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김민구
399
Form1.cs
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399
Form1.cs
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace AStarPathFinding
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{
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//타일 속성
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//기본, 출발점, 목적지, 벽, 열린리스트, 닫힌리스트, 길
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public enum eTileState
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{ None, Start, Goal, Wall, Road, RRoad, LRoad, Open, Close, Path }
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public partial class Form1 : Form
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{
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public static bool Direction { get; set; } // 방향 설정!!!
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//구조체=====================
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struct stCurrentAction//사용자의 세팅(타일배치)종류 확인용 구조체
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{
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public object sender;//호출한 버튼
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public eTileState actionType;//세팅 타입
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public stCurrentAction(object sender, eTileState type)
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{
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this.sender = sender;
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this.actionType = type;
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}
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}
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//======================구조체
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//상수=======================
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const int TABLE_SIZE = 15;//테이블 사이즈
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readonly Point defaultStartPoint = new Point(5, 6);//디폴트 시작점
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readonly Point defaultGoalPoint = new Point(9, 6);//디폴트 목적지
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readonly Point[] defaultWallPoint = new Point[3]//디폴트 벽 위치
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{ new Point(7, 5), new Point(7, 6), new Point(7, 7) };
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//readonly Point[] defaultRoadPoint = new Point[] { };
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readonly Color defaultButtonColor;//디폴트 버튼 색
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//========================상수
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//렌더링======================
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readonly int tableNodeSize;//노드사이즈
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readonly Pen pen = new Pen(Color.DimGray, 1);//선 그리기용
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readonly Font font = new Font("바탕", 10, FontStyle.Regular);//폰트
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//=======================렌더링
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//길찾기=======================
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eTileState[,] tableData;//테이블 데이터
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AstarPathFinder pathFinder;//길찾기 클래스
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Point startPoint;//시작점
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Point goalPoint;//목표점
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//=======================길찾기
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//세팅=========================
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stCurrentAction? curAction = null;//현재 사용자가 선택한 배치타입
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//=========================세팅
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protected override CreateParams CreateParams
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{ get { var cp = base.CreateParams; cp.ExStyle |= 0x02000000; return cp; } }
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public Form1()
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{
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InitializeComponent();
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defaultButtonColor = Color.LightGray;
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tableNodeSize = pn_Table.Size.Width / TABLE_SIZE;
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startPoint = defaultStartPoint;
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goalPoint = defaultGoalPoint;
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tableData = new eTileState[TABLE_SIZE, TABLE_SIZE];
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SetDefault();
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pathFinder = new AstarPathFinder(new Point(TABLE_SIZE, TABLE_SIZE), tableData);
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}
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//테이블 초기화
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void SetDefault()
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{
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for(int i = 0; i < TABLE_SIZE; i++)
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{
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for(int j = 0; j < TABLE_SIZE; j++)
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{
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tableData[i, j] = eTileState.None;
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}
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}
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tableData[defaultStartPoint.X, defaultStartPoint.Y] = eTileState.Start;
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tableData[defaultGoalPoint.X, defaultGoalPoint.Y] = eTileState.Goal;
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foreach(Point iter in defaultWallPoint)
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tableData[iter.X, iter.Y] = eTileState.Wall;
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startPoint = defaultStartPoint;
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goalPoint = defaultGoalPoint;
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}
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//노드 그리기
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void DrawNode(PaintEventArgs e, Color color, AstarNode node)
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{
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Rectangle rect = new Rectangle(node.axis.X * tableNodeSize, node.axis.Y * tableNodeSize, tableNodeSize, tableNodeSize);
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e.Graphics.FillRectangle(new SolidBrush(color), rect);
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e.Graphics.DrawRectangle(pen, rect);
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e.Graphics.DrawString(node.F.ToString(), font, Brushes.Black, rect.X + 1, rect.Y + 4);
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e.Graphics.DrawString(node.G.ToString(), font, Brushes.Black, rect.X + 1, rect.Y + tableNodeSize * .7f);
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e.Graphics.DrawString(node.H.ToString(), font, Brushes.Black, rect.X + tableNodeSize - 1, rect.Y + tableNodeSize * .7f, new StringFormat(StringFormatFlags.DirectionRightToLeft));
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if(node.parent != null)
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{
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Point center = new Point(rect.X + tableNodeSize / 2, rect.Y + tableNodeSize / 2);
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RectangleF centerRect = new RectangleF(new PointF(center.X - 2.5f, center.Y - 2.5f), new SizeF(5, 5));
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e.Graphics.DrawLine(pen, center, pathFinder.AddPoint(center, node.ParentDirection, -8));
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e.Graphics.FillRectangle(new SolidBrush(Color.DimGray), centerRect);
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}
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}
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/// <summary>
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/// 버튼 선택시 들어옴, 현재 선택한 배치타입 설정
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/// </summary>
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/// <param name="sender">null 일경우 초기화</param>
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/// <param name="type">None 일경우 취소</param>
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void SetCurrentAction(object sender, eTileState type)
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{
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if(type != eTileState.Open)//오픈은 스텝모드,,..
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pathFinder.Initialize();
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if(curAction != null)
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{
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(curAction.Value.sender as Button).BackColor = defaultButtonColor;
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if(type == eTileState.None || type == curAction.Value.actionType)
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{
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curAction = null;
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return;
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}
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}
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if(sender != null)
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{
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curAction = new stCurrentAction(sender, type);
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if(type != eTileState.None)
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(sender as Button).BackColor = Color.LightSeaGreen;
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}
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}
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private void pn_Table_Paint(object sender, PaintEventArgs e)
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{
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for(int i = 0; i < TABLE_SIZE; i++)
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{
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for(int j = 0; j < TABLE_SIZE; j++)
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{
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Color color = new Color();
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switch(tableData[i, j])
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{
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case eTileState.None:
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break;
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case eTileState.Start:
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color = Color.IndianRed;
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break;
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case eTileState.Goal:
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color = Color.LightGreen;
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break;
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case eTileState.Wall:
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color = Color.CornflowerBlue;
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break;
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case eTileState.Open:
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color = Color.LemonChiffon;
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break;
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case eTileState.Close:
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color = Color.BurlyWood;
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break;
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case eTileState.Path:
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color = Color.Plum;
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break;
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case eTileState.Road:
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color = Color.Yellow;
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break;
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case eTileState.LRoad:
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color = Color.DarkRed;
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break;
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case eTileState.RRoad:
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color = Color.DarkBlue;
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break;
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}
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DrawNode(e, color, pathFinder.GetAstarNode(new Point(i, j)));
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}
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}
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}
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private void btn_SetStartPoint_Click(object sender, EventArgs e)
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{
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SetCurrentAction(sender, eTileState.Start);
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}
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private void btn_SetGoalPoint_Click(object sender, EventArgs e)
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{
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SetCurrentAction(sender, eTileState.Goal);
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}
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private void btn_SetWallPoint_Click(object sender, EventArgs e)
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{
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SetCurrentAction(sender, eTileState.Wall);
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}
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private void btn_SetDefault_Click(object sender, EventArgs e)
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{
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SetCurrentAction(sender, eTileState.None);
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SetDefault();
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pn_Table.Refresh();
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}
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private void btn_SetRoadPoint_Click(object sender, EventArgs e)
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{
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SetCurrentAction(sender, eTileState.Road);
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}
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private void btn_SetLeftRoadPoint_Click(object sender, EventArgs e)
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{
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SetCurrentAction(sender, eTileState.LRoad);
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}
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private void btn_SetRightRoadPoint_Click(object sender, EventArgs e)
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{
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SetCurrentAction(sender, eTileState.RRoad);
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}
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private void pn_Table_MouseDown(object sender, MouseEventArgs e)
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{
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int x = e.X / tableNodeSize;
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int y = e.Y / tableNodeSize;
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if(tableData[x, y] == eTileState.Start || tableData[x, y] == eTileState.Goal)
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{
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return;
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}
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if(curAction != null)
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{
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switch(curAction.Value.actionType)
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{
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case eTileState.Start:
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if(tableData[x, y] == eTileState.Wall) break;
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tableData[startPoint.X, startPoint.Y] = eTileState.None;
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startPoint = new Point(x, y);
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SetCurrentAction(null, eTileState.None);
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tableData[startPoint.X, startPoint.Y] = eTileState.Start;
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break;
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case eTileState.Goal:
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if(tableData[x, y] == eTileState.Wall) break;
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tableData[goalPoint.X, goalPoint.Y] = eTileState.None;
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goalPoint = new Point(x, y);
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SetCurrentAction(null, eTileState.None);
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tableData[goalPoint.X, goalPoint.Y] = eTileState.Goal;
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break;
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case eTileState.Wall:
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if(tableData[x, y] == eTileState.Start || tableData[x, y] == eTileState.Goal)
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break;
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if(tableData[x, y] == eTileState.Wall)
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{
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tableData[x, y] = eTileState.None;
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break;
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}
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tableData[x, y] = eTileState.Wall;
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break;
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case eTileState.Road:
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if (tableData[x, y] == eTileState.Start || tableData[x, y] == eTileState.Goal)
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break;
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if (tableData[x, y] == eTileState.Road)
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{
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tableData[x, y] = eTileState.None;
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break;
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}
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tableData[x, y] = eTileState.Road;
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break;
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case eTileState.LRoad:
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if (tableData[x, y] == eTileState.Start || tableData[x, y] == eTileState.Goal)
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break;
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if (tableData[x, y] == eTileState.LRoad)
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{
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tableData[x, y] = eTileState.None;
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break;
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}
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tableData[x, y] = eTileState.LRoad;
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break;
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case eTileState.RRoad:
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if (tableData[x, y] == eTileState.Start || tableData[x, y] == eTileState.Goal)
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break;
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if (tableData[x, y] == eTileState.RRoad)
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{
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tableData[x, y] = eTileState.None;
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break;
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}
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tableData[x, y] = eTileState.RRoad;
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break;
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default:
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break;
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}
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}
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(sender as Panel).Refresh();
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}
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private void pn_Table_MouseMove(object sender, MouseEventArgs e)
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{
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//if(e.Button == MouseButtons.Left)
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//{
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// int x = e.X / tableNodeSize;
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// int y = e.Y / tableNodeSize;
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// if (this.tableData[x, y] == eTileState.Start || this.tableData[x, y] == eTileState.Goal)
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// {
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// return;
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// }
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// if (curAction != null)
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// {
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// switch (curAction.Value.actionType)
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// {
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// case eTileState.Road:
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// if (tableData[x, y] == eTileState.Start || tableData[x, y] == eTileState.Goal)
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// break;
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// if (tableData[x, y] == eTileState.Road)
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// {
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// tableData[x, y] = eTileState.None;
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// break;
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// }
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// tableData[x, y] = eTileState.Road;
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// break;
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// default:
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// break;
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// }
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// }
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// (sender as Panel).Refresh();
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//}
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}
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public bool clickState { get; set; }
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private void btn_PathFind_Click(object sender, EventArgs e)
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{
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//SetCurrentAction(null, eTileState.None);
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//pathFinder.PathFind(pn_Table, startPoint, goalPoint);
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{
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if (clickState)
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{
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SetCurrentAction(null, eTileState.None);
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pathFinder.PathFind(pn_Table, startPoint, goalPoint);
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clickState = false;
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Direction = false;
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}
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else
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{
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SetCurrentAction(null, eTileState.None);
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pathFinder.PathFind(pn_Table, goalPoint, startPoint);
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clickState = true;
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Direction = true;
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}
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}
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}
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private void btn_Step_Click(object sender, EventArgs e)
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{
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SetCurrentAction(null, eTileState.Open);
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pathFinder.PathFind(pn_Table, startPoint, goalPoint, true);
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}
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}
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}
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