From ff8be9c68e3b10da05f86fc7225bacb82d6fb26f Mon Sep 17 00:00:00 2001 From: Karol Piotrowski Date: Sun, 24 May 2020 11:57:35 +0000 Subject: [PATCH] Zaktualizuj 'Main.cpp' --- Main.cpp | 1162 +++++++++++++++++++++++++++--------------------------- 1 file changed, 581 insertions(+), 581 deletions(-) diff --git a/Main.cpp b/Main.cpp index b087e21..3e8373e 100644 --- a/Main.cpp +++ b/Main.cpp @@ -1,606 +1,606 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; - -const float maxFloat=FLT_MAX; -const int ROW = 27; -const int COL = 27; -typedef pair Pair; -typedef pair> pPair; -struct cell -{ - int parent_i, parent_j; - double f, g, h; -}; - -char pole[27][27][2]; -int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1; -char currentWay = 'S'; - -void color(string foregroundColor, string backgroundColor) -{ - HANDLE hOut; - hOut = GetStdHandle(STD_OUTPUT_HANDLE); - int foregroundCode = 15; - if (foregroundColor == "black") - foregroundCode = 0; - if (foregroundColor == "dark_blue") - foregroundCode = 1; - if (foregroundColor == "green") - foregroundCode = 2; - if (foregroundColor == "cyan") - foregroundCode = 3; - if (foregroundColor == "dark_red") - foregroundCode = 4; - if (foregroundColor == "purple") - foregroundCode = 5; - if (foregroundColor == "dark_yellow") - foregroundCode = 6; - if (foregroundColor == "light_gray") - foregroundCode = 7; - if (foregroundColor == "gray") - foregroundCode = 8; - if (foregroundColor == "blue") - foregroundCode = 9; - if (foregroundColor == "lime") - foregroundCode = 10; - if (foregroundColor == "light_blue") - foregroundCode = 11; - if (foregroundColor == "red") - foregroundCode = 12; - if (foregroundColor == "magenta") - foregroundCode = 13; - if (foregroundColor == "yellow") - foregroundCode = 14; - if (foregroundColor == "white") - foregroundCode = 15; - - int backgroundCode = 0; - if (backgroundColor == "black") - backgroundCode = 0; - if (backgroundColor == "dark_blue") - backgroundCode = 1; - if (backgroundColor == "green") - backgroundCode = 2; - if (backgroundColor == "cyan") - backgroundCode = 3; - if (backgroundColor == "dark_red") - backgroundCode = 4; - if (backgroundColor == "purple") - backgroundCode = 5; - if (backgroundColor == "dark_yellow") - backgroundCode = 6; - if (backgroundColor == "light_gray") - backgroundCode = 7; - if (backgroundColor == "gray") - backgroundCode = 8; - if (backgroundColor == "blue") - backgroundCode = 9; - if (backgroundColor == "lime") - backgroundCode = 10; - if (backgroundColor == "light_blue") - backgroundCode = 11; - if (backgroundColor == "red") - backgroundCode = 12; - if (backgroundColor == "magenta") - backgroundCode = 13; - if (backgroundColor == "yellow") - backgroundCode = 14; - if (backgroundColor == "white") - backgroundCode = 15; - SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode * 16); -} - -void SetWindow(int Width, int Height) -{ - _COORD coord; - coord.X = Width; - coord.Y = Height; - - _SMALL_RECT Rect; - Rect.Top = 0; - Rect.Left = 0; - Rect.Bottom = Height - 1; - Rect.Right = Width - 1; - - HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE); // Get Handle - SetConsoleScreenBufferSize(Handle, coord); // Set Buffer Size - SetConsoleWindowInfo(Handle, TRUE, &Rect); // Set Window Size -} - -void updatePola() -{ - system("cls"); - for (int i = 0; i < 27; i++) - { - for (int j = 0; j < 27; j++) - { - char item = pole[i][j][0]; - switch (item) - { - case 'B': - { - color("purple", "dark_yellow"); - }break; - case 'T': - { - color("red", "dark_yellow"); - }break; - case 'G': - { - color("lime", "dark_yellow"); - }break; - case '.': - { - color("yellow", "dark_yellow"); - }break; - case '#': - { - color("light_gray", "gray"); - }break; - } - cout << pole[i][j][0]; - - } - cout << endl; - color("white", "black"); - } -} - -void correctMovement(char wantedWay) -{ - while (currentWay != wantedWay) - { - switch (currentWay) - { +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +const float maxFloat=FLT_MAX; +const int ROW = 27; +const int COL = 27; +typedef pair Pair; +typedef pair> pPair; +struct cell +{ + int parent_i, parent_j; + double f, g, h; +}; + +char pole[27][27][2]; +int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1; +char currentWay = 'S'; + +void color(string foregroundColor, string backgroundColor) +{ + HANDLE hOut; + hOut = GetStdHandle(STD_OUTPUT_HANDLE); + int foregroundCode = 15; + if (foregroundColor == "black") + foregroundCode = 0; + if (foregroundColor == "dark_blue") + foregroundCode = 1; + if (foregroundColor == "green") + foregroundCode = 2; + if (foregroundColor == "cyan") + foregroundCode = 3; + if (foregroundColor == "dark_red") + foregroundCode = 4; + if (foregroundColor == "purple") + foregroundCode = 5; + if (foregroundColor == "dark_yellow") + foregroundCode = 6; + if (foregroundColor == "light_gray") + foregroundCode = 7; + if (foregroundColor == "gray") + foregroundCode = 8; + if (foregroundColor == "blue") + foregroundCode = 9; + if (foregroundColor == "lime") + foregroundCode = 10; + if (foregroundColor == "light_blue") + foregroundCode = 11; + if (foregroundColor == "red") + foregroundCode = 12; + if (foregroundColor == "magenta") + foregroundCode = 13; + if (foregroundColor == "yellow") + foregroundCode = 14; + if (foregroundColor == "white") + foregroundCode = 15; + + int backgroundCode = 0; + if (backgroundColor == "black") + backgroundCode = 0; + if (backgroundColor == "dark_blue") + backgroundCode = 1; + if (backgroundColor == "green") + backgroundCode = 2; + if (backgroundColor == "cyan") + backgroundCode = 3; + if (backgroundColor == "dark_red") + backgroundCode = 4; + if (backgroundColor == "purple") + backgroundCode = 5; + if (backgroundColor == "dark_yellow") + backgroundCode = 6; + if (backgroundColor == "light_gray") + backgroundCode = 7; + if (backgroundColor == "gray") + backgroundCode = 8; + if (backgroundColor == "blue") + backgroundCode = 9; + if (backgroundColor == "lime") + backgroundCode = 10; + if (backgroundColor == "light_blue") + backgroundCode = 11; + if (backgroundColor == "red") + backgroundCode = 12; + if (backgroundColor == "magenta") + backgroundCode = 13; + if (backgroundColor == "yellow") + backgroundCode = 14; + if (backgroundColor == "white") + backgroundCode = 15; + SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode * 16); +} + +void SetWindow(int Width, int Height) +{ + _COORD coord; + coord.X = Width; + coord.Y = Height; + + _SMALL_RECT Rect; + Rect.Top = 0; + Rect.Left = 0; + Rect.Bottom = Height - 1; + Rect.Right = Width - 1; + + HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE); // Get Handle + SetConsoleScreenBufferSize(Handle, coord); // Set Buffer Size + SetConsoleWindowInfo(Handle, TRUE, &Rect); // Set Window Size +} + +void updatePola() +{ + system("cls"); + for (int i = 0; i < 27; i++) + { + for (int j = 0; j < 27; j++) + { + char item = pole[i][j][0]; + switch (item) + { + case 'B': + { + color("purple", "dark_yellow"); + }break; + case 'T': + { + color("red", "dark_yellow"); + }break; + case 'G': + { + color("lime", "dark_yellow"); + }break; + case '.': + { + color("yellow", "dark_yellow"); + }break; + case '#': + { + color("light_gray", "gray"); + }break; + } + cout << pole[i][j][0]; + + } + cout << endl; + color("white", "black"); + } +} + +void correctMovement(char wantedWay) +{ + while (currentWay != wantedWay) + { + switch (currentWay) + { case 'N': { if (wantedWay == 'S') currentWay = wantedWay; else currentWay = 'W'; - }break; + }break; case 'S': { if (wantedWay == 'N') currentWay = wantedWay; else currentWay = 'W'; - }break; + }break; case 'W': { if (wantedWay == 'E') currentWay = wantedWay; else currentWay = 'N'; - }break; + }break; case 'E': { if (wantedWay == 'W') currentWay = wantedWay; else currentWay = 'N'; - }break; - } - } -} -void Move(char kierunek) -{ - switch (kierunek) - { - //góra-(w) - case 'w': - { - if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#') - { - correctMovement('N'); - pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.'; - pozycjaTraktoraY--; - pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T'; - } - updatePola(); - }break; - //dół-(s) - case 's': - { - if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#') - { - correctMovement('S'); - pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.'; - pozycjaTraktoraY++; - pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T'; - } - updatePola(); - }break; - //lewo-(a) - case 'a': - { - if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#') - { - correctMovement('W'); - pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.'; - pozycjaTraktoraX--; - pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T'; - } - updatePola(); - }break; - //prawo-(d) - case 'd': - { - if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#') - { - correctMovement('E'); - pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.'; - pozycjaTraktoraX++; - pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T'; - } - updatePola(); - }break; - } -} - -bool isValid(int x, int y) -{ - if (pole[x][y][0] != '#') - { - return true; - } - return false; -} -bool isDestination(int x, int y,Pair dest) -{ - if (dest.first == x && dest.second == y) - { - return true; - } - return false; -} -double calculateHValue(int x, int y, Pair dest) -{ - return abs(x - dest.first) + abs(y - dest.second); -} -void tracePath(cell cellDetails[][COL], Pair dest) -{ - //printf("\nThe Path is "); //----start info - int row = dest.first; - int col = dest.second; - - stack Path; - - while (!(cellDetails[row][col].parent_i == row - && cellDetails[row][col].parent_j == col)) - { - Path.push(make_pair(row, col)); - int temp_row = cellDetails[row][col].parent_i; - int temp_col = cellDetails[row][col].parent_j; - row = temp_row; - col = temp_col; - } - - Path.push(make_pair(row, col)); - while (!Path.empty()) - { - pair p = Path.top(); - Path.pop(); - if (p.first > pozycjaTraktoraX) - Move('d'); - if (p.first < pozycjaTraktoraX) - Move('a'); - if (p.second > pozycjaTraktoraY) - Move('s'); - if (p.second < pozycjaTraktoraY) - Move('w'); - - //printf("-> (%d,%d) ", p.first, p.second); //---- informacja wierzchołku - Sleep(1000); - } - - return; -} -void aStarSearch(int grid[][COL],Pair src, Pair dest) -{ - bool closedList[ROW][COL]; - memset(closedList, false, sizeof(closedList)); - - cell cellDetails[ROW][COL]; - - int i, j; - for (i = 0; i < ROW; i++) - { - for (j = 0; j < COL; j++) - { - cellDetails[i][j].f = maxFloat; - cellDetails[i][j].g = maxFloat; - cellDetails[i][j].h = maxFloat; - cellDetails[i][j].parent_i = -1; - cellDetails[i][j].parent_j = -1; - } - } - i = src.first, j = src.second; - cellDetails[i][j].f = 0.0; - cellDetails[i][j].g = 0.0; - cellDetails[i][j].h = 0.0; - cellDetails[i][j].parent_i = i; - cellDetails[i][j].parent_j = j; - - set openList; - openList.insert(make_pair(0.0, make_pair(i, j))); - bool foundDest = false; - - while (!openList.empty()) - { - pPair p = *openList.begin(); - openList.erase(openList.begin()); - i = p.second.first; - j = p.second.second; - closedList[i][j] = true; - - double gNew, hNew, fNew; - double waga = 1.0; - waga = ((double)pole[j][i][1] - 48)*1.0;//----waga - - //----------- 1st Successor (North) ------------ - if (isValid(i - 1, j) == true) - { - if (isDestination(i - 1, j, dest) == true) - { - cellDetails[i - 1][j].parent_i = i; - cellDetails[i - 1][j].parent_j = j; - //printf("The destination cell is found\n"); - tracePath(cellDetails, dest); - foundDest = true; - return; - } - else if (closedList[i - 1][j] == false) - { - gNew = cellDetails[i][j].g + waga; - hNew = calculateHValue(i - 1, j, dest); - fNew = gNew + hNew; - - if (cellDetails[i - 1][j].f == maxFloat || - cellDetails[i - 1][j].f > fNew) - { - openList.insert(make_pair(fNew, - make_pair(i - 1, j))); - - - cellDetails[i - 1][j].f = fNew; - cellDetails[i - 1][j].g = gNew; - cellDetails[i - 1][j].h = hNew; - cellDetails[i - 1][j].parent_i = i; - cellDetails[i - 1][j].parent_j = j; - } - } - } - - //----------- 2nd Successor (South) ------------ - if (isValid(i + 1, j) == true) - { - if (isDestination(i + 1, j, dest) == true) - { - cellDetails[i + 1][j].parent_i = i; - cellDetails[i + 1][j].parent_j = j; - //printf("The destination cell is found\n"); - tracePath(cellDetails, dest); - foundDest = true; - return; - } - else if (closedList[i + 1][j] == false) - { - gNew = cellDetails[i][j].g + waga; - hNew = calculateHValue(i + 1, j, dest); - fNew = gNew + hNew; - if (cellDetails[i + 1][j].f == maxFloat || - cellDetails[i + 1][j].f > fNew) - { - openList.insert(make_pair(fNew, make_pair(i + 1, j))); - cellDetails[i + 1][j].f = fNew; - cellDetails[i + 1][j].g = gNew; - cellDetails[i + 1][j].h = hNew; - cellDetails[i + 1][j].parent_i = i; - cellDetails[i + 1][j].parent_j = j; - } - } - } - - //----------- 3rd Successor (East) ------------ - if (isValid(i, j + 1) == true) - { - if (isDestination(i, j + 1, dest) == true) - { - cellDetails[i][j + 1].parent_i = i; - cellDetails[i][j + 1].parent_j = j; - //printf("The destination cell is found\n"); - tracePath(cellDetails, dest); - foundDest = true; - return; - } - else if (closedList[i][j + 1] == false) - { - gNew = cellDetails[i][j].g + waga; - hNew = calculateHValue(i, j + 1, dest); - fNew = gNew + hNew; - if (cellDetails[i][j + 1].f == maxFloat || - cellDetails[i][j + 1].f > fNew) - { - openList.insert(make_pair(fNew, - make_pair(i, j + 1))); - cellDetails[i][j + 1].f = fNew; - cellDetails[i][j + 1].g = gNew; - cellDetails[i][j + 1].h = hNew; - cellDetails[i][j + 1].parent_i = i; - cellDetails[i][j + 1].parent_j = j; - } - } - } - - //----------- 4th Successor (West) ------------ - if (isValid(i, j - 1) == true) - { - if (isDestination(i, j - 1, dest) == true) - { - cellDetails[i][j - 1].parent_i = i; - cellDetails[i][j - 1].parent_j = j; - //printf("The destination cell is found\n"); - tracePath(cellDetails, dest); - foundDest = true; - return; - } - else if (closedList[i][j - 1] == false) - { - gNew = cellDetails[i][j].g + waga; - hNew = calculateHValue(i, j - 1, dest); - fNew = gNew + hNew; - if (cellDetails[i][j - 1].f == maxFloat || - cellDetails[i][j - 1].f > fNew) - { - openList.insert(make_pair(fNew, - make_pair(i, j - 1))); - cellDetails[i][j - 1].f = fNew; - cellDetails[i][j - 1].g = gNew; - cellDetails[i][j - 1].h = hNew; - cellDetails[i][j - 1].parent_i = i; - cellDetails[i][j - 1].parent_j = j; - } - } - } - } - - /*if (foundDest == false) - printf("Failed to find the Destination Cell\n");*/ - - return; -} - -void gogo(int endX,int endY) -{ - updatePola(); - Sleep(1000); - int grid[27][27]; - for (int i = 0; i < 27; i++) - { - for (int j = 0; j < 27; j++) - { - grid[i][j] = 0; - } - } - Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY); - Pair dest = make_pair(endX, endY); - aStarSearch(grid, src, dest); -} - -void test1() -{ - pole[1][3][0] = 'B'; - pole[1][3][1] = '9'; - pole[3][1][0] = 'B'; - pole[3][1][1] = '9'; -} -void test2() -{ - for (int i = 1; i < 26; i++) - { - for (int j = 1; j < i; j++) - { - pole[i][j][0] = 'B'; - pole[i][j][1] = '9'; - } - } - test1(); - updatePola(); -} - -void start1() -{ - int goalX = 3, goalY = 4; - test1(); - pole[1][1][0] = 'T'; - pole[1][1][1] = '1'; - pole[goalY][goalX][0] = 'G'; - pole[goalY][goalX][1] = '9'; - gogo(goalX, goalY); -} -void start2() -{ - int goalX = 6, goalY = 6; - test2(); - pole[1][1][0] = 'T'; - pole[1][1][1] = '1'; - pole[goalY][goalX][0] = 'G'; - pole[goalY][goalX][1] = '9'; - gogo(goalX, goalY); -} -void start3() -{ - int goalX = 6, goalY = 9; - test2(); - pole[1][1][0] = 'T'; - pole[1][1][1] = '1'; - pole[goalY][goalX][0] = 'G'; - pole[goalY][goalX][1] = '9'; - gogo(goalX, goalY); -} - -int main() -{ - SetWindow(50, 30); - //create pola// - for (int i = 0; i < 27; i++) - { - pole[i][0][0] = '#'; - pole[0][i][0] = '#'; - pole[26][i][0] = '#'; - pole[i][26][0] = '#'; - pole[i][0][1] = '9'; - pole[0][i][1] = '9'; - pole[26][i][1] = '9'; - pole[i][26][1] = '9'; - } - for (int i = 1; i < 26; i++) - { - for (int j = 1; j < 26; j++) - { - pole[i][j][0] = '.'; - pole[i][j][1] = '1'; - } - } - - for (int i = 0; i < 25; i++) - { - pole[i + 1][i + 1][0] = 'B'; - pole[i + 1][i + 1][1] = '9'; - } - - updatePola(); - - start3(); // testy start 1-3 - - //---------start---------// - bool traktorDziala = true; - - char akcja; - - do - { - akcja = _getch(); - if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd') - { - Move(akcja); - } - if (akcja == '0') - { - traktorDziala = false; - } - } while (traktorDziala); - //---------end---------// - - return 0; + }break; + } + } +} +void Move(char kierunek) +{ + switch (kierunek) + { + //góra-(w) + case 'w': + { + if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#') + { + correctMovement('N'); + pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.'; + pozycjaTraktoraY--; + pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T'; + } + updatePola(); + }break; + //dół-(s) + case 's': + { + if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#') + { + correctMovement('S'); + pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.'; + pozycjaTraktoraY++; + pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T'; + } + updatePola(); + }break; + //lewo-(a) + case 'a': + { + if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#') + { + correctMovement('W'); + pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.'; + pozycjaTraktoraX--; + pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T'; + } + updatePola(); + }break; + //prawo-(d) + case 'd': + { + if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#') + { + correctMovement('E'); + pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.'; + pozycjaTraktoraX++; + pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T'; + } + updatePola(); + }break; + } +} + +bool isValid(int x, int y) +{ + if (pole[x][y][0] != '#') + { + return true; + } + return false; +} +bool isDestination(int x, int y,Pair dest) +{ + if (dest.first == x && dest.second == y) + { + return true; + } + return false; +} +double calculateHValue(int x, int y, Pair dest) +{ + return abs(x - dest.first) + abs(y - dest.second); +} +void tracePath(cell cellDetails[][COL], Pair dest) +{ + //printf("\nThe Path is "); //----start info + int row = dest.first; + int col = dest.second; + + stack Path; + + while (!(cellDetails[row][col].parent_i == row + && cellDetails[row][col].parent_j == col)) + { + Path.push(make_pair(row, col)); + int temp_row = cellDetails[row][col].parent_i; + int temp_col = cellDetails[row][col].parent_j; + row = temp_row; + col = temp_col; + } + + Path.push(make_pair(row, col)); + while (!Path.empty()) + { + pair p = Path.top(); + Path.pop(); + if (p.first > pozycjaTraktoraX) + Move('d'); + if (p.first < pozycjaTraktoraX) + Move('a'); + if (p.second > pozycjaTraktoraY) + Move('s'); + if (p.second < pozycjaTraktoraY) + Move('w'); + + //printf("-> (%d,%d) ", p.first, p.second); //---- informacja wierzchołku + Sleep(1000); + } + + return; +} +void aStarSearch(int grid[][COL],Pair src, Pair dest) +{ + bool closedList[ROW][COL]; + memset(closedList, false, sizeof(closedList)); + + cell cellDetails[ROW][COL]; + + int i, j; + for (i = 0; i < ROW; i++) + { + for (j = 0; j < COL; j++) + { + cellDetails[i][j].f = maxFloat; + cellDetails[i][j].g = maxFloat; + cellDetails[i][j].h = maxFloat; + cellDetails[i][j].parent_i = -1; + cellDetails[i][j].parent_j = -1; + } + } + i = src.first, j = src.second; + cellDetails[i][j].f = 0.0; + cellDetails[i][j].g = 0.0; + cellDetails[i][j].h = 0.0; + cellDetails[i][j].parent_i = i; + cellDetails[i][j].parent_j = j; + + set openList; + openList.insert(make_pair(0.0, make_pair(i, j))); + bool foundDest = false; + + while (!openList.empty()) + { + pPair p = *openList.begin(); + openList.erase(openList.begin()); + i = p.second.first; + j = p.second.second; + closedList[i][j] = true; + + double gNew, hNew, fNew; + double waga = 1.0; + waga = ((double)pole[j][i][1] - 48)*1.0;//----waga + + //----------- 1st Successor (North) ------------ + if (isValid(i - 1, j) == true) + { + if (isDestination(i - 1, j, dest) == true) + { + cellDetails[i - 1][j].parent_i = i; + cellDetails[i - 1][j].parent_j = j; + //printf("The destination cell is found\n"); + tracePath(cellDetails, dest); + foundDest = true; + return; + } + else if (closedList[i - 1][j] == false) + { + gNew = cellDetails[i][j].g + waga; + hNew = calculateHValue(i - 1, j, dest); + fNew = gNew + hNew; + + if (cellDetails[i - 1][j].f == maxFloat || + cellDetails[i - 1][j].f > fNew) + { + openList.insert(make_pair(fNew, + make_pair(i - 1, j))); + + + cellDetails[i - 1][j].f = fNew; + cellDetails[i - 1][j].g = gNew; + cellDetails[i - 1][j].h = hNew; + cellDetails[i - 1][j].parent_i = i; + cellDetails[i - 1][j].parent_j = j; + } + } + } + + //----------- 2nd Successor (South) ------------ + if (isValid(i + 1, j) == true) + { + if (isDestination(i + 1, j, dest) == true) + { + cellDetails[i + 1][j].parent_i = i; + cellDetails[i + 1][j].parent_j = j; + //printf("The destination cell is found\n"); + tracePath(cellDetails, dest); + foundDest = true; + return; + } + else if (closedList[i + 1][j] == false) + { + gNew = cellDetails[i][j].g + waga; + hNew = calculateHValue(i + 1, j, dest); + fNew = gNew + hNew; + if (cellDetails[i + 1][j].f == maxFloat || + cellDetails[i + 1][j].f > fNew) + { + openList.insert(make_pair(fNew, make_pair(i + 1, j))); + cellDetails[i + 1][j].f = fNew; + cellDetails[i + 1][j].g = gNew; + cellDetails[i + 1][j].h = hNew; + cellDetails[i + 1][j].parent_i = i; + cellDetails[i + 1][j].parent_j = j; + } + } + } + + //----------- 3rd Successor (East) ------------ + if (isValid(i, j + 1) == true) + { + if (isDestination(i, j + 1, dest) == true) + { + cellDetails[i][j + 1].parent_i = i; + cellDetails[i][j + 1].parent_j = j; + //printf("The destination cell is found\n"); + tracePath(cellDetails, dest); + foundDest = true; + return; + } + else if (closedList[i][j + 1] == false) + { + gNew = cellDetails[i][j].g + waga; + hNew = calculateHValue(i, j + 1, dest); + fNew = gNew + hNew; + if (cellDetails[i][j + 1].f == maxFloat || + cellDetails[i][j + 1].f > fNew) + { + openList.insert(make_pair(fNew, + make_pair(i, j + 1))); + cellDetails[i][j + 1].f = fNew; + cellDetails[i][j + 1].g = gNew; + cellDetails[i][j + 1].h = hNew; + cellDetails[i][j + 1].parent_i = i; + cellDetails[i][j + 1].parent_j = j; + } + } + } + + //----------- 4th Successor (West) ------------ + if (isValid(i, j - 1) == true) + { + if (isDestination(i, j - 1, dest) == true) + { + cellDetails[i][j - 1].parent_i = i; + cellDetails[i][j - 1].parent_j = j; + //printf("The destination cell is found\n"); + tracePath(cellDetails, dest); + foundDest = true; + return; + } + else if (closedList[i][j - 1] == false) + { + gNew = cellDetails[i][j].g + waga; + hNew = calculateHValue(i, j - 1, dest); + fNew = gNew + hNew; + if (cellDetails[i][j - 1].f == maxFloat || + cellDetails[i][j - 1].f > fNew) + { + openList.insert(make_pair(fNew, + make_pair(i, j - 1))); + cellDetails[i][j - 1].f = fNew; + cellDetails[i][j - 1].g = gNew; + cellDetails[i][j - 1].h = hNew; + cellDetails[i][j - 1].parent_i = i; + cellDetails[i][j - 1].parent_j = j; + } + } + } + } + + /*if (foundDest == false) + printf("Failed to find the Destination Cell\n");*/ + + return; +} + +void gogo(int endX,int endY) +{ + updatePola(); + Sleep(1000); + int grid[27][27]; + for (int i = 0; i < 27; i++) + { + for (int j = 0; j < 27; j++) + { + grid[i][j] = 0; + } + } + Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY); + Pair dest = make_pair(endX, endY); + aStarSearch(grid, src, dest); +} + +void test1() +{ + pole[1][3][0] = 'B'; + pole[1][3][1] = '9'; + pole[3][1][0] = 'B'; + pole[3][1][1] = '9'; +} +void test2() +{ + for (int i = 1; i < 26; i++) + { + for (int j = 1; j < i; j++) + { + pole[i][j][0] = 'B'; + pole[i][j][1] = '9'; + } + } + test1(); + updatePola(); +} + +void start1() +{ + int goalX = 3, goalY = 4; + test1(); + pole[1][1][0] = 'T'; + pole[1][1][1] = '1'; + pole[goalY][goalX][0] = 'G'; + pole[goalY][goalX][1] = '9'; + gogo(goalX, goalY); +} +void start2() +{ + int goalX = 6, goalY = 6; + test2(); + pole[1][1][0] = 'T'; + pole[1][1][1] = '1'; + pole[goalY][goalX][0] = 'G'; + pole[goalY][goalX][1] = '9'; + gogo(goalX, goalY); +} +void start3() +{ + int goalX = 6, goalY = 9; + test2(); + pole[1][1][0] = 'T'; + pole[1][1][1] = '1'; + pole[goalY][goalX][0] = 'G'; + pole[goalY][goalX][1] = '9'; + gogo(goalX, goalY); +} + +int main() +{ + SetWindow(50, 30); + //create pola// + for (int i = 0; i < 27; i++) + { + pole[i][0][0] = '#'; + pole[0][i][0] = '#'; + pole[26][i][0] = '#'; + pole[i][26][0] = '#'; + pole[i][0][1] = '9'; + pole[0][i][1] = '9'; + pole[26][i][1] = '9'; + pole[i][26][1] = '9'; + } + for (int i = 1; i < 26; i++) + { + for (int j = 1; j < 26; j++) + { + pole[i][j][0] = '.'; + pole[i][j][1] = '1'; + } + } + + for (int i = 0; i < 25; i++) + { + pole[i + 1][i + 1][0] = 'B'; + pole[i + 1][i + 1][1] = '9'; + } + + updatePola(); + + start3(); // testy start 1-3 + + //---------start---------// + bool traktorDziala = true; + + char akcja; + + do + { + akcja = _getch(); + if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd') + { + Move(akcja); + } + if (akcja == '0') + { + traktorDziala = false; + } + } while (traktorDziala); + //---------end---------// + + return 0; } \ No newline at end of file