//获取某个点周围可以到达的点
public List <Point> SurroundPoints(Point point, bool IsIgnoreCorner)
{
List <Point> surroundPoints = new List <Point>(9);
//允许斜着走
//for (int x = point.X - 1; x <= point.X + 1; x++)
// for (int y = point.Y - 1; y <= point.Y + 1; y++)
// {
// if (CanReach(point, x, y, IsIgnoreCorner))
// ListHelp.Add(surroundPoints, x, y);
// }
//不允许斜着走
{
for (int y = point.Y - 1; y <= point.Y + 1; y++)
{
if (CanReach(point, point.X, y, IsIgnoreCorner))
{
ListHelp.Add(surroundPoints, point.X, y);
}
}
for (int x = point.X - 1; x <= point.X + 1; x += 2)
{
if (CanReach(point, x, point.Y, IsIgnoreCorner))
{
ListHelp.Add(surroundPoints, x, point.Y);
}
}
}
return(surroundPoints);
}
private bool CanReach(Point start, int x, int y, bool IsIgnoreCorner)
{
if (!CanReach(x, y) || ListHelp.Exists(CloseList, x, y))
{
return(false);
}
else
{
//判断是否是上下左右走
if (System.Math.Abs(x - start.X) + System.Math.Abs(y - start.Y) == 1)
{
return(true);
}
//如果是斜方向移动, 判断是否 "拌脚"
else
{
if (CanReach(start.X, y) || CanReach(x, start.Y))
{
return(true);
}
else
{
return(IsIgnoreCorner);
}
}
}
}
//一次寻路的函数,因为路径找的时候是从end到start，所以已经把函数中所有的end的地方和start的地方互换了
public void FindOncePath(Point start, Point end, bool IsIgnoreCorner)
{
OpenList.Add(end);
while (OpenList.Count != 0)
{
//找出F值最小的点
Point tempStart = ListHelp.MinPoint(ref OpenList);//ref为引用调用
OpenList.RemoveAt(0);
CloseList.Add(tempStart);
//找出它相邻的点
List <Point> surroundPoints = SurroundPoints(tempStart, IsIgnoreCorner);
foreach (Point point in surroundPoints)
{
if (ListHelp.Exists(OpenList, point))
{
//如果已经在开始列表里了，计算G值, 如果比原来的大, 就什么都不做, 否则设置它的父节点为当前点,并更新G和F
FoundPoint(tempStart, point);
}
else
{
//如果它们不在开始列表里, 就加入, 并设置父节点,并计算GHF
NotFoundPoint(tempStart, start, point);
}
}
if (ListHelp.Get(OpenList, start) != null)
{
parent = ListHelp.Get(OpenList, start);
return;
}
}
parent = ListHelp.Get(OpenList, start);
}
