pathfinding class now interprets grid properly

can successfully read in the user-generated world!

Pathfinding Visualizer/Assets/Scripts/Main.cs

@@ -14,9 +14,9 @@ public class Main : MonoBehaviour
 
 
     // Coordinates for pathfinding
-    public Vector2 agent = new Vector2();
+    public Vector2Int agent = new Vector2Int();
-    public List<Vector2> obstacles = new List<Vector2>();
+    public List<Vector2Int> obstacles = new List<Vector2Int>();
-    public List<Vector2> samples = new List<Vector2>();
+    public List<Vector2Int> samples = new List<Vector2Int>();
 
     // Start is called before the first frame update
     void Start()
@@ -71,8 +71,8 @@ public class Main : MonoBehaviour
         {
             StartAlgorithm();
         }
-        //////////////////////////
 
+        //////////////////////////
 
         // Update Cell:
         // Place value in cell based on selected placementValue with left click
@@ -85,11 +85,6 @@ public class Main : MonoBehaviour
         {
             world.SetValue(CodeMonkey.Utils.UtilsClass.GetMouseWorldPosition(), 0);
         }
-
-        // Make functionality for when "start" button is pressed.
-            // should call some sort of function that will take in the world
-            // and perform the selected algorithm
-
     }
 
     public void SetModeObstacle()
@@ -111,7 +106,7 @@ public class Main : MonoBehaviour
    
     public void StartAlgorithm()
     {
-        Vector2 coord = new Vector2();
+        Vector2Int coord = new Vector2Int();
 
         // Collect information about world
         for (int x = 0; x < world.GetWidth(); x++)
@@ -125,8 +120,6 @@ public class Main : MonoBehaviour
                 // Add coordinate to obstacle array
                 if (value == 1)
                 {
-                    //coord = new int[2][];
-
                     coord.x = x;
                     coord.y = y;
 
@@ -136,18 +129,17 @@ public class Main : MonoBehaviour
                 // Add coordinate to sample array
                 if (value == 2)
                 {
-                    //coord = new int[2][];
-
                     coord.x = x;
                     coord.y = y;
 
+                    if (!samples.Contains(coord))
                         samples.Add(coord);
                 }
                 // Add coordinate to obstacle array
                 if (value == 3)
                 {
-                    agent[0] = x;
+                    agent.x = x;
-                    agent[1] = y;
+                    agent.y = y;
                 }
             }
 

Pathfinding Visualizer/Assets/Scripts/PathNode.cs

@@ -11,8 +11,8 @@ using UnityEngine;
 		public static int col = 1;
 
 		Node parent;
-		int[] agent;
+		Vector2Int agent;
-		List<int[]> samples;
+		List<Vector2Int> samples;
 		char lastMove; // for output/animation
 		int distanceTraveled; // for calculating f(n) value
 		double heuristic;
@@ -20,11 +20,11 @@ using UnityEngine;
 		bool canSample; // for expansion 
 
 		// construct node :)
-		public Node(Node parent, int[] agent, List<int[]> samples, char lastMove, int distanceTraveled, double heuristic)
+		public Node(Node parent, Vector2Int agent, List<Vector2Int> samples, char lastMove, int distanceTraveled, double heuristic)
 		{
 			this.parent = parent;
 			this.agent = agent;
-			this.samples = new List<int[]>(samples);
+			this.samples = samples;
 			this.lastMove = lastMove;
 			this.distanceTraveled = distanceTraveled;
 			this.heuristic = heuristic;
@@ -40,7 +40,7 @@ using UnityEngine;
 
 			// document expansion of node and get ready to collect this node's children
 			// SampleWorld.expansions++;
-			int[] onSample = new int[2];
+			Vector2Int onSample = new Vector2Int();
 
 			// since this state is being currently visited (expanded), put in closed list
 			Pathfinder.closed.Add(this.getState());
@@ -50,10 +50,10 @@ using UnityEngine;
 			////////////////////////////////////
 
 			// store coordinates for all potential moves to be checked
-			int[] up = { this.agent[row] - 1, this.agent[col] };
+			Vector2Int up    = new Vector2Int( this.agent.y - 1, this.agent.x );
-			int[] down = { this.agent[row] + 1, this.agent[col] };
+			Vector2Int down  = new Vector2Int( this.agent.y + 1, this.agent.x );
-			int[] left = { this.agent[row], this.agent[col] - 1 };
+			Vector2Int left  = new Vector2Int( this.agent.y, this.agent.x - 1 );
-			int[] right = { this.agent[row], this.agent[col] + 1 };
+			Vector2Int right = new Vector2Int( this.agent.y, this.agent.x + 1 );
 
 			// make sure going up doesn't go outside world-bounds or into obstacle
 			if (isOpen(up))
@@ -97,12 +97,12 @@ using UnityEngine;
 
 			// CHECK IF CAN SAMPLE
 			onSample = CanSample();
-			if (onSample[0] == 1)
+			if (onSample.x == 1)
 			{
 				Node child = new Node(this, this.agent, this.samples, 'S', this.distanceTraveled + 1, this.heuristic);
 			
 				// PROBLEM?
-				child.samples.RemoveAt(onSample[1]);
+				child.samples.RemoveAt(onSample.y);
 
 				//SampleWorld.nodesGenerated++;
 				children.Add(child);
@@ -112,33 +112,29 @@ using UnityEngine;
 		}
 
 		// helper for expand, verifies whether potential move is legal
-		public bool isOpen(int[] position)
+		public bool isOpen(Vector2Int position)
 		{
 			// check that agent is not trying to move into an obstacle
 			for (int i = 0; i < Pathfinder.obstacles.Count(); i++)
 			{
-				int[] coord = new int[2];
+				if (Pathfinder.obstacles[i].x == position.x && Pathfinder.obstacles[i].y == position.y)
-				coord[0] = Pathfinder.obstacles[i][0][0];
-				coord[1] = Pathfinder.obstacles[i][1][0];
-				if (Pathfinder.obstacles[i][0][0] == position[0] && Pathfinder.obstacles[i][1][0] == position[1])
 					return false;
 			}
 
 			// check that agent is not stepping out of the world
-			if (!((position[row] >= 0) && (position[row] <= Pathfinder.height - 1) && (position[col] >= 0) && (position[col] <= Pathfinder.width - 1)))
+			if (!((position.y >= 0) && (position.y <= Pathfinder.height - 1) && (position.x >= 0) && (position.x <= Pathfinder.width - 1)))
 				return false;
 
 			return true;
 		}
 
 		// returns the coordinates of the sample closest to the agent's current location
-		public int[] nearestSample()
+		public Vector2Int nearestSample()
 		{
 			if (samples.Count == 0)
 				return agent;
 
-			// PROBLEM?
+			Vector2Int s = samples[0];
-			int[] s = samples[0];
 			double lowest = distance(agent, samples[0]);
 			double dist;
 
@@ -154,10 +150,10 @@ using UnityEngine;
 			return s;
 		}
 		// helper function for nearestSample()
-		public static double distance(int[] a, int[] b)
+		public static double distance(Vector2Int a, Vector2Int b)
 		{   //								 _________________________
 			// distance between 2D points = √(y2 - y1)^2 + (x2 - x1)^2
-			double total = (((b[row] - a[row]) * (b[row] - a[row])) + ((b[col] - a[col]) * (b[col] - a[col])));
+			double total = (((b.y - a.y) * (b.y - a.y)) + ((b.x - a.x) * (b.x - a.x)));
 			total = Math.Sqrt(total);
 
 			return total;
@@ -168,17 +164,16 @@ using UnityEngine;
 		// returns two pieces of information if true: 
 		// [0] is 1 to indicate agent can sample
 		// [1] is the index of the valid sample in the list
-		public int[] CanSample()
+		public Vector2Int CanSample()
 		{
 			// default to false
-			int[] result = new int[2];
+			Vector2Int result = new Vector2Int();
-			result[0] = 0;
+			result.x = 0;
-			result[1] = -1;
+			result.y = -1;
 
 			for (int i = 0; i < this.samples.Count; i++)
 			{
-				// PROBLEM?
+				if ((this.agent.y == samples[i].y) && (this.agent.x == samples[i].x))
-				if ((this.agent[row] == samples[i][row]) && (this.agent[col] == samples[i][col]))
 				{
 					result[0] = 1;
 					result[1] = i;
@@ -221,21 +216,19 @@ using UnityEngine;
 	// helper class for Node
 	public class State
 	{
-		int[] agent;
+		Vector2Int agent;
-		int[][] samples;
+		List<Vector2Int> samples;
 
-		public State(int[] agent, List<int[]> samples)
+		public State(Vector2Int agent, List<Vector2Int> samples)
 		{
-			// PROBLEM?
 			this.agent = agent;
-			this.samples = new int[samples.Count][];
+			this.samples = samples;
 
 			// convert List<int[]> into 2D array of ints [][]
-			for (int i = 0; i < samples.Count; i++)
+			/*for (int i = 0; i < samples.Count; i++)
 			{
-				// PROBLEM??
 				this.samples[i] = samples[i];
-			}
+			}*/
 		}
 
 		public bool inClosed()
@@ -252,21 +245,17 @@ using UnityEngine;
 
 		public bool equals(State other)
 		{
-			if (this.samples.Length != other.samples.Length)
+			if (this.samples.Count != other.samples.Count)
 				return false;
 
-			// PROBLEM?
+			if (!(this.agent.x.Equals(other.agent.x) && this.agent.y.Equals(other.agent.y)))
-			if (!this.agent[0].Equals(other.agent[0]) && !this.agent[1].Equals(other.agent[1]))
 				return false;
 
-			for (int i = 0; i < this.samples.Length; i++)
+			for (int i = 0; i < this.samples.Count; i++)
 			{
 				//if (Arrays.compare(this.samples[i], other.samples[i]) != 0)
 				
-				// PROBLEM?
+				if (this.samples.SequenceEqual(other.samples))
-				if (!(this.samples.Rank == other.samples.Rank) &&
-					!(Enumerable.Range(0, this.samples.Rank).All(dimension => this.samples.GetLength(dimension) == other.samples.GetLength(dimension))) &&
-					!(this.samples.Cast<double>().SequenceEqual(other.samples.Cast<double>())))
 					return false;
 			}
 

Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs

@@ -9,9 +9,9 @@ public class Pathfinder : MonoBehaviour
     public static List<State> closed = new List<State>();
 
     LogicGrid world;
-    public static int[] agent;
+    public static Vector2Int agent;
-    public static List<int[][]> obstacles;
+    public static List<Vector2Int> obstacles;
-    public static List<int[][]> samples;
+    public static List<Vector2Int> samples;
 
     public static int algorithm; // 0 = A* | 1 = dfs | 2 = bfs
     public static int heuristic; // 0 = h0 | 1 = h1  | 2 = h2
@@ -20,7 +20,7 @@ public class Pathfinder : MonoBehaviour
     public static int width;
 
 
-    public Pathfinder(LogicGrid world, int[] a, List<int[][]> o, List<int[][]> s, int algo, int heu)
+    public Pathfinder(LogicGrid world, Vector2Int a, List<Vector2Int> o, List<Vector2Int> s, int algo, int heu)
     {
         this.world = world;
         height = world.GetHeight();
@@ -41,12 +41,12 @@ public class Pathfinder : MonoBehaviour
 
         for(int i = 0; i < obstacles.Count; i++)
         {
-            Debug.Log("Obstacle " + i + ": " + obstacles[i][0][0] + ", " + obstacles[i][0][1]);
+            Debug.Log("Obstacle " + i + ": " + obstacles[i].x + ", " + obstacles[i].y);
         }
 
         for (int i = 0; i < samples.Count; i++)
         {
-            Debug.Log("Sample " + i + ": " + samples[i][0][0] + ", " + samples[i][0][1]);
+            Debug.Log("Sample " + i + ": " + samples[i].x + ", " + samples[i].y);
         }
 
     }