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import QtQuick 2.4
import QtQuick.Window 2.2
Window {
width: 400
height: 400
visible: true
property var map: [
[1,1,1,1,1,1,1],
[1,0,0,2,0,0,1],
[1,0,1,1,1,1,1],
[1,0,0,0,0,0,1],
[1,0,0,0,0,0,1],
[1,0,0,0,0,0,1],
[1,1,1,1,1,1,1]]
property var start: {"id":31,"x":3,"y":1,"G":0,"H":0,"Z":0,"parent":-1}
property var end: {"id":45,"x":4,"y":5,"G":0,"H":0,"Z":0,"parent":-1}
property var nodes: {"Zero":[]}
property var openNodesId: []
property var closedNodesId: []
property var allNodeIds: []
function getFriends(node) {
var friends = []
var modXZero = (end.x-node.x < 0 ? -1*(end.x-node.x) : end.x-node.x )*10
var modXPlus = (end.x-(node.x+1) < 0 ? -1*(end.x-(node.x+1)) : end.x-(node.x+1))*10
var modXMinus = (end.x-(node.x-1) < 0 ? -1*(end.x-(node.x-1)) : end.x-(node.x-1))*10
var modYZero = (end.y-node.y < 0 ? -1*(end.y-node.y) : end.y-node.y )*10
var modYPlus = (end.y-(node.y+1) < 0 ? -1*(end.y-(node.y+1)) : end.y-(node.y+1))*10
var modYMinus = (end.y-(node.y-1) < 0 ? -1*(end.y-(node.y-1)) : end.y-(node.y-1))*10
// if (node.x == 0) {
// if (map[node.y][node.x + 1] != 1) {
// var newNode1 = {"x":node.x+1,"y":node.y,"G":node.G+10,"H":modXPlus,"F":node.G+10+modXPlus+modYZero,"Z":1}
// newNode1.id = ((newNode1.x*10) + newNode1.y) < 10 ? "0" + ((newNode1.x*10) + newNode1.y) : ((newNode1.x*10) + newNode1.y)
// newNode1.parent = ""+ (((node.x*10) + node.y) < 10 ? "0" : "") + "" + ((node.x*10) + node.y)
// friends.push(newNode1)
// }
// } else if (node.x == map[0].length) {
// if (map[node.y][node.x - 1] != 1) {
// var newNode2 = {"x":node.x-1,"y":node.y,"G":node.G+10,"H":modXMinus,"F":node.G+10+modXMinus+modYZero,"Z":2}
// newNode2.id = ((newNode2.x*10) + newNode2.y) < 10 ? "0" + ((newNode2.x*10) + newNode2.y) : ((newNode2.x*10) + newNode2.y)
// newNode2.parent = ""+ (((node.x*10) + node.y) < 10 ? "0" : "") + "" + ((node.x*10) + node.y)
// friends.push(newNode2)
// }
// } else {
if (map[node.y][node.x + 1] != 1) {
var newNode3 = {"x":node.x+1,"y":node.y,"G":node.G+10,"H":modXPlus,"F":node.G+10+modXPlus+modYZero,"Z":3}
newNode3.id = ((newNode3.x*10) + newNode3.y) < 10 ? "0" + ((newNode3.x*10) + newNode3.y) : ((newNode3.x*10) + newNode3.y)
newNode3.parent = ""+ (((node.x*10) + node.y) < 10 ? "0" : "") + "" + ((node.x*10) + node.y)
friends.push(newNode3)
}
if (map[node.y][node.x - 1] != 1) {
var newNode4 = {"x":node.x-1,"y":node.y,"G":node.G+10,"H":modXMinus,"F":node.G+10+modXMinus+modYZero,"Z":4}
newNode4.id = ((newNode4.x*10) + newNode4.y) < 10 ? "0" + ((newNode4.x*10) + newNode4.y) : ((newNode4.x*10) + newNode4.y)
newNode4.parent = ""+ (((node.x*10) + node.y) < 10 ? "0" : "") + "" + ((node.x*10) + node.y)
friends.push(newNode4)
}
// }
// if (node.y == 0) {
// if (map[node.y + 1][node.x] != 1) {
// var newNode5 = {"x":node.x,"y":node.y+1,"G":node.G+10,"H":modYPlus,"F":node.G+10+modYPlus+modXZero,"Z":5}
// newNode5.id = ((newNode5.x*10) + newNode5.y) < 10 ? "0" + ((newNode5.x*10) + newNode5.y) : ((newNode5.x*10) + newNode5.y)
// newNode5.parent = ""+ (((node.x*10) + node.y) < 10 ? "0" : "") + "" + ((node.x*10) + node.y)
// friends.push(newNode5)
// }
// } else if (node.y == map.length) {
// if (map[node.y + 1][node.x] != 1) {
// var newNode6 = {"x":node.x,"y":node.y-1,"G":node.G+10,"H":modYMinus,"F":node.G+10+modYMinus,"Z":6}
// newNode6.id = ((newNode6.x*10) + newNode6.y) < 10 ? "0" + ((newNode6.x*10) + newNode6.y) : ((newNode6.x*10) + newNode6.y)
// newNode6.parent = ""+((node.x*10) + node.y)
// friends.push(newNode6)
// }
// } else {
if (map[node.y + 1][node.x] != 1) {
var newNode7 = {"x":node.x,"y":node.y+1,"G":node.G+10,"H":modYPlus,"F":node.G+10+modYPlus+modXZero,"Z":7}
newNode7.id = ((newNode7.x*10) + newNode7.y) < 10 ? "0" + ((newNode7.x*10) + newNode7.y) : ((newNode7.x*10) + newNode7.y)
newNode7.parent = ""+ (((node.x*10) + node.y) < 10 ? "0" : "") + "" + ((node.x*10) + node.y)
friends.push(newNode7)
}
if (map[node.y - 1][node.x] != 1) {
var newNode8 = {"x":node.x,"y":node.y-1,"G":node.G+10,"H":modYMinus,"F":node.G+10+modYMinus+modXZero,"Z":8}
newNode8.id = ((newNode8.x*10) + newNode8.y) < 10 ? "0" + ((newNode8.x*10) + newNode8.y) : ((newNode8.x*10) + newNode8.y)
newNode8.parent = ""+ (((node.x*10) + node.y) < 10 ? "0" : "") + "" + ((node.x*10) + node.y)
friends.push(newNode8)
}
// }
for (var i = 0; i < friends.length; i++) {
map[friends[i].y][friends[i].x] = 3
}
console.log(friends.length)
return friends
}
function orderByF(list) {
var j,i,key;
for(j = 1; j < list.length; j++){
key = list[j];
i = j - 1;
while(i >= 0 && list[i].F > key.F){
list[i + 1] = list[i];
i = i - 1;
}
list[i + 1] = key;
}
return list
}
function orderByFFromNodes() {
var j,i,key;
for(j = 1; j < openNodesId.length; j++){
key = nodes[openNodesId[j]];
i = j - 1;
console.log("ordering node = ",openNodesId[i]," i=",i," j=",j)
while(i >= 0 && nodes[openNodesId[i]].F > key.F){
openNodesId[i + 1] = openNodesId[i];
i = i - 1;
}
openNodesId[i + 1] = key.id;
}
}
function printMap() {
console.log("\n")
for (var i = 0; i < map.length; i++) {
var line = ""
for (var j = 0; j < map[i].length; j++) {
line += map[i][j] + " "
}
console.log(line)
}
console.log("\n")
}
function search() {
var it = 0;
// First Round
nodes[start.id] = start
allNodeIds.push(start.id)
closedNodesId.push(start.id)
var friends = getFriends(start)
for (var i = 0; i < friends.length; i++) {
console.log("Adding to base: ",friends[i].id)
nodes[friends[i].id] = friends[i]
allNodeIds.push(friends[i].id)
openNodesId.push(friends[i].id)
}
orderByFFromNodes()
console.log("Start Friends Ready\n")
printMap()
var found = false
while (!found) {
// Second Round
it++
var bestF = openNodesId.shift()
console.log("it = "+it," bestF = ",bestF)
console.log("Before allNodeIds = ",allNodeIds.toString())
closedNodesId.push(bestF)
var current = nodes[bestF]
console.log("current = F",bestF.F)
friends = getFriends(current)
for (var ix = 0; ix < friends.length; ix++) {
if (!(openNodesId.indexOf(friends[ix].id) >= 0) && !(closedNodesId.indexOf(friends[ix].id) >=0)) {
console.log("add friend to nodes = "+friends[ix].id)
nodes[friends[ix].id] = (friends[ix])
allNodeIds.push(friends[ix].id)
}
}
console.log("After allNodeIds = ",allNodeIds.toString())
// Remove closed nodes
for (ix = 0; ix < friends.length; ix++) {
if (closedNodesId.indexOf(friends[ix].id) >= 0) {
console.log("remove closed friends = "+friends[ix].id)
friends.splice(ix,1)
}
}
// Add missing nodes to open
for (ix = 0; ix < friends.length; ix++) {
if (!(openNodesId.indexOf(friends[ix].id) >= 0)) {
if (friends[ix].id != end.id) {
console.log("add new open friends = "+friends[ix].id)
openNodesId.push(friends[ix].id)
} else {
console.log("Search and Found!")
end = friends[ix]
map[start.y][start.x] = "S"
map[end.y][end.x] = "X"
found = true
}
}
}
if (!found) { orderByFFromNodes() }
}
printMap()
}
Component.onCompleted: {
search()
}
}