things are broken

7 files changed, 121 insertions, 95 deletions

diff --git a/Pathfinding Visualizer/Assets/Scripts/AStar.cs b/Pathfinding Visualizer/Assets/Scripts/AStar.cs
deleted file mode 100644
index 5d51e6d..0000000
--- a/Pathfinding Visualizer/Assets/Scripts/AStar.cs
+++ /dev/null
@@ -1,25 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class AStar : MonoBehaviour
-{
-
-    LogicGrid world;
-    List<int[][]> obstacles;
-    List<int[][]> samples;
-    int heuristic; // 0 = h0 | 
-
-    public AStar(LogicGrid world, int heuristic)
-    {
-        this.world = world;
-        this.obstacles = world.obstacles;
-        this.samples = world.samples;
-        this.heuristic = heuristic;
-    }
-
-    public void go()
-    {
-
-    }
-}
diff --git a/Pathfinding Visualizer/Assets/Scripts/CellMesh.cs b/Pathfinding Visualizer/Assets/Scripts/CellMesh.cs
index c4c6a42..9e62969 100644
--- a/Pathfinding Visualizer/Assets/Scripts/CellMesh.cs
+++ b/Pathfinding Visualizer/Assets/Scripts/CellMesh.cs
@@ -30,7 +30,7 @@ public class CellMesh : MonoBehaviour
     {
         // if(e.x == -1 && e.y == -1), grid is being reset
             
-        Debug.Log(e.x + " " + e.y);
+        //Debug.Log(e.x + " " + e.y);
         UpdateCellVisual();
     }
 
diff --git a/Pathfinding Visualizer/Assets/Scripts/LogicGrid.cs b/Pathfinding Visualizer/Assets/Scripts/LogicGrid.cs
index c87514e..212eb91 100644
--- a/Pathfinding Visualizer/Assets/Scripts/LogicGrid.cs
+++ b/Pathfinding Visualizer/Assets/Scripts/LogicGrid.cs
@@ -18,12 +18,6 @@ public class LogicGrid
     // Debug Grid Array used for updating the text-objects 
     private TextMesh[,] debugTextArray;
 
-
-    // Coordinates for pathfinding
-    public int[] agent;
-    public List<int[][]> obstacles;
-    public List<int[][]> samples;
-
     public event EventHandler<OnGridValueChangedEventArgs> OnGridValueChanged;
     public class OnGridValueChangedEventArgs : EventArgs
     {
@@ -103,46 +97,6 @@ public class LogicGrid
                     x = x,
                     y = y
                 });
-
-            // If deleting a cell's value, remove coord from set
-            if (value == 0)
-            {
-
-                // make behavior to check for -1 values in coords
-                if (agent[0].Equals(x) && agent[1].Equals(y))
-                {
-                    agent[0] = -1;
-                    agent[1] = -2;
-                }
-
-            }
-
-            // Add coordinate to obstacle array
-            if (value == 1)
-            {
-                int[][] coord = new int[2][];
-
-                coord[0][0] = x;
-                coord[1][0] = y;
-
-                obstacles.Add(coord);
-            }
-            // Add coordinate to sample array
-            if (value == 2)
-            {
-                int[][] coord = new int[2][];
-
-                coord[0][0] = x;
-                coord[1][0] = y;
-
-                samples.Add(coord);
-            }
-            // Add coordinate to obstacle array
-            if (value == 3)
-            {
-                agent[0] = x;
-                agent[1] = y;
-            }
         }
     }
 
@@ -183,10 +137,6 @@ public class LogicGrid
     {
         gridArray = new int[width, height];
 
-        agent = new int[2];
-        obstacles = new List<int[][]>();
-        samples = new List<int[][]>();
-
         if (OnGridValueChanged != null)
             OnGridValueChanged(this, new OnGridValueChangedEventArgs
             {
diff --git a/Pathfinding Visualizer/Assets/Scripts/Main.cs b/Pathfinding Visualizer/Assets/Scripts/Main.cs
index 6ebb37f..53bbec2 100644
--- a/Pathfinding Visualizer/Assets/Scripts/Main.cs
+++ b/Pathfinding Visualizer/Assets/Scripts/Main.cs
@@ -8,27 +8,29 @@ public class Main : MonoBehaviour
     [SerializeField] private CellMesh cellMesh;
     
     private LogicGrid world;
-    char placementMode;
     int placementValue;
 
-
     bool astarSelected;
 
 
+    // Coordinates for pathfinding
+    public Vector2 agent = new Vector2();
+    public List<Vector2> obstacles = new List<Vector2>();
+    public List<Vector2> samples = new List<Vector2>();
+
     // Start is called before the first frame update
     void Start()
     {
         // Create world
-        int width = 100;
-        int height = 100;
-        float cellSize = 5f;
-        Vector3 origin = new Vector3(-110, -110);
+        int width = 5;
+        int height = 5;
+        float cellSize = 10f;
+        Vector3 origin = new Vector3(-10, -10);
 
         world = new LogicGrid(width, height, cellSize, origin);
         
         // Set default placement to Obstacle
         placementValue = 1;
-        placementMode = 'o';
 
         cellMesh.SetGrid(world);
 
@@ -45,21 +47,18 @@ public class Main : MonoBehaviour
         if (Input.GetKeyDown("o"))
         {
             Debug.Log("Placing Mode: Obstacle");
-            placementMode = 'o';
             placementValue = 1;
         }
         // Place Sample in cell
         if(Input.GetKeyDown("s"))
         {
             Debug.Log("Placing Mode: Sample");
-            placementMode = 's';
             placementValue = 2;
         }
         // Place agent in cell
         if (Input.GetKeyDown("a"))
         {
             Debug.Log("Placing Mode: Agent");
-            placementMode = 'a';
             placementValue = 3;
         }
         // Reset Canvas
@@ -67,6 +66,11 @@ public class Main : MonoBehaviour
         {
             ResetGrid();
         }
+
+        if (Input.GetKeyDown("g"))
+        {
+            StartAlgorithm();
+        }
         //////////////////////////
         
 
@@ -107,9 +111,50 @@ public class Main : MonoBehaviour
    
     public void StartAlgorithm()
     {
-        if(astarSelected)
+        Vector2 coord = new Vector2();
+
+        // Collect information about world
+        for (int x = 0; x < world.GetWidth(); x++)
+            for(int y = 0; y < world.GetHeight(); y++)
+            {
+                int index = x * world.GetHeight() + y;
+                int value = world.GetValue(x, y);
+
+                Debug.Log("x: " + x + " y: " + y + " | value: " + value);
+
+                // Add coordinate to obstacle array
+                if (value == 1)
+                {
+                    //coord = new int[2][];
+
+                    coord.x = x;
+                    coord.y = y;
+
+                    if (!obstacles.Contains(coord))
+                        obstacles.Add(coord);
+                }
+                // Add coordinate to sample array
+                if (value == 2)
+                {
+                    //coord = new int[2][];
+
+                    coord.x = x;
+                    coord.y = y;
+
+                    samples.Add(coord);
+                }
+                // Add coordinate to obstacle array
+                if (value == 3)
+                {
+                    agent[0] = x;
+                    agent[1] = y;
+                }
+            }
+
+
+        if ( true )
         {
-            AStar astar = new AStar(world, 0);
+            Pathfinder astar = new Pathfinder(world, agent, obstacles, samples, 0, 0);
             astar.go();
         }
     }
diff --git a/Pathfinding Visualizer/Assets/Scripts/PathNode.cs b/Pathfinding Visualizer/Assets/Scripts/PathNode.cs
index e65e1b2..8b13bfa 100644
--- a/Pathfinding Visualizer/Assets/Scripts/PathNode.cs
+++ b/Pathfinding Visualizer/Assets/Scripts/PathNode.cs
@@ -43,7 +43,7 @@ using UnityEngine;
 			int[] onSample = new int[2];
 
 			// since this state is being currently visited (expanded), put in closed list
-			// SampleWorld.closed.add(this.getState());
+			Pathfinder.closed.Add(this.getState());
 
 			////////////////////////////////////
 			// BEGIN CHECKING FOR VALID MOVES //
@@ -115,14 +115,17 @@ using UnityEngine;
 		public bool isOpen(int[] position)
 		{
 			// check that agent is not trying to move into an obstacle
-			for (int i = 0; i < SampleWorld.obstacles.size(); i++)
+			for (int i = 0; i < Pathfinder.obstacles.Count(); i++)
 			{
-				if (Enumerable.SequenceEqual(SampleWorld.obstacles.get(i), position) == 0)
+				int[] coord = new int[2];
+				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] <= SampleWorld.worldRows - 1) && (position[col] >= 0) && (position[col] <= SampleWorld.worldCols - 1)))
+			if (!((position[row] >= 0) && (position[row] <= Pathfinder.height - 1) && (position[col] >= 0) && (position[col] <= Pathfinder.width - 1)))
 				return false;
 
 			return true;
@@ -216,7 +219,7 @@ using UnityEngine;
 		}
 	}
 	// helper class for Node
-	class State
+	public class State
 	{
 		int[] agent;
 		int[][] samples;
@@ -237,9 +240,9 @@ using UnityEngine;
 
 		public bool inClosed()
 		{
-			for (int i = 0; i < SampleWorld.closed.size(); i++)
+			for (int i = 0; i < Pathfinder.closed.Count(); i++)
 			{
-				if (this.equals(SampleWorld.closed.get(i)))
+				if (this.equals(Pathfinder.closed[i]))
 				{
 					return true;
 				}
diff --git a/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs b/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs
new file mode 100644
index 0000000..6410626
--- /dev/null
+++ b/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs
@@ -0,0 +1,53 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Pathfinder : MonoBehaviour
+{
+
+    // used to store all unique states that agent has visited (holds agent and sample coords)
+    public static List<State> closed = new List<State>();
+
+    LogicGrid world;
+    public static int[] agent;
+    public static List<int[][]> obstacles;
+    public static List<int[][]> samples;
+
+    public static int algorithm; // 0 = A* | 1 = dfs | 2 = bfs
+    public static int heuristic; // 0 = h0 | 1 = h1  | 2 = h2
+
+    public static int height;
+    public static int width;
+
+
+    public Pathfinder(LogicGrid world, int[] a, List<int[][]> o, List<int[][]> s, int algo, int heu)
+    {
+        this.world = world;
+        height = world.GetHeight();
+        width = world.GetWidth();
+
+        agent = a;
+        obstacles = o;
+        samples = s;
+
+        algorithm = algo;
+        heuristic = heu;
+    }
+
+    public void go()
+    {
+
+        Debug.Log("Agent: " + agent[0] + "," + agent[1]);
+
+        for(int i = 0; i < obstacles.Count; i++)
+        {
+            Debug.Log("Obstacle " + i + ": " + obstacles[i][0][0] + ", " + obstacles[i][0][1]);
+        }
+
+        for (int i = 0; i < samples.Count; i++)
+        {
+            Debug.Log("Sample " + i + ": " + samples[i][0][0] + ", " + samples[i][0][1]);
+        }
+
+    }
+}
diff --git a/Pathfinding Visualizer/Assets/Scripts/AStar.cs.meta b/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs.meta
index 4ce036e..4ce036e 100644
--- a/Pathfinding Visualizer/Assets/Scripts/AStar.cs.meta
+++ b/Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs.meta