Tile [][] tile_map;
AStar astar;
ArrayList agents;
int w = 60;
int h = 30;
int s = 10;
float S = 0.1;
PFont font;
float text_a = 0;
int [][] tile_map_guide = {
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,1,1,1,0,1,1,1,0,1,1,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1,1,0,1,1,1,0,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,0,1,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,0,1,0,0,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1,1,0,1,1,1,0,1,1,1,0,1,0,1,0,1,1,0,0,1,1,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,1,0,0,1,0,1,0,0,1,0,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,0,1,0,0,1,1,0,0,0,1,0,0,1,1,1,0,1,0,1,0,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,1,0,0,1,0,1,0,0,1,0,0,1,0,1,0,1,0,1,0,1,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1,1,0,1,0,1,0,0,1,0,0,1,0,1,0,1,1,0,0,1,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1,1,0,1,1,1,0,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,0,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,1,0,1,0,1,1,1,0,0,1,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,1,0,1,0,0,0,1,0,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,1,1,1,0,1,1,1,0,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
    {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
  };

void setup(){
  size(600, 300);
  tile_map = new Tile[h][w];
  agents = new ArrayList();
  astar = new AStar(tile_map);
  initMap();
  frameRate(25);
  background(0);
  smooth();
  font = loadFont("ArialMT-14.vlw");
  textFont(font, 14);
}
void draw(){
  fill(0,10);
  rect(0,0,width,height);
  int done = 0;
  for(int i = 0; i < agents.size(); i++){
    Agent temp = (Agent)agents.get(i);
    temp.main();
    if(temp.home) done++;
  }
  if(done == agents.size()){
    if(text_a < 200) text_a ++;
    fill(255, text_a);
    text("click to run again", 250, 280);
    if(mousePressed){
      agents = new ArrayList();
      initMap();
      text_a = 0;
    }
  }
  
}
void initMap(){
  for(int r = 0; r < tile_map.length; r++){
    for(int c = 0; c < tile_map[r].length; c++){
      tile_map[r][c] = new Tile(c, r);
    }
  }
  for(int r = 0; r < tile_map.length; r++){
    for(int c = 0; c < tile_map[r].length; c++){
      if(tile_map_guide[r][c] == 1){
        agents.add(new Agent((int)random(w), (int)random(h), c, r));
      }
    }
  }
}
class Agent{
  float x, y;
  int destx, desty;
  int mapx, mapy;
  ArrayList path;
  boolean home = false;
  float a = 0;
  float speed = 1;
  Agent(int startx, int starty, int destx, int desty){
    this.destx = destx;
    this.desty = desty;
    x = (s * 0.5) + startx * s;
    y = (s * 0.5) + starty * s;
    mapx = startx;
    mapy = starty;
    path = astar.getPath(tile_map[starty][startx], tile_map[desty][destx]);
    a = random(100);
  }
  void main(){
    if(a < 150){
      a++;
    } else {
      if(path.size() > 0){
        Tile temp = (Tile)path.get(path.size()-1);
        if((s * 0.5) + temp.x * s > x) x += speed;
        if((s * 0.5) + temp.x * s < x) x -= speed;
        if((s * 0.5) + temp.y * s > y) y += speed;
        if((s * 0.5) + temp.y * s < y) y -= speed;
        if((s * 0.5) + temp.x * s == x && (s * 0.5) + temp.y * s == y){
          path = astar.getPath(tile_map[(int)(y*S)][(int)(x*S)], tile_map[desty][destx]);
        }
      } else {
        tile_map[(int)(y*S)][(int)(x*S)].walkable = false;
        if(a < 255){
          a++;
        } else {
          home = true;
        }
      }
    }
    /*for(int i = 0; i < path.size(); i++){
      Tile temp = (Tile)path.get(i);
      fill(255,0,0);
      ellipse(temp.x*s, temp.y*s, s*0.5, s*0.5);
    }*/
    noStroke();
    fill(255,20,30, a);
    ellipse(x, y, s, s);
    fill(255,220,230, a);
    ellipse(x, y, s*0.7, s*0.7);
  }
}