public static bool Overlap(TreeNode nd1, TreeNode nd2)
{
if (RRT.DistanceOf2PointsSquared(nd1.Position, nd2.Position) <= 4)
{
return(true);
}
return(false);
}
public TreeEdge AddNeighbour(TreeNode neighbour)
{
foreach (TreeEdge node in adjacentEdges)
{
if (node.Destination.GetID == this.index)
{
return(null);
}
}
TreeEdge edge = new TreeEdge(this, neighbour, RRT.DistanceOf2PointsSquared(this.position, neighbour.position));
adjacentEdges.AddFirst(edge);
return(edge);
}
private void buttonDrawPath_Click(object sender, EventArgs e)
{
if (colorOrder < 4)
{
comboBoxAttempts.Enabled = false;
Graphics g = this.CreateGraphics();
Pen myPen = new Pen(Brushes.LightGray, 2);
RRT rrtStartNode = new RRT(5, validLocations, height, width, primaryPoint, secondaryPoint, Convert.ToInt32(comboBoxStepSize.SelectedItem));
RRT rrtEndNode = new RRT(0, validLocations, height, width, secondaryPoint, primaryPoint, Convert.ToInt32(comboBoxStepSize.SelectedItem));
DateTime dt = DateTime.Now;
bool merged = rrtStartNode.MergeWith(rrtEndNode, Convert.ToInt32(comboBoxAttempts.SelectedItem), directPath);
if (merged)
{
foreach (TreeEdge te in rrtStartNode.Edges)
{
myPen.Color = colorSet[colorOrder];
g.DrawLine(myPen, te.Source.Position, te.Destination.Position);
}
foreach (TreeNode tn in rrtStartNode.Nodes)
{
DrawPoint(g, tn.Position, 1, Pens.Green);
}
textBoxNodes.Text = rrtStartNode.Nodes.Count.ToString();
textBoxEdges.Text = rrtStartNode.Edges.Count.ToString();
textBoxTrueTime.Text = (DateTime.Now.Subtract(dt).TotalMilliseconds).ToString();
colorOrder++;
labelToDo.Text = "Path found !";
}
else
{
labelToDo.Text = "Path not found !!!";
}
}
else
{
labelToDo.Text = "Available colors used," + Environment.NewLine + "press the Clear button";
buttonDrawPath.Enabled = false;
}
}
public bool MergeWith(RRT destinationTree, int numberOfAttempts, bool directPath)
{
RRT tree1 = this;
RRT tree2 = destinationTree;
TreeNode newnode1 = tree2.root;
for (int i = 0; i < numberOfAttempts; i++)
{
TreeNode rand = new TreeNode(TreeNode.RandomPoint(maxHeight, maxWidth, 1));
newnode1 = tree1.ExtendTreeRand(rand, 10, StepSize);
if (newnode1 != null)
{
TreeNode newnode2 = tree2.ExtendTree(newnode1, 10, StepSize);
if (newnode2 != null)
{
if (TreeNode.Overlap(newnode1, newnode2))
{
foreach (TreeEdge edge in destinationTree.treeEdges)
{
this.treeEdges.AddFirst(edge);
}
foreach (TreeNode tn in destinationTree.treeNodes)
{
this.treeNodes.AddFirst(tn);
}
return(true);
}
}
if (directPath)
{
RRT tmp = tree1;
tree1 = tree2;
tree2 = tmp;
}
}
}
return(false);
}
