From cd15c103c6f1113461ead6065e47130276cb61a1 Mon Sep 17 00:00:00 2001
From: Simon O'Shea <osheas1@wit.edu>
Date: Wed, 9 Aug 2023 09:37:44 -0400
Subject: [PATCH] astar is animated primitively

---
 .../Assets/Scripts/CellMesh.cs                | 18 +++++++++++++++
 Pathfinding Visualizer/Assets/Scripts/Main.cs | 12 ++++++----
 .../Assets/Scripts/Pathfinder.cs              | 22 +++++--------------
 3 files changed, 32 insertions(+), 20 deletions(-)

diff --git a/Pathfinding Visualizer/Assets/Scripts/CellMesh.cs b/Pathfinding Visualizer/Assets/Scripts/CellMesh.cs
index 9e62969..aa6acc8 100644
--- a/Pathfinding Visualizer/Assets/Scripts/CellMesh.cs	
+++ b/Pathfinding Visualizer/Assets/Scripts/CellMesh.cs	
@@ -78,6 +78,24 @@ public class CellMesh : MonoBehaviour
         mesh.triangles = triangles;
     }
 
+    public void Animate(Stack<Node> result)
+    {
+        int count = result.Count;
+        for (int i = 0; i < count; i++)
+        {
+            Node n = result.Pop();
+            Debug.Log("Agent at: " + n.agent.x + ", " + n.agent.y);
+            Debug.Log(n.lastMove);
+
+            grid.SetValue(n.agent.x, n.agent.y, 3);
+            //grid.SetValue(n.parent.agent.x, n.parent.agent.y, 0);
+
+            UpdateCellVisual();
+
+        }
+    }
+
+
     void Start()
     {
         
diff --git a/Pathfinding Visualizer/Assets/Scripts/Main.cs b/Pathfinding Visualizer/Assets/Scripts/Main.cs
index 8cbb5ce..590723b 100644
--- a/Pathfinding Visualizer/Assets/Scripts/Main.cs	
+++ b/Pathfinding Visualizer/Assets/Scripts/Main.cs	
@@ -102,14 +102,16 @@ public class Main : MonoBehaviour
     public void ResetGrid()
     {
         world.reset();
-        agent = new Vector2Int(-1, -1);
+        agent = new Vector2Int();
         obstacles = new List<Vector2Int>();
         samples = new List<Vector2Int>();
     }
    
     public void StartAlgorithm()
     {
+        
         Vector2Int coord = new Vector2Int();
+        bool agentFound = false;
 
         // Collect information about world
         for (int x = 0; x < world.GetWidth(); x++)
@@ -138,15 +140,16 @@ public class Main : MonoBehaviour
                     if (!samples.Contains(coord))
                         samples.Add(coord);
                 }
-                // Add coordinate to obstacle array
+                // Add coordinate to agent array
                 if (value == 3)
                 {
                     agent.x = x;
                     agent.y = y;
+                    agentFound = true;
                 }
             }
 
-        if (agent.x == -1 && agent.y == -1)
+        if (!agentFound)
         {
             Debug.Log("NO AGENT!");
             return;
@@ -157,11 +160,12 @@ public class Main : MonoBehaviour
             Debug.Log("NO SAMPLES!");
             return;
         }
-        
 
         if ( true )
         {
             Pathfinder path = new Pathfinder(world, agent, obstacles, samples, 0, 0);
+            Stack<Node> result = path.result;
+            cellMesh.Animate(result);
         }
     }
 
diff --git a/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs b/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs
index 3085868..556abdb 100644
--- a/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs	
+++ b/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs	
@@ -21,12 +21,12 @@ public class Pathfinder
     public static int height;
     public static int width;
 
-    public static Stack<Node> result;
+    public Stack<Node> result;
 
 
     public Pathfinder(LogicGrid world, Vector2Int a, List<Vector2Int> o, List<Vector2Int> s, int algo, int heu)
     {
-        this.world = world;
+		this.world = world;
         height = world.GetHeight();
         width = world.GetWidth();
 
@@ -39,9 +39,6 @@ public class Pathfinder
 
         //printInfo();
 
-
-        
-
         StartWork();
 
     }
@@ -69,21 +66,14 @@ public class Pathfinder
         if (algorithm == 0)
         {
             result = StartAStar(initialState);
-            Debug.Log(" ");
-
-            int count = result.Count;
-            for(int i = 0; i < count; i++)
-            {
-                Node n = result.Pop();
-                Debug.Log("Agent at: " + n.agent.x + ", " + n.agent.y);
-                Debug.Log(n.lastMove);
-            }
         }
     }
 
     public static Stack<Node> StartAStar(Node initialState)
     {
-        Stack<Node> solution = new Stack<Node>();
+		Debug.Log("GO!");
+
+		Stack<Node> solution = new Stack<Node>();
 
         List<Node> open = new List<Node>();
 
@@ -105,6 +95,7 @@ public class Pathfinder
             if (currentNode.samples.Count() == 0)
             {
                 Debug.Log("Gottem");
+				
 
                 //Node n = FindLastSample(open);
                 
@@ -299,7 +290,6 @@ public class Node
 			onSample = CanSample();
 			if (onSample.x == 1)
 			{
-				Debug.Log("SAMPLING");
 				Node child = new Node(this, this.agent, this.samples, 'S', this.distanceTraveled + 1, this.heuristic);
 			
 				child.samples.RemoveAt(onSample.y);