX && myPath.path[4].getCoord()[1] == endY)
{
return(new PixelNode(myPath));
}
else if (x < 0 || y < 0)
{
return(null);
}
Heuristic fCost = new Heuristic();
for (int i = 0; i < 9; i++)
{
// if(track.Contains(myPath.path[i].getCoord()))
//{
// continue;
// }
Heuristic tempCost = new Heuristic(myPath.path[i].getCoord());
if (i == 4)
{
continue; //center pixel is the first pixel we account for and we don't want to stay there.
}
if (fCost.getHCost() > tempCost.getHCost())
{
if (myPath.checker[i] == true)
{
choice = myPath.path[i];
}
else
{
//invald pixel location, Skip!
}
}
}
int[] currentCoord = { choice.getCoord()[0], choice.getCoord()[1] };
if (currentCoord[0] == endX && currentCoord[1] == endY)
{
PixelPath end = new PixelPath(currentCoord[0], currentCoord[1], dimensions);
PixelNode myNode = new PixelNode(end);
return(myNode);
}
else if (choice.Equals(myPath.path[4]))
{
MessageBox.Show("We are not moving");
return(null);
}
else
{
return(GSearch(currentCoord[0], currentCoord[1]));
}
}
int depthLimit = 1000; //change for deeper or shallower search
public PixelNode ASearch()
{
Frontier myQueue = new Frontier();
PixelPath beginPixel, endPixel;
beginPixel = new PixelPath(startX, startY, dimensions);
endPixel = new PixelPath(endX, endY, dimensions);
HashSet <int[]> explored = new HashSet <int[]>();
PixelNode startNode = new PixelNode(beginPixel);
if (beginPixel.Equals(endPixel))
{//start and end is the same place. This line is here for satisfying the
//alogorithm rather than consistent application. I don't know if there is a situation that a pixel could be marked as red and blue
return(startNode);
}
myQueue.Add(startNode);
while (!myQueue.IsEmpty())
{
PixelNode temp = myQueue.PopTop();
if (temp == null || temp.depth == depthLimit)
{
MessageBox.Show("TempInvalid");
return(null);
}
else
{
if (explored.Contains(temp.myCoord))
{
continue;
//no reason to do anything, this pixel has been explored
}
else
{ //unexplored
if (temp.IsEnd())
{ //We found the end!
return(temp);
}
else
{//start processing pixelNode
temp.Expand();
foreach (PixelNode child in temp.choices)
{
if (!(myQueue.Contains(child)))
{//add children not in Queue
myQueue.Add(child);
}
}
explored.Add(temp.myCoord);
}
}
}
}
MessageBox.Show("We didn't find it");
return(null);
}