/*
 Copyright (C) 2007 Apple Inc.  All rights reserved.

 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions
 are met:
 1. Redistributions of source code must retain the above copyright
    notice, this list of conditions and the following disclaimer.
 2. Redistributions in binary form must reproduce the above copyright
    notice, this list of conditions and the following disclaimer in the
    documentation and/or other materials provided with the distribution.

 THIS SOFTWARE IS PROVIDED BY APPLE COMPUTER, INC. ``AS IS'' AND ANY
 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL APPLE COMPUTER, INC. OR
 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
 OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 
*/

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  "y": 79,
  "isWall": false
 },
 {
  "x": 97,
  "y": 80,
  "isWall": true
 },
 {
  "x": 97,
  "y": 81,
  "isWall": true
 },
 {
  "x": 97,
  "y": 82,
  "isWall": true
 },
 {
  "x": 97,
  "y": 83,
  "isWall": false
 },
 {
  "x": 97,
  "y": 84,
  "isWall": true
 },
 {
  "x": 97,
  "y": 85,
  "isWall": true
 },
 {
  "x": 97,
  "y": 86,
  "isWall": false
 },
 {
  "x": 97,
  "y": 87,
  "isWall": true
 },
 {
  "x": 97,
  "y": 88,
  "isWall": false
 },
 {
  "x": 97,
  "y": 89,
  "isWall": false
 },
 {
  "x": 97,
  "y": 90,
  "isWall": false
 },
 {
  "x": 97,
  "y": 91,
  "isWall": true
 },
 {
  "x": 97,
  "y": 92,
  "isWall": true
 },
 {
  "x": 97,
  "y": 93,
  "isWall": false
 },
 {
  "x": 97,
  "y": 94,
  "isWall": false
 },
 {
  "x": 97,
  "y": 95,
  "isWall": false
 },
 {
  "x": 97,
  "y": 96,
  "isWall": false
 },
 {
  "x": 97,
  "y": 97,
  "isWall": false
 },
 {
  "x": 97,
  "y": 98,
  "isWall": false
 },
 {
  "x": 97,
  "y": 99,
  "isWall": true
 }
],
[
 {
  "x": 98,
  "y": 0,
  "isWall": false
 },
 {
  "x": 98,
  "y": 1,
  "isWall": false
 },
 {
  "x": 98,
  "y": 2,
  "isWall": false
 },
 {
  "x": 98,
  "y": 3,
  "isWall": false
 },
 {
  "x": 98,
  "y": 4,
  "isWall": false
 },
 {
  "x": 98,
  "y": 5,
  "isWall": false
 },
 {
  "x": 98,
  "y": 6,
  "isWall": false
 },
 {
  "x": 98,
  "y": 7,
  "isWall": true
 },
 {
  "x": 98,
  "y": 8,
  "isWall": true
 },
 {
  "x": 98,
  "y": 9,
  "isWall": false
 },
 {
  "x": 98,
  "y": 10,
  "isWall": false
 },
 {
  "x": 98,
  "y": 11,
  "isWall": false
 },
 {
  "x": 98,
  "y": 12,
  "isWall": true
 },
 {
  "x": 98,
  "y": 13,
  "isWall": false
 },
 {
  "x": 98,
  "y": 14,
  "isWall": false
 },
 {
  "x": 98,
  "y": 15,
  "isWall": false
 },
 {
  "x": 98,
  "y": 16,
  "isWall": false
 },
 {
  "x": 98,
  "y": 17,
  "isWall": false
 },
 {
  "x": 98,
  "y": 18,
  "isWall": false
 },
 {
  "x": 98,
  "y": 19,
  "isWall": true
 },
 {
  "x": 98,
  "y": 20,
  "isWall": false
 },
 {
  "x": 98,
  "y": 21,
  "isWall": false
 },
 {
  "x": 98,
  "y": 22,
  "isWall": true
 },
 {
  "x": 98,
  "y": 23,
  "isWall": false
 },
 {
  "x": 98,
  "y": 24,
  "isWall": false
 },
 {
  "x": 98,
  "y": 25,
  "isWall": false
 },
 {
  "x": 98,
  "y": 26,
  "isWall": false
 },
 {
  "x": 98,
  "y": 27,
  "isWall": true
 },
 {
  "x": 98,
  "y": 28,
  "isWall": false
 },
 {
  "x": 98,
  "y": 29,
  "isWall": false
 },
 {
  "x": 98,
  "y": 30,
  "isWall": false
 },
 {
  "x": 98,
  "y": 31,
  "isWall": false
 },
 {
  "x": 98,
  "y": 32,
  "isWall": false
 },
 {
  "x": 98,
  "y": 33,
  "isWall": false
 },
 {
  "x": 98,
  "y": 34,
  "isWall": true
 },
 {
  "x": 98,
  "y": 35,
  "isWall": false
 },
 {
  "x": 98,
  "y": 36,
  "isWall": true
 },
 {
  "x": 98,
  "y": 37,
  "isWall": true
 },
 {
  "x": 98,
  "y": 38,
  "isWall": false
 },
 {
  "x": 98,
  "y": 39,
  "isWall": false
 },
 {
  "x": 98,
  "y": 40,
  "isWall": true
 },
 {
  "x": 98,
  "y": 41,
  "isWall": true
 },
 {
  "x": 98,
  "y": 42,
  "isWall": false
 },
 {
  "x": 98,
  "y": 43,
  "isWall": false
 },
 {
  "x": 98,
  "y": 44,
  "isWall": false
 },
 {
  "x": 98,
  "y": 45,
  "isWall": false
 },
 {
  "x": 98,
  "y": 46,
  "isWall": true
 },
 {
  "x": 98,
  "y": 47,
  "isWall": false
 },
 {
  "x": 98,
  "y": 48,
  "isWall": false
 },
 {
  "x": 98,
  "y": 49,
  "isWall": false
 },
 {
  "x": 98,
  "y": 50,
  "isWall": true
 },
 {
  "x": 98,
  "y": 51,
  "isWall": false
 },
 {
  "x": 98,
  "y": 52,
  "isWall": true
 },
 {
  "x": 98,
  "y": 53,
  "isWall": false
 },
 {
  "x": 98,
  "y": 54,
  "isWall": true
 },
 {
  "x": 98,
  "y": 55,
  "isWall": false
 },
 {
  "x": 98,
  "y": 56,
  "isWall": true
 },
 {
  "x": 98,
  "y": 57,
  "isWall": false
 },
 {
  "x": 98,
  "y": 58,
  "isWall": false
 },
 {
  "x": 98,
  "y": 59,
  "isWall": false
 },
 {
  "x": 98,
  "y": 60,
  "isWall": true
 },
 {
  "x": 98,
  "y": 61,
  "isWall": false
 },
 {
  "x": 98,
  "y": 62,
  "isWall": false
 },
 {
  "x": 98,
  "y": 63,
  "isWall": true
 },
 {
  "x": 98,
  "y": 64,
  "isWall": false
 },
 {
  "x": 98,
  "y": 65,
  "isWall": false
 },
 {
  "x": 98,
  "y": 66,
  "isWall": false
 },
 {
  "x": 98,
  "y": 67,
  "isWall": false
 },
 {
  "x": 98,
  "y": 68,
  "isWall": false
 },
 {
  "x": 98,
  "y": 69,
  "isWall": false
 },
 {
  "x": 98,
  "y": 70,
  "isWall": true
 },
 {
  "x": 98,
  "y": 71,
  "isWall": true
 },
 {
  "x": 98,
  "y": 72,
  "isWall": false
 },
 {
  "x": 98,
  "y": 73,
  "isWall": false
 },
 {
  "x": 98,
  "y": 74,
  "isWall": true
 },
 {
  "x": 98,
  "y": 75,
  "isWall": true
 },
 {
  "x": 98,
  "y": 76,
  "isWall": false
 },
 {
  "x": 98,
  "y": 77,
  "isWall": false
 },
 {
  "x": 98,
  "y": 78,
  "isWall": true
 },
 {
  "x": 98,
  "y": 79,
  "isWall": false
 },
 {
  "x": 98,
  "y": 80,
  "isWall": false
 },
 {
  "x": 98,
  "y": 81,
  "isWall": false
 },
 {
  "x": 98,
  "y": 82,
  "isWall": false
 },
 {
  "x": 98,
  "y": 83,
  "isWall": false
 },
 {
  "x": 98,
  "y": 84,
  "isWall": false
 },
 {
  "x": 98,
  "y": 85,
  "isWall": true
 },
 {
  "x": 98,
  "y": 86,
  "isWall": false
 },
 {
  "x": 98,
  "y": 87,
  "isWall": false
 },
 {
  "x": 98,
  "y": 88,
  "isWall": false
 },
 {
  "x": 98,
  "y": 89,
  "isWall": false
 },
 {
  "x": 98,
  "y": 90,
  "isWall": false
 },
 {
  "x": 98,
  "y": 91,
  "isWall": false
 },
 {
  "x": 98,
  "y": 92,
  "isWall": false
 },
 {
  "x": 98,
  "y": 93,
  "isWall": false
 },
 {
  "x": 98,
  "y": 94,
  "isWall": false
 },
 {
  "x": 98,
  "y": 95,
  "isWall": false
 },
 {
  "x": 98,
  "y": 96,
  "isWall": false
 },
 {
  "x": 98,
  "y": 97,
  "isWall": true
 },
 {
  "x": 98,
  "y": 98,
  "isWall": true
 },
 {
  "x": 98,
  "y": 99,
  "isWall": false
 }
],
[
 {
  "x": 99,
  "y": 0,
  "isWall": true
 },
 {
  "x": 99,
  "y": 1,
  "isWall": false
 },
 {
  "x": 99,
  "y": 2,
  "isWall": false
 },
 {
  "x": 99,
  "y": 3,
  "isWall": false
 },
 {
  "x": 99,
  "y": 4,
  "isWall": true
 },
 {
  "x": 99,
  "y": 5,
  "isWall": false
 },
 {
  "x": 99,
  "y": 6,
  "isWall": true
 },
 {
  "x": 99,
  "y": 7,
  "isWall": false
 },
 {
  "x": 99,
  "y": 8,
  "isWall": false
 },
 {
  "x": 99,
  "y": 9,
  "isWall": false
 },
 {
  "x": 99,
  "y": 10,
  "isWall": false
 },
 {
  "x": 99,
  "y": 11,
  "isWall": false
 },
 {
  "x": 99,
  "y": 12,
  "isWall": false
 },
 {
  "x": 99,
  "y": 13,
  "isWall": true
 },
 {
  "x": 99,
  "y": 14,
  "isWall": true
 },
 {
  "x": 99,
  "y": 15,
  "isWall": false
 },
 {
  "x": 99,
  "y": 16,
  "isWall": false
 },
 {
  "x": 99,
  "y": 17,
  "isWall": false
 },
 {
  "x": 99,
  "y": 18,
  "isWall": false
 },
 {
  "x": 99,
  "y": 19,
  "isWall": false
 },
 {
  "x": 99,
  "y": 20,
  "isWall": false
 },
 {
  "x": 99,
  "y": 21,
  "isWall": true
 },
 {
  "x": 99,
  "y": 22,
  "isWall": false
 },
 {
  "x": 99,
  "y": 23,
  "isWall": false
 },
 {
  "x": 99,
  "y": 24,
  "isWall": true
 },
 {
  "x": 99,
  "y": 25,
  "isWall": true
 },
 {
  "x": 99,
  "y": 26,
  "isWall": false
 },
 {
  "x": 99,
  "y": 27,
  "isWall": false
 },
 {
  "x": 99,
  "y": 28,
  "isWall": true
 },
 {
  "x": 99,
  "y": 29,
  "isWall": false
 },
 {
  "x": 99,
  "y": 30,
  "isWall": false
 },
 {
  "x": 99,
  "y": 31,
  "isWall": false
 },
 {
  "x": 99,
  "y": 32,
  "isWall": true
 },
 {
  "x": 99,
  "y": 33,
  "isWall": true
 },
 {
  "x": 99,
  "y": 34,
  "isWall": false
 },
 {
  "x": 99,
  "y": 35,
  "isWall": false
 },
 {
  "x": 99,
  "y": 36,
  "isWall": false
 },
 {
  "x": 99,
  "y": 37,
  "isWall": true
 },
 {
  "x": 99,
  "y": 38,
  "isWall": true
 },
 {
  "x": 99,
  "y": 39,
  "isWall": false
 },
 {
  "x": 99,
  "y": 40,
  "isWall": true
 },
 {
  "x": 99,
  "y": 41,
  "isWall": false
 },
 {
  "x": 99,
  "y": 42,
  "isWall": false
 },
 {
  "x": 99,
  "y": 43,
  "isWall": false
 },
 {
  "x": 99,
  "y": 44,
  "isWall": false
 },
 {
  "x": 99,
  "y": 45,
  "isWall": true
 },
 {
  "x": 99,
  "y": 46,
  "isWall": false
 },
 {
  "x": 99,
  "y": 47,
  "isWall": true
 },
 {
  "x": 99,
  "y": 48,
  "isWall": true
 },
 {
  "x": 99,
  "y": 49,
  "isWall": true
 },
 {
  "x": 99,
  "y": 50,
  "isWall": false
 },
 {
  "x": 99,
  "y": 51,
  "isWall": false
 },
 {
  "x": 99,
  "y": 52,
  "isWall": false
 },
 {
  "x": 99,
  "y": 53,
  "isWall": false
 },
 {
  "x": 99,
  "y": 54,
  "isWall": false
 },
 {
  "x": 99,
  "y": 55,
  "isWall": false
 },
 {
  "x": 99,
  "y": 56,
  "isWall": false
 },
 {
  "x": 99,
  "y": 57,
  "isWall": false
 },
 {
  "x": 99,
  "y": 58,
  "isWall": true
 },
 {
  "x": 99,
  "y": 59,
  "isWall": false
 },
 {
  "x": 99,
  "y": 60,
  "isWall": true
 },
 {
  "x": 99,
  "y": 61,
  "isWall": false
 },
 {
  "x": 99,
  "y": 62,
  "isWall": false
 },
 {
  "x": 99,
  "y": 63,
  "isWall": true
 },
 {
  "x": 99,
  "y": 64,
  "isWall": true
 },
 {
  "x": 99,
  "y": 65,
  "isWall": true
 },
 {
  "x": 99,
  "y": 66,
  "isWall": true
 },
 {
  "x": 99,
  "y": 67,
  "isWall": false
 },
 {
  "x": 99,
  "y": 68,
  "isWall": false
 },
 {
  "x": 99,
  "y": 69,
  "isWall": false
 },
 {
  "x": 99,
  "y": 70,
  "isWall": false
 },
 {
  "x": 99,
  "y": 71,
  "isWall": false
 },
 {
  "x": 99,
  "y": 72,
  "isWall": false
 },
 {
  "x": 99,
  "y": 73,
  "isWall": false
 },
 {
  "x": 99,
  "y": 74,
  "isWall": false
 },
 {
  "x": 99,
  "y": 75,
  "isWall": false
 },
 {
  "x": 99,
  "y": 76,
  "isWall": true
 },
 {
  "x": 99,
  "y": 77,
  "isWall": false
 },
 {
  "x": 99,
  "y": 78,
  "isWall": true
 },
 {
  "x": 99,
  "y": 79,
  "isWall": true
 },
 {
  "x": 99,
  "y": 80,
  "isWall": true
 },
 {
  "x": 99,
  "y": 81,
  "isWall": true
 },
 {
  "x": 99,
  "y": 82,
  "isWall": false
 },
 {
  "x": 99,
  "y": 83,
  "isWall": false
 },
 {
  "x": 99,
  "y": 84,
  "isWall": false
 },
 {
  "x": 99,
  "y": 85,
  "isWall": false
 },
 {
  "x": 99,
  "y": 86,
  "isWall": false
 },
 {
  "x": 99,
  "y": 87,
  "isWall": false
 },
 {
  "x": 99,
  "y": 88,
  "isWall": false
 },
 {
  "x": 99,
  "y": 89,
  "isWall": false
 },
 {
  "x": 99,
  "y": 90,
  "isWall": false
 },
 {
  "x": 99,
  "y": 91,
  "isWall": false
 },
 {
  "x": 99,
  "y": 92,
  "isWall": false
 },
 {
  "x": 99,
  "y": 93,
  "isWall": false
 },
 {
  "x": 99,
  "y": 94,
  "isWall": true
 },
 {
  "x": 99,
  "y": 95,
  "isWall": false
 },
 {
  "x": 99,
  "y": 96,
  "isWall": false
 },
 {
  "x": 99,
  "y": 97,
  "isWall": false
 },
 {
  "x": 99,
  "y": 98,
  "isWall": false
 },
 {
  "x": 99,
  "y": 99,
  "isWall": true
 }
]
];

function GraphNode(x,y,isWall) {
    this.x = x;
    this.y = y;
    this._isWall = isWall;
    this.pos = {x:x,y:y};
    this.debug = "";
}

GraphNode.prototype.toJSON = function() {
  return {"x": this.x, "y": this.y, "isWall": this._isWall};
}

GraphNode.prototype.toString = function() {
    return "[" + this.x + " " + this.y + "]";
}
GraphNode.prototype.isAt = function(x,y) { 
    return (x == this.x) && (y == this.y); 
};
GraphNode.prototype.isWall = function() {
  return this._isWall;
};

for (var i=0; i < g1.length; i++) {
  for (var j=0; j<g1[i].length; j++) {
   g1[i][j] = new GraphNode(g1[i][j].x, g1[i][j].y, g1[i][j].isWall);
  }
}

function getStartingCell(graphSet) {
  for (var j = 0; j < graphSet.length; j++) {
    for (var k = 0; k < graphSet[j].length; k++ ) {
      if (!graphSet[j][k].isWall())
        return graphSet[j][k];
    }
  }
  throw "No start?";
}

function getEndingCell(graphSet) {
  for (var j = graphSet.length - 1; j >= 0; j--) {
    for (var k = graphSet[j].length - 1; k >= 0; k-- ) {
      if (!graphSet[j][k].isWall())
        return graphSet[j][k];
    }
  }
  throw "No end?";
}

var start = getStartingCell(g1);
var end = getEndingCell(g1);
var path = [];


var _sunSpiderStartDate = new Date();

Array.prototype.each = function(f) {
    if(!f.apply) return;
    for(var i=0;i<this.length;i++) {
        f.apply(this[i], [i, this]);   
    }
}
Array.prototype.findGraphNode = function(obj) {
    for(var i=0;i<this.length;i++) {
        if(this[i].pos == obj.pos) { return this[i]; }
    }
    return false;
};
Array.prototype.removeGraphNode = function(obj) {
    for(var i=0;i<this.length;i++) {
        if(this[i].pos == obj.pos) { this.splice(i,1); }
    }
    return false;
};

function createGraphSet(gridSize, wallFrequency) {
  var graphSet = [];
  for(var x=0;x<gridSize;x++) {
    var row = [];
    for(var y=0;y<gridSize;y++) {
      // maybe set this node to be wall
      var rand = Math.floor(Math.random()*(1/wallFrequency));
      row.push(new GraphNode(x,y,(rand == 0)));
    }
    graphSet.push(row);
  }
  return graphSet;
}

// astar.js
// Implements the astar search algorithm in javascript

var astar = {
    init: function(grid) {
        for(var x = 0; x < grid.length; x++) {
            for(var y = 0; y < grid[x].length; y++) {
                grid[x][y].f = 0;
                grid[x][y].g = 0;
                grid[x][y].h = 0;
                grid[x][y].parent = null;
            }   
        }
    },
    search: function(grid, start, end) {
        astar.init(grid);
        
        var openList   = [];
        var closedList = [];
        openList.push(start);
        
        while(openList.length > 0) {
        
            // Grab the lowest f(x) to process next
            var lowInd = 0;
            for(var i=0; i<openList.length; i++) {
                if(openList[i].f < openList[lowInd].f) { lowInd = i; }
            }
            var currentNode = openList[lowInd];
            
            // End case -- result has been found, return the traced path
            if(currentNode.pos == end.pos) {
                var curr = currentNode;
                var ret = [];
                while(curr.parent) {
                    ret.push(curr);
                    curr = curr.parent;
                }
                return ret.reverse();
            }
            
            // Normal case -- move currentNode from open to closed, process each of its neighbors
            openList.removeGraphNode(currentNode);
            closedList.push(currentNode);
            var neighbors = astar.neighbors(grid, currentNode);
            
            for(var j=0; j<neighbors.length;j++) {
                var neighbor = neighbors[j];
                if(closedList.findGraphNode(neighbor) || neighbor.isWall()) {
                    // not a valid node to process, skip to next neighbor
                    continue;
                }
                
                // g score is the shortest distance from start to current node, we need to check if
                //   the path we have arrived at this neighbor is the shortest one we have seen yet
                var gScore = currentNode.g + 1; // 1 is the distance from a node to it's neighbor
                var gScoreIsBest = false;
                
                
                if(!openList.findGraphNode(neighbor)) {
                    // This the the first time we have arrived at this node, it must be the best
                    // Also, we need to take the h (heuristic) score since we haven't done so yet
                    
                    gScoreIsBest = true;
                    neighbor.h = astar.heuristic(neighbor.pos, end.pos);
                    openList.push(neighbor);
                }
                else if(gScore < neighbor.g) {
                    // We have already seen the node, but last time it had a worse g (distance from start)
                    gScoreIsBest = true;
                }
                
                if(gScoreIsBest) {
                    // Found an optimal (so far) path to this node.  Store info on how we got here and
                    //  just how good it really is...
                    neighbor.parent = currentNode;
                    neighbor.g = gScore;
                    neighbor.f = neighbor.g + neighbor.h;
                }
            }
        }
        
        // No result was found -- empty array signifies failure to find path
        return [];
    },
    heuristic: function(pos0, pos1) {
        // This is the Manhattan distance
        var d1 = Math.abs (pos1.x - pos0.x);
        var d2 = Math.abs (pos1.y - pos0.y);
        return d1 + d2;
    },
    neighbors: function(grid, node) {
        var ret = [];
        var x = node.pos.x;
        var y = node.pos.y;
        
        if(grid[x-1] && grid[x-1][y]) {
            ret.push(grid[x-1][y]);
        }
        if(grid[x+1] && grid[x+1][y]) {
            ret.push(grid[x+1][y]);
        }
        if(grid[x][y-1] && grid[x][y-1]) {
            ret.push(grid[x][y-1]);
        }
        if(grid[x][y+1] && grid[x][y+1]) {
            ret.push(grid[x][y+1]);
        }
        return ret;
    }
};

function go() {
  path = astar.search(g1, start, end);
};

go();

var _sunSpiderInterval = new Date() - _sunSpiderStartDate;

WScript.Echo("### TIME:", _sunSpiderInterval, "ms");