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vmsaifvmsaif
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simulation works. Check if i can fix heap crash
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‎A2_Q1/.vscode/settings.json‎

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{
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"java.project.sourcePaths": ["src"],
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"java.project.outputPath": "bin",
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"java.project.referencedLibraries": [
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"lib/**/*.jar"
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]
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}

‎A2_Q1/README.md‎

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[Ant](https://www.pngegg.com/en/png-zblks)
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[food](https://www.pngegg.com/en/png-medpx)

‎A2_Q1/ant.png‎

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‎A2_Q1/food.png‎

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‎A2_Q1/src/AStarSearch.java‎

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import java.awt.Color;
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import java.awt.Graphics;
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import java.awt.Graphics2D;
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import java.util.ArrayList;
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import java.util.PriorityQueue;
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import javax.swing.JPanel;
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public class AStarSearch extends JPanel {
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private Tile[][] tiles;
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private Tile start;
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private Tile goal;
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private Ant ant;
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private ArrayList<ArrayList<Tile>> allPath2D = new ArrayList<ArrayList<Tile>>();
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public AStarSearch(Tile[][] tiles, Ant ant, Tile start, Tile goal) {
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this.tiles = tiles;
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this.start = start;
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this.goal = goal;
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this.ant = ant;
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}
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public ArrayList<Tile> search() {
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ArrayList<Tile> output = new ArrayList<>();
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ArrayList<Tile> closedSet = new ArrayList<>();
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// create openSet and add start to it
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PriorityQueue<Tile> openSet = new PriorityQueue<Tile>();
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// add start to openSet
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openSet.add(start);
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boolean foundGoal = false;
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boolean noPath = false;
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// while openSet is not empty
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while(openSet.size() > 0 && foundGoal == false && noPath == false){
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// check if first element in openSet is goal
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Tile current = openSet.poll();
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// System.out.println("current: " + current);
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ArrayList<Tile> row = new ArrayList<>();
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allPath2D.add(row);
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row.add(current);
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// System.out.println();
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// System.out.println("Removing Main Grid ["+current.getX()+"]["+current.getY()+"] F:" + current.getF() + " G:" + current.getG() + " H:" + current.getH());
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if(current.equals(goal) && noPath == false){
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// reconstruct path
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output = reconstructPath(current);
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foundGoal = true;
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// ant.stopSearch();
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} else {
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// remove current from openSet and add to closedSet
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// openSet.remove(current);
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closedSet.add(current);
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// get neighbors of current/ outgoing connections
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PriorityQueue<Tile> neighbors = getNeighbors(current);
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// printQueue(neighbors);
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// for each neighbor of current, evaluate cost
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while(neighbors.size() > 0){
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Tile currNeighbor = neighbors.poll();
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// System.out.println("--Polled Grid ["+currNeighbor.getX()+"]["+currNeighbor.getY()+"] F:" + currNeighbor.getF() + " G:" + currNeighbor.getG() + " H:" + currNeighbor.getH());
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// if neighbor is not in closedSet and not obstacle, then evaluate cost
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if(!closedSet.contains(currNeighbor) && !currNeighbor.isObstacle()){
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row.add(currNeighbor);
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double tempCost = current.getG() + currNeighbor.getCost();
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// System.out.println("tempCost: " + tempCost + " gCost: " + current.getG() + " current: " + current.getCost());
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boolean betterPath = false;
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// check for a shorter route
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if(!openSet.contains(currNeighbor)){
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// if neighbor is not in openSet, add to openSet and add g cost
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currNeighbor.setG(tempCost);
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betterPath = true;
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// System.out.println("ADDING Grid ["+currNeighbor.getX()+"]["+currNeighbor.getY()+"] F:" + currNeighbor.getF() + " G:" + currNeighbor.getG() + " H:" + currNeighbor.getH());
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} else {
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// openSet contains neighbor, check if shorter route
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if (tempCost < currNeighbor.getG()){
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// found a shorter route, update g cost
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openSet.remove(currNeighbor);
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currNeighbor.setG(tempCost);
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openSet.add(currNeighbor);
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betterPath = true;
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}
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}
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// set neighbor's heuristic estimated cost to goal
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if(betterPath){
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currNeighbor.setH(getHeuristic(currNeighbor, goal));
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// set neighbor's f
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currNeighbor.setF(currNeighbor.getG() + currNeighbor.getH());
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// record previous node
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currNeighbor.setCameFrom(current);
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}
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// add neighbor to openSet if not already in it
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if(!openSet.contains(currNeighbor)){
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// System.out.println("ADDING Grid ["+currNeighbor.getX()+"]["+currNeighbor.getY()+"] F:" + currNeighbor.getF() + " G:" + currNeighbor.getG() + " H:" + currNeighbor.getH());
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openSet.add(currNeighbor);
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}
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// System.out.println("--Polled Grid ["+currNeighbor.getX()+"]["+currNeighbor.getY()+"] F:" + currNeighbor.getF() + " G:" + currNeighbor.getG() + " H:" + currNeighbor.getH());
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// update GUI after each iteration of the search algorithm
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} // end if statement
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// System.out.println(" Grid ["+currNeighbor.getX()+"]["+currNeighbor.getY()+"] F:" + currNeighbor.getF() + " G:" + currNeighbor.getG() + " H:" + currNeighbor.getH());
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} // end while loop
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} // end else(not goal)
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// if openSet is empty, then no path
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if(openSet.size() == 0){
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System.out.println("No path found");
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noPath = true;
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}
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} // end main while loop
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ant.setAllPath2D(allPath2D);
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// System.out.println("Grid [1][0] F:" + tiles[1][0].getF() + " G:" + tiles[1][0].getG() + " H:" + tiles[1][0].getH());
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// System.out.println("Grid [1][1] F:" + tiles[1][1].getF() + " G:" + tiles[1][1].getG() + " H:" + tiles[1][1].getH());
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return output;
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}
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private double getHeuristic(Tile currNeighbor, Tile goal) {
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// manhattan distance between current neighbor and goal
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int dx = Math.abs(currNeighbor.getX() - goal.getX());
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int dy = Math.abs(currNeighbor.getY() - goal.getY());
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return dx + dy;
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}
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private PriorityQueue<Tile> getNeighbors(Tile tile) {
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PriorityQueue<Tile> neighbors = new PriorityQueue<>();
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// get the indexes of the tile from the neighbors 2d array
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int x = tile.getX();
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int y = tile.getY();
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// add neighbours including diagonals
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// top left
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if(x > 0 && y > 0){
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neighbors.add(tiles[x-1][y-1]);
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}
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// top
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if(y > 0){
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neighbors.add(tiles[x][y-1]);
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}
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// top right
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if(x < tiles.length-1 && y > 0){
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neighbors.add(tiles[x+1][y-1]);
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}
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// right
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if(x < tiles.length-1){
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neighbors.add(tiles[x+1][y]);
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}
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// bottom right
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if(x < tiles.length-1 && y < tiles[0].length-1){
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neighbors.add(tiles[x+1][y+1]);
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}
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// bottom
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if(y < tiles[0].length-1){
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neighbors.add(tiles[x][y+1]);
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}
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// bottom left
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if(x > 0 && y < tiles[0].length-1){
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neighbors.add(tiles[x-1][y+1]);
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}
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// left
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if(x > 0){
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neighbors.add(tiles[x-1][y]);
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}
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return neighbors;
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}
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public ArrayList<Tile> reconstructPath(Tile current) {
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ArrayList<Tile> path = new ArrayList<>();
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while (current != null) {
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path.add(current);
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// move to the previous node
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current = current.getCameFrom();
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// System.out.println("Path: (" + current.getX() + ", " + current.getY()+")");
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}
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return path;
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}
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}

‎A2_Q1/src/Ant.java‎

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/* -----------------------------------------------------------------------------
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Author: Saif Mahmud
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Date: 2023-22-07
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Course: COMP 452
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Student ID: 3433058
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Assignment: 2
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Part: 1
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*/
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import java.awt.Graphics;
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import java.awt.Image;
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import java.io.File;
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import java.io.IOException;
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import java.util.ArrayList;
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import javax.imageio.ImageIO;
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public class Ant {
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private int antX;
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private int antY;
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private Tile start;
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private Tile goal;
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private Tile[][] tiles;
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private Image antImage;
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private ArrayList<Tile> path;
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private Graphics g;
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private AStarSearch aStarSearch;
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private ArrayList<ArrayList<Tile>> allPath2D = new ArrayList<ArrayList<Tile>>();
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public Ant(Tile start, Tile goal, int tileSize, Tile[][] tiles) {
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this.start = start;
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this.goal = goal;
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this.tiles = tiles;
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loadAntImg();
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antX = start.getX()*tileSize;
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antY = start.getY()*tileSize;
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}
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private void loadAntImg() {
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try {
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antImage = ImageIO.read(new File("ant.png"));
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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public void draw(Graphics g, int tileSize) {
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g.drawImage(antImage, antX, antY, tileSize, tileSize, null);
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}
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public void search() {
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aStarSearch = new AStarSearch(tiles, this, start, goal);
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path = aStarSearch.search();
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}
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public ArrayList<Tile> getPath() {
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// find the path and store it in path arraylist
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if(path == null){
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this.search();
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}
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return path;
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}
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public void setAllPath2D(ArrayList<ArrayList<Tile>> allPath2D) {
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this.allPath2D = allPath2D;
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}
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public ArrayList<ArrayList<Tile>> getAllPath2D() {
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return allPath2D;
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}
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public int getX() {
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return antX;
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}
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public int getY() {
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return antY;
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}
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public void setX(int x) {
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antX = x;
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}
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public void setY(int y) {
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antY = y;
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}
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}// end class Ant

‎A2_Q1/src/App.java‎

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/* -----------------------------------------------------------------------------
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Author: Saif Mahmud
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Date: 2023-22-07
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Course: COMP 452
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Student ID: 3433058
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Assignment: 2
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Part: 1
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Description: Main class to run the game
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*/
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import javax.swing.JFrame;
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public class App {
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public static void main(String[] args) throws Exception {
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Game game = new Game();
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JFrame frame = new JFrame("A2_P1");
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frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
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frame.setSize(900, 700);
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frame.add(game);
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// frame.pack();
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frame.setVisible(true);
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}
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}

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