/*
Method to print current position on console cos I can't be f****d
typing this all out every time
*/
public static void printCoords(Robot robby) {
System.out.println("Coords are: (" + robby.get_xpos() + "," + robby.get_ypos() + ")");
}
public static void aStar(Room room, Robot robby, Picture pic) {
boolean[][] openClosed = new boolean[20][20];
openClosed[1][1] = true; // open is true, closed if false
while (!robby.ahead_is_colour(room, Room.GREEN)) {
int[][] fScore = new int[20][20];
// Set values of robby x and y
int x = robby.get_xpos();
int y = robby.get_ypos();
// Check node to N of robby
if (room.cell_state(x, y + 1) == Room.WHITE /*|| room.cell_state(x, y + 1) == Room.YELLOW*/) {
openClosed[x][y + 1] = true;
fScore[x][y + 1] = 10 + calcGH(x, y + 1); // G + H
} else {
openClosed[x][y + 1] = false;
fScore[x][y + 1] = 100000;
}
// Check node to NE of robby
if (room.cell_state(x + 1, y + 1)
== Room.WHITE /*|| room.cell_state(x + 1, y + 1) == Room.YELLOW*/) {
openClosed[x + 1][y + 1] = true;
fScore[x + 1][y + 1] = 100000;
// fScore[x+1][y+1] = 14 + Math.abs(((destX + destY) - ((x+1) + (y+1)))*10); //G + H
} else {
openClosed[x + 1][y + 1] = false;
fScore[x + 1][y + 1] = 100000;
}
// Check node to E of robby
if (room.cell_state(x + 1, y) == Room.WHITE /*|| room.cell_state(x + 1, y) == Room.YELLOW*/) {
openClosed[x + 1][y] = true;
fScore[x + 1][y] = 10 + calcGH(x + 1, y); // G + H
} else {
openClosed[x + 1][y] = false;
fScore[x + 1][y] = 100000;
}
// Check node to SE of robby
if (room.cell_state(x + 1, y - 1)
== Room.WHITE /*|| room.cell_state(x + 1, y - 1) == Room.YELLOW*/) {
openClosed[x + 1][y - 1] = true;
fScore[x + 1][y - 1] = 100000;
// fScore[x+1][y-1] = 14 + Math.abs(((destX + destY) - ((x+1) + (y-1)))*10); //G + H
} else {
openClosed[x + 1][y - 1] = false;
fScore[x + 1][y - 1] = 100000;
}
// Check node to S of robby
if (room.cell_state(x, y - 1) == Room.WHITE /*|| room.cell_state(x, y - 1) == Room.YELLOW*/) {
openClosed[x][y - 1] = true;
fScore[x][y - 1] = 10 + calcGH(x, y - 1); // G + H
} else {
openClosed[x][y - 1] = false;
fScore[x][y - 1] = 100000;
}
// Check node to SW of robby
if (room.cell_state(x - 1, y - 1)
== Room.WHITE /*|| room.cell_state(x - 1, y - 1) == Room.YELLOW*/) {
openClosed[x - 1][y - 1] = true;
fScore[x - 1][y - 1] = 100000;
// fScore[x-1][y-1] = 14 + Math.abs(((destX + destY) - ((x-1) + (y-1)))*10); //G + H
} else {
openClosed[x - 1][y - 1] = false;
fScore[x - 1][y - 1] = 100000;
}
// Check node to W of robby
if (room.cell_state(x - 1, y) == Room.WHITE /*|| room.cell_state(x - 1, y) == Room.YELLOW*/) {
openClosed[x - 1][y] = true;
fScore[x - 1][y] = 10 + calcGH(x - 1, y); // G + H
} else {
openClosed[x - 1][y] = false;
fScore[x - 1][y] = 100000;
}
// Check node to NW of robby
if (room.cell_state(x - 1, y + 1)
== Room.WHITE /*|| room.cell_state(x - 1, y + 1) == Room.YELLOW*/) {
openClosed[x - 1][y + 1] = true;
fScore[x - 1][y + 1] = 100000;
// fScore[x-1][y+1] = 14 + Math.abs(((destX + destY) - ((x-1) + (y+1)))*10); //G + H
} else {
openClosed[x - 1][y + 1] = false;
fScore[x - 1][y + 1] = 100000;
}
openClosed[x][y] = false;
// Find node with lowest F value
int[][] smallestFValue = lowestF(openClosed, fScore, x, y);
room.setPath(smallestFValue[0][0], smallestFValue[0][1]);
pic.draw(room, robby);
if (smallestFValue[0][0] > x) {
robby.face_right();
robby.move();
pic.draw(room, robby);
}
if (smallestFValue[0][0] < x) {
robby.face_left();
robby.move();
pic.draw(room, robby);
}
if (smallestFValue[0][1] > y) {
robby.face_up();
robby.move();
pic.draw(room, robby);
}
if (smallestFValue[0][1] < y) {
robby.face_down();
robby.move();
pic.draw(room, robby);
}
}
robby.move();
pic.draw(room, robby);
}
// This is where the shit really goes down
public static void moveThroughMaze(Room room, Robot robby, Picture pic) {
while (!(robby.get_xpos() == destX) || !(robby.get_ypos() == destY)) {
if (destX > robby.get_xpos()) {
robby.face_right();
if (robby.ahead_is_colour(room, Room.WHITE)) {
robby.move();
pic.draw(room, robby);
} else {
if (destY > robby.get_ypos()) {
robby.face_up();
if (!robby.ahead_is_colour(room, Room.WHITE)) {
robby.face_left();
if (!robby.ahead_is_colour(room, Room.WHITE)) {
robby.face_down();
robby.move();
pic.draw(room, robby);
} else {
robby.move();
pic.draw(room, robby);
}
} else {
robby.move();
pic.draw(room, robby);
}
}
}
} else {
if (destY > robby.get_ypos()) {
robby.face_up();
}
}
}
System.out.println("Success!");
}
