public void SetKeyCell(Cell cell)
{
Cell cellFind = KeyCells.FirstOrDefault(record => record.Location.Equals(cell.Location));
if (cellFind == null)
{
this.KeyCells.Add(cell);
MapBmpFillRectangle(cell, Color.DarkSlateBlue);
}
else
{
cellFind.Name = cell.Name;
}
}
public int GetAverageManhattanDistanceBetweenKeys()
{
int totalManhattanDistance = 0;
int totalPairs = 0;
var keyCellList = KeyCells.Select(kvp => kvp.Value).ToList();
for (int i = 0; i < keyCellList.Count; i++)
{
for (int j = i + 1; j < keyCellList.Count; j++)
{
totalManhattanDistance += GridPoint.GetManhattanDistance(keyCellList[i], keyCellList[j]);
totalPairs++;
}
}
if (totalPairs == 0)
{
return(0);
}
return(totalManhattanDistance / totalPairs);
}
public bool BeginSearch()
{
if (Cell.IsSampleCell(this.StartCell, this.GoalCell))
{
return(true);
}
this.StartCell.EvaluateDistance = this.H(StartCell);
//将起始节点添加到closedList集合中
this.ClosedList.Add(StartCell);
//不停的搜索直到到达目的地
while (true)
{
if (!this.SearchBestCell())
{
//MessageBox.Show("苦海无边，回头是岸！");
return(false);
}
Cell closedCell = this.ClosedList[ClosedList.Count - 1];
Cell _upCell = new Cell(new Point(closedCell.Location.X, closedCell.Location.Y + CELL_WIDTH));
Cell _downCell = new Cell(new Point(closedCell.Location.X, closedCell.Location.Y - CELL_WIDTH));
Cell _rightCell = new Cell(new Point(closedCell.Location.X + CELL_WIDTH, closedCell.Location.Y));
Cell _leftCell = new Cell(new Point(closedCell.Location.X - CELL_WIDTH, closedCell.Location.Y));
//_upCell.Location = new Point(closedCell.Location.X, closedCell.Location.Y + CELL_WIDTH);
//_downCell.Location = new Point(closedCell.Location.X, closedCell.Location.Y - CELL_WIDTH);
//_rightCell.Location = new Point(closedCell.Location.X + CELL_WIDTH, closedCell.Location.Y);
//_leftCell.Location = new Point(closedCell.Location.X - CELL_WIDTH, closedCell.Location.Y);
#region
if (Cell.IsSampleCell(_upCell, StartCell))
{
closedCell.UpCell = StartCell;
}
else if (Cell.IsSampleCell(_downCell, StartCell))
{
closedCell.DownCell = StartCell;
}
else if (Cell.IsSampleCell(_rightCell, StartCell))
{
closedCell.RightCell = StartCell;
}
else if (Cell.IsSampleCell(_leftCell, StartCell))
{
closedCell.LeftCell = StartCell;
}
//switch (lastStartSearchWay)
//{
// case 0:
// if (Cell.IsSampleCell(_upCell, StartCell))
// {
// closedCell.UpCell = StartCell;
// lastStartSearchWay = 0;
// }
// else if (Cell.IsSampleCell(_downCell, StartCell))
// {
// closedCell.DownCell = StartCell;
// lastStartSearchWay = 1;
// }
// else if (Cell.IsSampleCell(_rightCell, StartCell))
// {
// closedCell.RightCell = StartCell;
// lastStartSearchWay = 2;
// }
// else if (Cell.IsSampleCell(_leftCell, StartCell))
// {
// closedCell.LeftCell = StartCell;
// lastStartSearchWay = 3;
// }
// break;
// case 1:
// if (Cell.IsSampleCell(_downCell, StartCell))
// {
// closedCell.DownCell = StartCell;
// lastStartSearchWay = 1;
// }
// else if (Cell.IsSampleCell(_rightCell, StartCell))
// {
// closedCell.RightCell = StartCell;
// lastStartSearchWay = 2;
// }
// else if (Cell.IsSampleCell(_leftCell, StartCell))
// {
// closedCell.LeftCell = StartCell;
// lastStartSearchWay = 3;
// }
// else if (Cell.IsSampleCell(_upCell, StartCell))
// {
// closedCell.UpCell = StartCell;
// lastStartSearchWay = 0;
// }
// break;
// case 2:
// if (Cell.IsSampleCell(_rightCell, StartCell))
// {
// lastStartSearchWay = 2;
// closedCell.RightCell = StartCell;
// }
// else if (Cell.IsSampleCell(_leftCell, StartCell))
// {
// lastStartSearchWay = 3;
// closedCell.LeftCell = StartCell;
// }
// else if (Cell.IsSampleCell(_upCell, StartCell))
// {
// closedCell.UpCell = StartCell;
// lastStartSearchWay = 0;
// }
// else if (Cell.IsSampleCell(_downCell, StartCell))
// {
// closedCell.DownCell = StartCell;
// lastStartSearchWay = 1;
// }
// break;
// case 3:
// if (Cell.IsSampleCell(_leftCell, StartCell))
// {
// closedCell.LeftCell = StartCell;
// lastStartSearchWay = 3;
// }
// else if (Cell.IsSampleCell(_upCell, StartCell))
// {
// closedCell.UpCell = StartCell;
// lastStartSearchWay = 0;
// }
// else if (Cell.IsSampleCell(_downCell, StartCell))
// {
// closedCell.DownCell = StartCell;
// lastStartSearchWay = 1;
// }
// else if (Cell.IsSampleCell(_rightCell, StartCell))
// {
// closedCell.RightCell = StartCell;
// lastStartSearchWay = 2;
// }
// break;
//}
#endregion
#region
if (Cell.IsSampleCell(_upCell, GoalCell))
{
GoalCell.DownCell = closedCell;
break;
}
if (Cell.IsSampleCell(_downCell, GoalCell))
{
GoalCell.UpCell = closedCell;
break;
}
if (Cell.IsSampleCell(_rightCell, GoalCell))
{
GoalCell.LeftCell = closedCell;
break;
}
if (Cell.IsSampleCell(_leftCell, GoalCell))
{
GoalCell.RightCell = closedCell;
break;
}
//if (lastGoalSearchWay == 0)
//{
// if (Cell.IsSampleCell(_upCell, GoalCell))
// {
// GoalCell.DownCell = closedCell;
// lastGoalSearchWay = 0;
// break;
// }
// if (Cell.IsSampleCell(_downCell, GoalCell))
// {
// GoalCell.UpCell = closedCell;
// lastGoalSearchWay = 1;
// break;
// }
// if (Cell.IsSampleCell(_rightCell, GoalCell))
// {
// GoalCell.LeftCell = closedCell;
// lastGoalSearchWay = 2;
// break;
// }
// if (Cell.IsSampleCell(_leftCell, GoalCell))
// {
// GoalCell.RightCell = closedCell;
// lastGoalSearchWay = 3;
// break;
// }
//}
//else if (lastGoalSearchWay == 1)
//{
// if (Cell.IsSampleCell(_downCell, GoalCell))
// {
// GoalCell.UpCell = closedCell;
// lastGoalSearchWay = 1;
// break;
// }
// if (Cell.IsSampleCell(_rightCell, GoalCell))
// {
// GoalCell.LeftCell = closedCell;
// lastGoalSearchWay = 2;
// break;
// }
// if (Cell.IsSampleCell(_leftCell, GoalCell))
// {
// GoalCell.RightCell = closedCell;
// lastGoalSearchWay = 3;
// break;
// }
// if (Cell.IsSampleCell(_upCell, GoalCell))
// {
// GoalCell.DownCell = closedCell;
// lastGoalSearchWay = 0;
// break;
// }
//}
//else if (lastGoalSearchWay == 2)
//{
// if (Cell.IsSampleCell(_rightCell, GoalCell))
// {
// GoalCell.LeftCell = closedCell;
// lastGoalSearchWay = 2;
// break;
// }
// if (Cell.IsSampleCell(_leftCell, GoalCell))
// {
// GoalCell.RightCell = closedCell;
// lastGoalSearchWay = 3;
// break;
// }
// if (Cell.IsSampleCell(_upCell, GoalCell))
// {
// GoalCell.DownCell = closedCell;
// lastGoalSearchWay = 0;
// break;
// }
// if (Cell.IsSampleCell(_downCell, GoalCell))
// {
// GoalCell.UpCell = closedCell;
// lastGoalSearchWay = 1;
// break;
// }
//}
//else if (lastGoalSearchWay == 3)
//{
// if (Cell.IsSampleCell(_leftCell, GoalCell))
// {
// GoalCell.RightCell = closedCell;
// lastGoalSearchWay = 3;
// break;
// }
// if (Cell.IsSampleCell(_upCell, GoalCell))
// {
// GoalCell.DownCell = closedCell;
// lastGoalSearchWay = 0;
// break;
// }
// if (Cell.IsSampleCell(_downCell, GoalCell))
// {
// GoalCell.UpCell = closedCell;
// lastGoalSearchWay = 1;
// break;
// }
// if (Cell.IsSampleCell(_rightCell, GoalCell))
// {
// GoalCell.LeftCell = closedCell;
// lastGoalSearchWay = 2;
// break;
// }
//}
#endregion
}
List <Cell> bestLoad = new List <Cell>();
Cell lastClosedCell = new Cell();
float n = float.MaxValue;
foreach (Cell closedCell in this.ClosedList)
{
if (closedCell.EvaluateDistance <= n)
{
n = closedCell.EvaluateDistance;
}
}
foreach (Cell closedCell in this.ClosedList)
{
if (Math.Abs(closedCell.EvaluateDistance - n) < 0.00001)
{
lastClosedCell = closedCell;
break;
}
}
while (true)
{
if (Cell.IsSampleCell(lastClosedCell.ParentCell, StartCell))
{
bestLoad.Add(lastClosedCell);
break;
}
else
{
bestLoad.Add(lastClosedCell);
lastClosedCell = lastClosedCell.ParentCell;
}
}
for (int i = 0; i < bestLoad.Count; i++)
{
if (i == 0)
{
GoalCell.ParentCell = bestLoad[i];
}
else
{
bestLoad[i - 1].ParentCell = bestLoad[i];
}
if (i < bestLoad.Count - 1)
{
Cell _upCell = new Cell();
Cell _downCell = new Cell();
Cell _rightCell = new Cell();
Cell _leftCell = new Cell();
_upCell.Location = new Point(bestLoad[i].Location.X, bestLoad[i].Location.Y + CELL_WIDTH);
_downCell.Location = new Point(bestLoad[i].Location.X, bestLoad[i].Location.Y - CELL_WIDTH);
_rightCell.Location = new Point(bestLoad[i].Location.X + CELL_WIDTH, bestLoad[i].Location.Y);
_leftCell.Location = new Point(bestLoad[i].Location.X - CELL_WIDTH, bestLoad[i].Location.Y);
if (Cell.IsSampleCell(_upCell, bestLoad[i + 1]))
{
bestLoad[i].UpCell = bestLoad[i + 1];
}
else if (Cell.IsSampleCell(_downCell, bestLoad[i + 1]))
{
bestLoad[i].DownCell = bestLoad[i + 1];
}
else if (Cell.IsSampleCell(_rightCell, bestLoad[i + 1]))
{
bestLoad[i].RightCell = bestLoad[i + 1];
}
else if (Cell.IsSampleCell(_leftCell, bestLoad[i + 1]))
{
bestLoad[i].LeftCell = bestLoad[i + 1];
}
}
}
MapBmpFillRectangles(bestLoad, Color.Blue);
PathPoint = new List <Point> {
GoalCell.Location
};
Cell activeCheckCell = GoalCell;
do
{
if (KeyCells.FindIndex(record => record.Location.Equals(activeCheckCell.Location)) > -1)
{
activeCheckCell = activeCheckCell.ParentCell;
PathPoint.Add(activeCheckCell.Location);
continue;
}
if (activeCheckCell.LeftCell != null)
{
if (activeCheckCell.ParentCell.LeftCell != null)
{
activeCheckCell = activeCheckCell.ParentCell;
continue;
}
activeCheckCell = activeCheckCell.ParentCell;
//if (PathPoint.Count > 2)
//{
// Point p1 = PathPoint[PathPoint.Count - 2];
// Point p2 = PathPoint[PathPoint.Count - 1];
// if ((Math.Abs( p1.X - p2.X) <= CELL_WIDTH
// &&Math.Abs( p1.Y -p2.Y )<= CELL_WIDTH)
// && (Math.Abs(activeCheckCell.Location.X - p2.X) <= CELL_WIDTH
// && Math.Abs(activeCheckCell.Location.Y - p2.Y) <= CELL_WIDTH)
// )
// {
// PathPoint.RemoveAt(PathPoint.Count - 1);
// }
//}
PathPoint.Add(activeCheckCell.Location);
continue;
}
else if (activeCheckCell.RightCell != null)
{
if (activeCheckCell.ParentCell.RightCell != null)
{
activeCheckCell = activeCheckCell.ParentCell;
continue;
}
activeCheckCell = activeCheckCell.ParentCell;
//if (PathPoint.Count > 2)
//{
// Point p1 = PathPoint[PathPoint.Count - 2];
// Point p2 = PathPoint[PathPoint.Count - 1];
// if ((Math.Abs(p1.X - p2.X) <= CELL_WIDTH
// && Math.Abs(p1.Y - p2.Y) <= CELL_WIDTH)
// && (Math.Abs(activeCheckCell.Location.X - p2.X) <= CELL_WIDTH
// && Math.Abs(activeCheckCell.Location.Y - p2.Y) <= CELL_WIDTH)
// )
// {
// PathPoint.RemoveAt(PathPoint.Count - 1);
// }
//}
PathPoint.Add(activeCheckCell.Location);
continue;
}
else if (activeCheckCell.UpCell != null)
{
if (activeCheckCell.ParentCell.UpCell != null)
{
activeCheckCell = activeCheckCell.ParentCell;
continue;
}
activeCheckCell = activeCheckCell.ParentCell;
//if (PathPoint.Count > 2)
//{
// Point p1 = PathPoint[PathPoint.Count - 2];
// Point p2 = PathPoint[PathPoint.Count - 1];
// if ((Math.Abs(p1.X - p2.X) <= CELL_WIDTH
// && Math.Abs(p1.Y - p2.Y) <= CELL_WIDTH)
// && (Math.Abs(activeCheckCell.Location.X - p2.X) <= CELL_WIDTH
// && Math.Abs(activeCheckCell.Location.Y - p2.Y) <= CELL_WIDTH)
// )
// {
// PathPoint.RemoveAt(PathPoint.Count - 1);
// }
//}
PathPoint.Add(activeCheckCell.Location);
continue;
}
else if (activeCheckCell.DownCell != null)
{
if (activeCheckCell.ParentCell.DownCell != null)
{
activeCheckCell = activeCheckCell.ParentCell;
continue;
}
activeCheckCell = activeCheckCell.ParentCell;
//if (PathPoint.Count > 2)
//{
// Point p1 = PathPoint[PathPoint.Count - 2];
// Point p2 = PathPoint[PathPoint.Count - 1];
// if ((Math.Abs(p1.X - p2.X) <= CELL_WIDTH
// && Math.Abs(p1.Y - p2.Y) <= CELL_WIDTH)
// && (Math.Abs(activeCheckCell.Location.X - p2.X) <= CELL_WIDTH
// && Math.Abs(activeCheckCell.Location.Y - p2.Y) <= CELL_WIDTH)
// )
// {
// PathPoint.RemoveAt(PathPoint.Count - 1);
// }
//}
PathPoint.Add(activeCheckCell.Location);
continue;
}
} while (activeCheckCell != null && activeCheckCell.ParentCell != null);
return(true);
}
public void RemoveKeyCell(Cell cell)
{
KeyCells.Remove(cell);
MapBmpFillRectangle(cell, Color.Azure);
}
public Cell GetKeyCell(int mouseX, int mouseY)
{
return(KeyCells.FirstOrDefault(record => record.Location.Equals(new Point(mouseX / this.CELL_WIDTH * CELL_WIDTH, mouseY / this.CELL_WIDTH * CELL_WIDTH))));
}
public string GetKeyCellName(int mouseX, int mouseY)
{
Cell cell = KeyCells.FirstOrDefault(record => record.Location.Equals(new Point(mouseX / this.CELL_WIDTH * CELL_WIDTH, mouseY / this.CELL_WIDTH * CELL_WIDTH)));
return(cell == null ? string.Empty : cell.Name);
}
