//taken from
//<http://www.policyalmanac.org/games/aStarTutorial.htm>

//in this version of the A* algorithm I'm constantly updating the path. The bot moves to
//the first step in the projected path, the whole path and closed nodes are drawn simply to
//illustrate the algorithm

Pathfinder pathfinder;
PFont font;
int xstep, ystep;
void setup(){
  size(400,400);
  framerate(6);
  pathfinder = new Pathfinder(10, 10, 1, 1);
  pathfinder.setBot(0, 0, 0);
  pathfinder.setTarget(0, 9, 9);
  for(int i = 0; i < pathfinder.wide; i++){
    for(int j = 0; j < pathfinder.high; j++){
      //create random filled blocks
      if(j > 1 && j < pathfinder.high - 2 && i > 1 && i < pathfinder.wide - 2 && random(1) < 0.3){
        pathfinder.setGrid(i, j, -1);
      }
    }
  }
  xstep = width / pathfinder.wide;
  ystep = height / pathfinder.high;
  font = loadFont("AppleGothic-10.vlw");
  textFont(font, 10);
}

void draw(){
  smooth();
  background(255);
  drawGrid();
  drawTargets();
  drawBots();
  Vec2 temp = pathfinder.bestVec2(0, 0);
  pathfinder.setBot(0, temp.x, temp.y);
  drawBestVec2(temp);
  drawLists();
  drawPath();
}

//if a key is pressed, fill in an element on the grid
void keyPressed(){
  for(int i = 0; i < pathfinder.wide; i++){
    for(int j = 0; j < pathfinder.high; j++){
      if(mouseX / xstep == i && mouseY / ystep == j){
        if(pathfinder.grid[i][j] == -1){
          pathfinder.setGrid(i, j, 0);
        } 
        else {
          pathfinder.setGrid(i, j, -1);
        }
      }
    }
  }
}

//if the mouse is pressed move the target to that location
void mousePressed(){
  pathfinder.target[0].x = mouseX / xstep;
  pathfinder.target[0].y = mouseY / ystep;
}