MinHeap added, A* working

Game1/Game1.cs

@@ -34,7 +34,7 @@ namespace Game1
 
 
             //Generates the map with some random values
-            input.init(graphics, new Vector2(8,8), 56, 1);                        //Generates the starting size
+            input.init(graphics, new Vector2(16,16), 56, 1);                        //Generates the starting size
             houseUnit.init(input.getTileSize(), input.getSpacing());                //Generates the house position
             tractorUnit.init(houseUnit.GetRectangle(), input);                      //Generates the Tractor
             tractorUnit.updateSizing(input, 0, houseUnit.getVector());              //Updates the first Size of the Tractor

Game1/Game1.csproj

@@ -50,6 +50,7 @@
     <Compile Include="Sources\Controlls\Input.cs" />
     <Compile Include="Sources\Objects\tractorPositionCorrector.cs" />
     <Compile Include="Sources\Pathing\A-Star\Astar.cs" />
+    <Compile Include="Sources\Pathing\A-Star\PathSaver\MinHeap.cs" />
     <Compile Include="Sources\Pathing\A-Star\PathSaver\Nodes.cs" />
     <Compile Include="Sources\Pathing\A-Star\PathSaver\Path.cs" />
     <Compile Include="Sources\Pathing\A-Star\PathSaver\PriorityQueue.cs" />

Game1/Sources/Crops/Crops.cs

@@ -37,15 +37,15 @@ class Crops
         }
         else if (Status == 2)
         {
-            return 20;
+            return 5;
         }
         else if (Status == 3)
         {
-            return 30;
+            return 20;
         }
         else
         {
-            return 40;
+            return 30;
         }
     }
     

Game1/Sources/Objects/Tractor.cs

@@ -104,11 +104,10 @@ class Tractor
             else
             {
                 //Sets a random Target
-                path = smartTractor.returnChoice(1);     
                 int xTarget = (int)TargetPosition.X / (sizeTile + Spacing);
                 int yTarget = (int)TargetPosition.Y / (sizeTile + Spacing);
                 currentTask = scoreSystem.MessageAndScore(farm.getCrop(xTarget, yTarget).Status, 1);
-                        
+                path = smartTractor.returnChoice(1);
             }
 
             TargetPosition = path.Reduce().getCords() * (sizeTile + Spacing);

Game1/Sources/Pathing/A-Star/Astar.cs

@@ -65,31 +65,41 @@ class Astar
     public Path FindPath()
     {
         Path path = new Path();
-        PriorityQueue openList = new PriorityQueue();
+        //PriorityQueue openList = new PriorityQueue();
-        PriorityQueue closedList = new PriorityQueue();
+        MinHeap openList = new MinHeap();
+        //PriorityQueue closedList = new PriorityQueue();
+        MinHeap closedList = new MinHeap();
         Nodes target = new Nodes(targetPos);
         Nodes startPos = new Nodes (tractorPos);
         Nodes current = null;
         int g = 0;
 
-        openList.Enqueue(startPos);
+        //openList.Enqueue(startPos);
+        openList.Insert(startPos);
 
-        while (openList.Count > 0)
+        //while (openList.Count > 0)
+        while (openList.GetSize() > 0)
         {
-            current = openList.Peek();
+            current = openList.getMin();
+            //current = openList.Peek();
             //g = current.getG();
-            closedList.Enqueue(current);
+            closedList.Insert(current);
-            openList.Dequeue();
+            //closedList.Enqueue(current);
+            openList.removeMin();
+            //openList.Dequeue();
 
-            if (closedList.Exists(target.getCords()))
+            if (current.getCords() == target.getCords())
                break;
 
+
+            //if (closedList.Exists(target.getCords()))
+            //   break;
+
             var adjacentNodes = GetAdjacentNodes(current.getCords());
             //g++;
-
             foreach(var adjacentNode in adjacentNodes)
             {
-                g = g + crops[(int)adjacentNode.getCords().X, (int)adjacentNode.getCords().Y].getCostOnMovement();
+                g = current.getG() + crops[(int)adjacentNode.getCords().X, (int)adjacentNode.getCords().Y].getCostOnMovement();
                 if (closedList.Exists(adjacentNode.getCords()))
                     continue;
                 if (!(openList.Exists(adjacentNode.getCords())))
@@ -99,7 +109,8 @@ class Astar
                     adjacentNode.setH(ComputeHScore(adjacentNode.getCords(), target.getCords()));
                     adjacentNode.calculateF();
                     adjacentNode.setParent(current);
-                    openList.Enqueue(adjacentNode);
+                    openList.Insert(adjacentNode);
+                    //openList.Enqueue(adjacentNode);
                 }
                 else
                 {
@@ -111,6 +122,7 @@ class Astar
                     }
                 }
             }
+            //openList.BuildMinHeap(openList.GetList());
         }
 
         while (current != null)
@@ -119,8 +131,10 @@ class Astar
             current = current.getParent();
         }
         path = path.FlipArray();
-        openList.Clear();
+        openList.deleteHeap();
-        closedList.Clear();
+        closedList.deleteHeap();
+        //openList.Clear();
+        //closedList.Clear();
         return path;
     }
 

Game1/Sources/Pathing/A-Star/PathSaver/MinHeap.cs

@@ -0,0 +1,195 @@
+using System;
+using System.Collections.Generic;
+using Microsoft.Xna.Framework;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+class MinHeap
+{
+    List<Nodes> arr = new List<Nodes>();
+    public MinHeap()
+    {
+        arr = new List<Nodes>();
+    }
+
+    public void Insert(Nodes value)
+    {
+        arr.Add(value);
+        siftUp(arr.Count - 1);
+    }
+
+    public void removeMin()
+    {
+        if (arr.Count == 0)
+        {
+            throw new Exception("Heap is empty!");
+        }
+        else
+        {
+            arr[0] = arr[arr.Count - 1];
+            arr.RemoveAt(arr.Count - 1);
+            if (arr.Count > 0)
+            {
+                siftDown(0);
+            }
+        }
+    }
+
+    private void siftUp(int index)
+    {
+        int parentIndex;
+        Nodes temp;
+        if (index != 0)
+        {
+            parentIndex = getParentIndex(index);
+            if (arr[parentIndex].getF() > arr[index].getF())
+            {
+                temp = arr[parentIndex];
+                arr[parentIndex] = arr[index];
+                arr[index] = temp;
+                siftUp(parentIndex);
+            }
+        }
+    }
+
+    private int getParentIndex(int index)
+    {
+        return (index - 1) / 2;
+    }
+
+    private void siftDown(int nodeIndex)
+    {
+        int leftChildIndex, rightChildIndex, minIndex;
+        Nodes tmp;
+
+        leftChildIndex = getLeftChildIndex(nodeIndex);
+
+        rightChildIndex = getRightChildIndex(nodeIndex);
+
+        if (rightChildIndex >= arr.Count)
+        {
+            if (leftChildIndex >= arr.Count)
+            {
+                return;
+            }
+            else
+            {
+                minIndex = leftChildIndex;
+            }
+        }
+        else
+        {
+            if (arr[leftChildIndex].getF() <= arr[rightChildIndex].getF())
+            {
+                minIndex = leftChildIndex;
+            }
+            else
+            {
+                minIndex = rightChildIndex;
+            }
+        }
+        if (arr[nodeIndex].getF() > arr[minIndex].getF())
+        {
+            tmp = arr[minIndex];
+
+            arr[minIndex] = arr[nodeIndex];
+
+            arr[nodeIndex] = tmp;
+
+            siftDown(minIndex);
+        }
+    }
+
+    private int getRightChildIndex(int nodeIndex)
+    {
+        return (2 * nodeIndex) + 2;
+    }
+
+    private int getLeftChildIndex(int nodeIndex)
+    {
+        return (2 * nodeIndex) + 1;
+    }
+
+    public Nodes getMin()
+    {
+        return arr[0];
+    }
+
+    public void BuildMinHeap(List<Nodes> input)
+    {
+        if (arr.Count > 0)
+        {
+            //clear the current heap
+            //Array.Resize(ref arr, input.Length);
+            //heapSize = 0;
+            for (int i = 0; i < arr.Count; i++)
+            {
+                arr[i] = input[i];
+            }
+        }
+        for (int i = arr.Count - 1 / 2; i >= 0; i--)
+        {
+            MinHeapify(i);
+        }
+    }
+
+    private void MinHeapify(int index)
+    {
+        int left = 2 * index;
+        int right = (2 * index) + 1;
+        int smallest = index;
+        if (left < arr.Count && arr[left].getF() < arr[index].getF())
+        {
+            smallest = left;
+        }
+        else
+        {
+            smallest = index;
+        }
+        if (right < arr.Count && arr[right].getF() < arr[smallest].getF())
+        {
+            smallest = right;
+        }
+        if (smallest != index)
+        {
+            swap(ref arr, index, smallest);
+            MinHeapify(smallest);
+        }
+    }
+
+    private void swap(ref List<Nodes> input, int a, int b)
+    {
+        Nodes temp = input[a];
+        input[a] = input[b];
+        input[b] = temp;
+    }
+
+    public int GetSize()
+    {
+        return arr.Count;
+    }
+
+    public Boolean Exists(Vector2 coordinates)
+    {
+        if (arr.Count == 0)
+            return false;
+        foreach (Nodes node in arr)
+        {
+            if (node.getCords() == coordinates)
+                return true;
+        }
+        return false;
+    }
+
+    public List<Nodes> GetList()
+    {
+        return arr;
+    }
+
+    public void deleteHeap()
+        {
+            arr.Clear();
+        }
+
+}

Game1/Sources/Pathing/A-Star/PathSaver/Path.cs

@@ -27,7 +27,7 @@ class Path
         {
             nodes[i] = nodes[i + 1];
         }
-
+        nodes[Count + 1] = null;
         return temp;
     }
 

Game1/Sources/Pathing/A-Star/PathSaver/PriorityQueue.cs

@@ -25,6 +25,7 @@ class PriorityQueue
         list.Add(x);
         int i = Count - 1;
 
+        
         while (i > 0)
         {
             int p = (i - 1) / 2;
@@ -35,6 +36,7 @@ class PriorityQueue
         }
 
         if (Count > 0) list[i] = x;
+        
     }
 
     public void Dequeue()