/**
* Solves the maze for four robot starting positions
*
* @param draw
*/
private boolean solve(boolean draw) {
maze.draw();
Point robotPositions[] = new Point[4];
robotPositions[0] = new Point(1, 1); // bottom left
robotPositions[1] = new Point(1, MAZE_SIZE); // top left
robotPositions[2] = new Point(MAZE_SIZE, 1); // bottom right
robotPositions[3] = new Point(MAZE_SIZE, MAZE_SIZE); // top right
// one position for each robot
boolean[] solved = {false, false, false, false};
for (int i = 0; i < 4; i++) {
if (robotPositions[i] != null) {
solved[i] = maze.solve(robotPositions[i], maze.GetCentrePoint(), draw);
// System.out.println("Robot " + (i + 1) + " path solved: " + solved[i]);
if (draw) {
StdDraw.clear();
maze.draw();
}
}
}
return (solved[0] && solved[1] && solved[2] && solved[3]);
}
public Environment() {
StdDraw.setCanvasSize(WINDOW_HEIGHT, WINDOW_LENGTH); // pixel size of window
// Determines how the maze scales within the window
StdDraw.setXscale(0, MAZE_SIZE + 2);
StdDraw.setYscale(0, MAZE_SIZE + 2);
validMaze = false;
maze = new Maze(MAZE_SIZE); // create a new maze object
StdDraw.show(0); // Show the maze window we have just created
maze.draw(); // Draw the maze
StdDraw.show(200); // Show this for 200 ms
// pass the argument "true" to see the maze solve
validMaze = solve(false); // solve the maze, but don't draw it
}
/** This method cannot be called directly. */
@Override
public void actionPerformed(ActionEvent e) {
FileDialog chooser =
new FileDialog(StdDraw.frame, "Use a .png or .jpg extension", FileDialog.SAVE);
chooser.setVisible(true);
String filename = chooser.getFile();
if (filename != null) {
StdDraw.save(chooser.getDirectory() + File.separator + chooser.getFile());
}
}
/** Test client. */
public static void main(String[] args) {
// final int WINDOW_LENGTH = 600;
// final int WINDOW_HEIGHT = 1200;
// StdDraw.setCanvasSize(WINDOW_HEIGHT, WINDOW_LENGTH); //pixel size of window
StdDraw.setXscale(0, 1.2);
StdDraw.setYscale(0, 1.2);
StdDraw.square(.2, .8, .1);
StdDraw.filledSquare(.8, .8, .2);
StdDraw.circle(.8, .2, .2);
// draw a blue diamond, radius 0.1 (old method)
StdDraw.setPenRadius(); // default radius
StdDraw.setPenColor(Colors.BOOK_BLUE);
double[] x = {.1, .2, .3, .2};
double[] y = {.2, .3, .2, .1};
StdDraw.filledPolygon(x, y);
// draw a cyandiamond, radius 0.1 (new method)
StdDraw.setPenColor(Colors.CYAN);
StdDraw.filledDiamond(.45, .2, 0.1);
// draw a magenta triangle, radius 0.1
StdDraw.setPenColor(Colors.MAGENTA);
StdDraw.filledTriangle(.45, 0.4, 0.1);
// Green filled rectangle, rotated x degrees
StdDraw.setPenColor(Colors.GREEN);
StdDraw.filledAngledRectangle(.45, .8, .05, .2, 10);
// StdDraw.filledAngledRectangle(0.2, 0.2, 0.2, 0.05, 90);
// StdDraw.filledAngledRectangle(0, 0, 0.2, 0.05, 0);
StdDraw.setPenColor(Colors.BOOK_RED);
StdDraw.setPenRadius(.02);
StdDraw.arc(.8, .2, .1, 120, 60);
StdDraw.line(0.8, 0.2, 0.8, 0.3);
// text
StdDraw.setPenRadius();
StdDraw.setPenColor(Colors.BLACK);
StdDraw.text(0.2, 0.5, "black text");
StdDraw.setPenColor(Colors.WHITE);
StdDraw.text(0.8, 0.8, "white text");
// Edge testing
StdDraw.setPenColor(Colors.GRAY);
// StdDraw.circle(0, 0, .2);
StdDraw.line(0, 0, 0, 1);
}
/** This method cannot be called directly. */
@Override
public void mouseMoved(MouseEvent e) {
synchronized (mouseLock) {
mouseX = StdDraw.userX(e.getX());
mouseY = StdDraw.userY(e.getY());
}
}