initial commit

Author: vstamate

README.md

@@ -0,0 +1,21 @@
+class Cell{
+  public int i, j;
+  public float f = Float.MAX_VALUE, g, h;
+  public boolean isBlocked = false;
+  public Cell parent;
+
+  Cell(int i, int j){
+    this.i = i;
+    this.j = j;
+    this.parent = null;
+  }
+
+  public void show(int r, int g, int b){
+    stroke(255);
+    fill(r, g, b);
+    if(this.isBlocked)
+      fill(0, 0, 0);
+    rect( this.j * scale, this.i * scale, scale, scale );
+  }
+
+}

Sketch/Cell.pde

@@ -0,0 +1,180 @@
+import java.util.List;
+import java.util.ArrayList;
+
+int scale = 20, rows, cols;
+List< List< Cell > > array;
+List< Cell > openList, closedList, path;
+Cell startNode, endNode, q;
+int dist = 1;
+boolean searchDone = false;
+void setup(){
+  size(601, 601);
+  frameRate(30);
+  background(30);
+  // PART 1 & 2
+  initialize();
+
+}
+
+void draw(){
+  background(15);
+
+  // PART 3 .
+  if( !openList.isEmpty() ){
+
+    // PART 3.a .
+    q = openList.get(0);
+    for(Cell c : openList){
+      if( c.f < q.f ){
+       q = c;
+      }
+    }
+    // PART 3.b .
+    openList.remove( q );
+
+    // PART 3.c .
+    List< Cell> successors = getSuccessors( q );
+
+    // PART 3.d
+    float gNew, hNew, fNew;
+    for(Cell s : successors){
+      // i
+      if( !closedList.contains( s ) && !s.isBlocked){
+        
+        if(s == endNode ){
+          s.parent = q;
+          print("Done!");
+          searchDone = true;
+          noLoop();
+        }
+        if( !closedList.contains( s ) ){
+          
+          gNew = q.g + 1;// sqrt(2) if there a succesor is in the corner
+          hNew = heuristic(s, endNode);
+          fNew = gNew + hNew;
+
+          if( s.f == Float.MAX_VALUE || s.f > fNew ){
+            openList.add( s );
+          
+            s.f = fNew;
+            s.g = gNew;
+            s.h = hNew;
+
+            s.parent = q;
+          }  
+          
+        }
+      }
+    }
+
+    closedList.add(q);
+
+    drawArray();
+
+    } else {
+      println( "Done!" );
+      searchDone = true;
+      noLoop();
+    }
+
+    if( searchDone ){
+      drawArray();
+    }
+
+    endNode.show(234, 2, 43);
+
+}
+
+List< Cell > getSuccessors(Cell cell){
+  List< Cell > s = new ArrayList< Cell >();
+  try {
+    s.add( array.get( cell.i - 1 ).get( cell.j - 1 ) );
+  } catch (Exception e){}
+  try {
+    s.add( array.get( cell.i - 1 ).get( cell.j ) );
+  } catch (Exception e){}
+  try {
+    s.add( array.get( cell.i - 1 ).get( cell.j + 1 ) );
+  } catch (Exception e){}
+  try {
+    s.add( array.get( cell.i ).get( cell.j - 1 ) );
+  } catch (Exception e){}
+  try {
+    s.add( array.get( cell.i ).get( cell.j + 1 ) );
+  } catch (Exception e){}
+  try {
+    s.add( array.get( cell.i + 1 ).get( cell.j - 1 ) );
+  } catch (Exception e){}
+  try {
+    s.add( array.get( cell.i + 1 ).get( cell.j ) );
+  } catch (Exception e){}
+  try {
+    s.add( array.get( cell.i + 1 ).get( cell.j + 1 ) );
+  } catch (Exception e){}
+
+  return s;
+
+}
+
+float heuristic(Cell a, Cell b){
+  return dist( a.j, a.i, b.j, b.i );
+  //return abs( a.i - b.i ) + abs( a.j - b.j );
+}
+
+void initialize(){
+  array = new ArrayList< List< Cell > >();
+  openList = new ArrayList< Cell >();
+  closedList = new ArrayList< Cell >();
+  path = new ArrayList< Cell >();
+
+  rows = height / scale;
+  cols = width / scale;
+
+  for(int i = 0; i < rows; i ++){
+    array.add( new ArrayList<Cell>()  );
+    for(int j = 0; j < cols; j ++){
+      array.get( i ).add( new Cell(i, j) );
+      if( random(0, 1) < 0.3 )
+        array.get(i).get(j).isBlocked = true;
+    }
+  }
+  
+
+  startNode = array.get( 0 ).get( 0 );
+  endNode = array.get( rows - 1 ).get( cols - 1 );
+  endNode.isBlocked = false;
+  startNode.isBlocked = false;
+  startNode.f = 0;
+  startNode.g = 0;
+
+  openList.add( startNode );
+
+}
+
+void drawArray(){
+  for(int i = 0; i < rows; i ++){
+    for(int j = 0; j < cols; j ++){
+      array.get( i ).get( j ).show(100, 100, 100);
+    }
+  }
+  if( !searchDone ){
+    for(Cell c : closedList)
+     c.show(110, 50, 70);
+    for(Cell c : openList)
+      c.show(249, 85, 85);
+  }
+  // GET THE PATH AND SHOW IT
+  path.clear();
+
+  Cell temp = q;
+  path.add(temp);
+
+  while( temp.parent != null ){
+    path.add( temp.parent );
+    temp = temp.parent;
+  }
+
+  for(Cell c : path)
+    c.show(43, 239, 127);
+  return;
+}