private void timer1_Tick(object sender, EventArgs e)
{
int winner = 0;
for (int i = 0; i < openSet.Count; i++)
{
if (openSet[i].f < openSet[winner].f)
{
winner = i;
}
}
Spot current = openSet[winner];
Spot temp = current;
if (openSet[winner] == end)
{
path.Add(temp);
while (temp.previous != null)
{
path.Add(temp.previous);
temp = temp.previous;
}
Debug.WriteLine("DONE!");
timer1.Enabled = false;
}
removeFromArray(openSet, current);
closeSet.Add(current);
List <Spot> neighbors = current.neighbors;
for (int i = 0; i < neighbors.Count; i++)
{
Spot neighbor = neighbors[i];
if (!closeSet.Exists(u => u == neighbor) && !neighbor.wall)
{
double tempG = current.g + 1;
if (openSet.Exists(u => u == neighbor))
{
if (tempG < neighbor.g)
{
neighbor.g = tempG;
}
}
else
{
neighbor.g = tempG;
openSet.Add(neighbor);
}
neighbor.h = heuristic(neighbor, end);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
}
}
foreach (Spot item in openSet)
{
item.Fill(g, Brushes.Green);
}
foreach (Spot item in closeSet)
{
item.Fill(g, Brushes.Red);
}
foreach (Spot item in path)
{
item.Fill(g, Brushes.Blue);
}
}
public void FindPath(Object obj)
{
try
{
KeyValuePair <Point, Spot> FirstPair = Spots.First();
FirstPair.Value.GScore = 0;
FirstPair.Value.HScore = PointFunctions.DistanceTo(FirstPair.Value.Point, End);
OpenSet.Add(FirstPair);
while (OpenSet.Count > 0)
{
Spot Current = OpenSet.ToList().OrderBy(p => p.Value.FScore).First().Value;
Console.WriteLine("Current point is: " + Current.Point.ToString());
Invalidate();
if (Current.Point == End)
{
Current.Color = Color.Blue;
bool Searching = true;
while (Searching)
{
if (Current.CameFrom.Value != null)
{
Current.CameFrom.Value.Color = Color.Blue;
Current.CameFrom.Value.OnBestPath = true;
Current = Current.CameFrom.Value;
}
else
{
Searching = false;
}
}
Spots.ToList().ForEach(s =>
{
if (!s.Value.OnBestPath && !s.Value.IsObstacle)
{
s.Value.Color = Color.White;
Invalidate();
}
});
Invalidate();
Console.WriteLine("Done!");
break;
}
ClosedSet.Add(Current.Point, Current);
OpenSet.Remove(Current.Point);
int tempG = 0;
foreach (KeyValuePair <Point, Spot> neighbour in Current.Neibhours)
{
if (ClosedSet.Contains(neighbour) || neighbour.Value.IsObstacle)
{
continue;
}
tempG = Current.GScore + PointFunctions.DistanceTo(Current.Point, neighbour.Key);
if (!OpenSet.Contains(neighbour))
{
OpenSet.Add(neighbour);
}
else if (tempG >= neighbour.Value.GScore)
{
continue;
}
neighbour.Value.GScore = tempG;
neighbour.Value.HScore = PointFunctions.DistanceTo(neighbour.Key, End);
neighbour.Value.CameFrom = new KeyValuePair <Point, Spot>(Current.Point, Current);
}
Invalidate();
}
}
catch (Exception ex)
{
Console.WriteLine(ex.StackTrace);
System.Diagnostics.Debugger.Break();
throw;
}
}