public AStarPointData(AStarPoint _AStartPoint, double _g, double _h, AStarPointData _parent)
{
pointPos = _AStartPoint;
g = _g;
h = _h;
parent = _parent;
}
/// <summary>
/// 计算G
/// </summary>
/// <param name="data"></param>
/// <returns></returns>
public static double CalG(AStarPointData data, AStarPoint newPos)
{
double result = data.g + Math.Abs(newPos.x - data.pointPos.x) != Math.Abs(newPos.y - data.pointPos.y)
? StraightLine : SlantLine;
double temp = 0;
var _type = Map[newPos.x, newPos.y];
switch (_type)
{
case Space0:
temp = 1;
break;
case Space1:
temp = 10;
break;
}
return(result + temp);
}
private static bool Search(out List <AStarPoint> pathList)
{
//用List集合做"开启列表" 来记录扩展的点
List <AStarPointData> openList = new List <AStarPointData>();
//把起点放入开启列表
openList.Add(new AStarPointData(Start_Pnt, 0, 0, null));
//最后一个点的数据 用于反推
AStarPointData endData = null;
//是否完成
bool isFinish = false;
while (!isFinish && openList.Count > 0)
{//找到终点或者"开启列表"为空的时候退出循环
openList.Sort((x, y) => { return(x.F.CompareTo(y.F)); });
AStarPointData data = openList[0];
openList.RemoveAt(0);
AStarPoint point = data.pointPos;
//将取出的点表示为已访问点
if (Map[point.x, point.y] == Space0 || Map[point.x, point.y] == Space1)
{
Map[point.x, point.y] = Visited;
}
for (int i = 0; i < directs.GetLength(0); i++)
{
AStarPoint newPoint = new AStarPoint(point.x + directs[i, 0], point.y + directs[i, 1]);
if (newPoint.x >= 0 && newPoint.x < Max_PNT.x && newPoint.y >= 0 && newPoint.y < Max_PNT.y)
{
char e = Map[newPoint.x, newPoint.y];
if (e == End)
{
endData = data;
isFinish = true;
break;
}
if (e != Space0 && e != Space1)
{
continue;
}
//查找判断点是否在"开启列表"中
AStarPointData tempData = openList.Find(x => x.pointPos.Equals(newPoint));
double tempG = CalG(data, newPoint);
if (tempData != null)
{
if (tempData.g > tempG)
{
tempData.g = tempG;
tempData.parent = data;
}
}
else
{
double h = CalH(newPoint);
AStarPointData newData = new AStarPointData(newPoint, tempG, h, data);
openList.Add(newData);
}
}
}
}
//反向查找 找出路径
pathList = new List <AStarPoint>();
AStarPointData pointData = endData;
pathList.Add(End_Pnt);
while (pointData != null)
{
AStarPoint point = pointData.pointPos;
if (Map[point.x, point.y] == Visited)
{
Map[point.x, point.y] = OnPath;
pathList.Add(point);
}
pointData = pointData.parent;
}
pathList.Add(Start_Pnt);
pathList.Reverse();
if (pathList.Count <= 2 && (Math.Abs(Start_Pnt.x - End_Pnt.x) > 1 ||
Math.Abs(Start_Pnt.y - End_Pnt.y) > 1))
{
return(false);
}
return(true);
}
