//--------------------------------------------------------------
//copy map (of GridWorld)to maze (of LPA*)
void copyDisplayMapToMaze(GridWorld &gWorld, LpaStar* lpa){
for(int i=0; i < gWorld.getGridWorldRows(); i++){
for(int j=0; j < gWorld.getGridWorldCols(); j++){
lpa->maze[i][j].type = gWorld.map[i][j].type;
lpa->maze[i][j].x = gWorld.map[i][j].col;
lpa->maze[i][j].y = gWorld.map[i][j].row;
//lpa->maze[i][j].g = gWorld.map[i][j].g;
//lpa->maze[i][j].rhs = gWorld.map[i][j].rhs;
}
}
vertex startV = gWorld.getStartVertex();
vertex goalV = gWorld.getGoalVertex();
//lpa->start->g = gWorld.map[startV.row][startV.col].g ;
//lpa->start->rhs = gWorld.map[startV.row][startV.col].rhs ;
lpa->start->x = gWorld.map[startV.row][startV.col].col;
lpa->start->y = gWorld.map[startV.row][startV.col].row;
//lpa->goal->g = gWorld.map[goalV.row][goalV.col].g;
//lpa->goal->rhs = gWorld.map[goalV.row][goalV.col].rhs;
lpa->goal->x = gWorld.map[goalV.row][goalV.col].col;
lpa->goal->y = gWorld.map[goalV.row][goalV.col].row;
}
//--------------------------------------------------------------
//copy maze (from LPA*) to map (of GridWorld)
void copyMazeToDisplayMap(GridWorld &gWorld, LpaStar* lpa){
for(int i=0; i < gWorld.getGridWorldRows(); i++){
for(int j=0; j < gWorld.getGridWorldCols(); j++){
gWorld.map[i][j].type = lpa->maze[i][j].type;
gWorld.map[i][j].h = lpa->maze[i][j].h;
gWorld.map[i][j].g = lpa->maze[i][j].g;
gWorld.map[i][j].rhs = lpa->maze[i][j].rhs;
gWorld.map[i][j].row = lpa->maze[i][j].y;
gWorld.map[i][j].col = lpa->maze[i][j].x;
for(int k=0; k < 2; k++){
gWorld.map[i][j].key[k] = lpa->maze[i][j].key[k];
}
}
}
gWorld.map[lpa->start->y][lpa->start->x].h = lpa->start->h;
gWorld.map[lpa->start->y][lpa->start->x].g = lpa->start->g;
gWorld.map[lpa->start->y][lpa->start->x].rhs = lpa->start->rhs;
gWorld.map[lpa->start->y][lpa->start->x].row = lpa->start->y;
gWorld.map[lpa->start->y][lpa->start->x].col = lpa->start->x;
for(int k=0; k < 2; k++){
gWorld.map[lpa->start->y][lpa->start->x].key[k] = lpa->start->key[k];
}
gWorld.map[lpa->goal->y][lpa->goal->x].h = lpa->goal->h;
gWorld.map[lpa->goal->y][lpa->goal->x].g = lpa->goal->g;
gWorld.map[lpa->goal->y][lpa->goal->x].rhs = lpa->goal->rhs;
gWorld.map[lpa->goal->y][lpa->goal->x].row = lpa->goal->y;
gWorld.map[lpa->goal->y][lpa->goal->x].col = lpa->goal->x;
for(int k=0; k < 2; k++){
gWorld.map[lpa->goal->y][lpa->goal->x].key[k] = lpa->goal->key[k];
}
}
void runSimulation(char *fileName){
WorldBoundaryType worldBoundary; //duplicated in GridWorld
DevBoundaryType deviceBoundary; //duplicated in GridWorld
bool ANIMATE_MOUSE_FLAG=false;
bool validCellSelected=false;
static BOOL page=false;
int mX, mY;
float worldX, worldY;
worldX=0.0f;
worldY=0.0f;
int action=-1;
//-----------------------
CellPosition p;
int rowSelected, colSelected;
//-----------------------
rowSelected=-1;
colSelected=-1;
int mouseRadius=1;
srand(time(NULL)); // Seed the random number generator
//Initialise the world boundaries
grid_world.initSystemOfCoordinates();
grid_world.loadMapAndDisplay(fileName);
grid_world.initialiseMapConnections();
//----------------------------------------------------------------
//LPA*
lpa_star = new LpaStar(grid_world.getGridWorldRows(), grid_world.getGridWorldCols());
vertex start = grid_world.getStartVertex();
vertex goal = grid_world.getGoalVertex();
cout << "(start.col = " << start.col << ", start.row = " << start.row << ")" << endl;
cout << "(goal.col = " << goal.col << ", goal.row = " << goal.row << ")" << endl;
lpa_star->initialise(start.col, start.row, goal.col, goal.row);
//lpa_star->copyMazeToDisplayMap(grid_world);
//copyMazeToDisplayMap(grid_world, lpa_star);
copyDisplayMapToMaze(grid_world, lpa_star);
//----------------------------------------------------------------
worldBoundary = grid_world.getWorldBoundary();
deviceBoundary = grid_world.getDeviceBoundary();
GRIDWORLD_ROWS = grid_world.getGridWorldRows();
GRIDWORLD_COLS = grid_world.getGridWorldCols();
//setvisualpage(page);
// keep running the program until the ESC key is pressed
while((GetAsyncKeyState(VK_ESCAPE)) == 0 ) {
setactivepage(page);
cleardevice();
action = getKey();
if(SHOW_MAP_DETAILS)
grid_world.displayMapWithDetails();
else
grid_world.displayMap();
switch(action){
case 1: //Block selected cell
if( rowSelected != -1 && colSelected != -1){
grid_world.setMapTypeValue(rowSelected-1, colSelected-1, '1');
grid_world.initialiseMapConnections();
rowSelected=-1;
colSelected=-1;
}
action = -1;
break;
case 105:
grid_world.displayMapWithKeyDetails();
break;
case 106:
//~ algorithmSelection = ASTAR_ALGORITHM;
break;
case 107:
//~ algorithmSelection = LPASTAR_ALGORITHM;
break;
case 108:
//~ algorithmSelection = DSTAR_ALGORITHM;
break;
case 15:
if( rowSelected != -1 && colSelected != -1){
grid_world.displayVertexConnections(colSelected-1, rowSelected-1);
//cout << "display connections" << endl;
rowSelected=-1;
colSelected=-1;
} else {
cout << "invalid new START vertex, please select a new START vertex first." << endl;
break;
}
//--------------------------------------------
action = -1;
break;
case 16:
if(grid_world.isGridMapInitialised()){
grid_world.displayMapConnections();
//cout << "display connections" << endl;
//~ rowSelected=-1;
//~ colSelected=-1;
} else {
cout << "map has not been initialised yet." << endl;
break;
}
//--------------------------------------------
action = -1;
break;
case 6: //set cell as new START vertex
{
//--------------------------------------------
// retrieve current START vertex
vertex s = grid_world.getStartVertex();
if( (s.row != -1) && (s.col != -1) ){
//set current START VERTEX to an ordinary TRAVERSABLE CELL
grid_world.setMapTypeValue(s.row, s.col, '0');
grid_world.initialiseMapConnections();
//ok, proceed
} else {
cout << "invalid START vertex" << endl;
break;
}
//--------------------------------------------
//set selected cell as the NEW START VERTEX
if( rowSelected != -1 && colSelected != -1){
grid_world.setMapTypeValue(rowSelected-1, colSelected-1, '6');
s.row = rowSelected-1;
s.col = colSelected-1;
grid_world.setStartVertex(s);
rowSelected=-1;
colSelected=-1;
} else {
cout << "invalid new START vertex, please select a new START vertex first." << endl;
break;
}
//--------------------------------------------
action = -1;
break;
}
case 7: //set cell as new GOAL vertex
{
//--------------------------------------------
// retrieve current GOAL vertex
vertex s = grid_world.getGoalVertex();
if( (s.row != -1) && (s.col != -1) ){
//set current GOAL VERTEX to an ordinary TRAVERSABLE CELL
grid_world.setMapTypeValue(s.row, s.col, '0');
//ok, proceed
} else {
cout << "invalid GOAL vertex" << endl;
action = -1;
break;
}
//--------------------------------------------
//set selected cell as the NEW GOAL VERTEX
if( rowSelected != -1 && colSelected != -1){
grid_world.setMapTypeValue(rowSelected-1, colSelected-1, '7');
s.row = rowSelected-1;
s.col = colSelected-1;
grid_world.setGoalVertex(s);
grid_world.initialiseMapConnections();
rowSelected=-1;
colSelected=-1;
} else {
cout << "invalid new GOAL vertex, please select a new GOAL vertex first." << endl;
action = -1;
break;
}
//--------------------------------------------
action = -1;
break;
}
case 109:
copyDisplayMapToMaze(grid_world, lpa_star);
cout << "copied display map to algorithm's maze" << endl;
action = -1;
break;
case 110:
lpa_star->updateHValues();
copyMazeToDisplayMap(grid_world, lpa_star);
cout << "copied algorithm's maze to display map" << endl;
action = -1;
break;
case 9: //display g-values only
grid_world.displayMapWithSelectedDetails(true, false, false, false); //(bool display_g, bool display_rhs, bool display_h, bool display_key)
action = -1;
break;
case 10: //display h-values only
grid_world.displayMapWithSelectedDetails(false, false, true, false); //(bool display_g, bool display_rhs, bool display_h, bool display_key)
action = -1;
break;
case 11: //display key-values only
lpa_star->updateAllKeyValues();
copyMazeToDisplayMap(grid_world, lpa_star);
grid_world.displayMapWithSelectedDetails(false, false, false, true); //(bool display_g, bool display_rhs, bool display_h, bool display_key)
action = -1;
break;
case 12: //make cell Traversable
if( rowSelected != -1 && colSelected != -1){
grid_world.setMapTypeValue(rowSelected-1, colSelected-1, '0');
rowSelected=-1;
colSelected=-1;
}
action = -1;
break;
case 14:
grid_world.displayMapWithPositionDetails();
action = -1;
break;
//~ default: //Display grid without details
//~ grid_world.displayMap();
};
//----------------------------------------------------------------------------------------------------------------
// Mouse handling
//
if(mousedown()){
ANIMATE_MOUSE_FLAG=true;
mX = mousecurrentx();
mY = mousecurrenty();
//if the goal selected is within the playing field boundaries
if(mX >= grid_world.getFieldX1() && mX <= grid_world.getGridMaxX() && mY >= grid_world.getFieldY1() && mY <= grid_world.getGridMaxY()){
circle(mX, mY, 3);
validCellSelected = true;
} else {
validCellSelected = false;
}
} //end of mousedown()
//------------------------------------------------------------------------------------------------------------------
/////////////////////////////////////////////////////////////////////////////
if(ANIMATE_MOUSE_FLAG){
//draw Cross-hair to mark Goal
setcolor(RED);
circle(mX, mY, 20);
line(mX,mY-20,mX,mY+20);
line(mX-20,mY,mX+20,mY);
//end of draw Cross-hair
// special effect to display concentric circles locating the target
setcolor(YELLOW);
if(mouseRadius < 40) {
mouseRadius += 1;
}
circle(mX, mY, mouseRadius);
//Sleep(50);
if(mouseRadius >= 40) {
ANIMATE_MOUSE_FLAG=false;
mouseRadius=0;
}
//end of special effect
}
/////////////////////////////////////////////////////////////////////////////
char info[80];
float wX, wY;
wX = xWorld(worldBoundary,deviceBoundary,mX);
wY = yWorld(worldBoundary,deviceBoundary,mY);
sprintf(info,"x: %d, y: %d",mX, mY);
drawInformationPanel(grid_world.getFieldX2(), grid_world.getFieldY1() + textheight("H")*2, info);
sprintf(info,"wX: %3.0f, wY: %3.0f",wX, wY);
drawInformationPanel(grid_world.getFieldX2(),grid_world.getFieldY1() + textheight("H")*5, info);
/////////////////////////////////////////////////////////////////////////////
//~ CellPosition p;
//~ int rowSelected, colSelected;
if(validCellSelected) {
p=grid_world.getCellPosition_markCell(mX, mY);
rowSelected = p.row;
colSelected = p.col;
sprintf(info,"row: %d, col: %d",rowSelected, colSelected);
drawInformationPanel(grid_world.getFieldX2(),grid_world.getFieldY1() + textheight("H")*6, info);
}
setvisualpage(page);
page = !page; //switch to another page
}
}