public void Reset()
{
for (int i = 0; i < NodeCost.Length; i++)
{
NodeCost[i] = 0;
ParentNode[i] = -1;
}
OpenList.Clear();
ClosedList.Clear();
}
public Stack <PathNode> FindPath(State state, Piece startPiece, Piece endPiece)
{
openList.Clear();
closedHashSet.Clear();
openList.Add(new PathNode(startPiece.position));
while (openList.Count > 0)
{
PathNode currentNode = openList.Pop();
if (currentNode.Position == endPiece.position)
{
return(ReconstructPath(currentNode, endPiece));
}
closedHashSet.Add(currentNode);
foreach (Vector2i neighbor in GetNeighbors(state, endPiece, currentNode.Position))
{
if (closedHashSet.Contains(neighbor))
{
continue;
}
float gValue = currentNode.g + neighbor.Distance(currentNode.Position);
if (openList.Update(neighbor, gValue))
{
continue;
}
float hValue = GetH(neighbor, endPiece.position);
PathNode currentNeighbor = new PathNode(neighbor)
{
g = gValue,
h = hValue,
f = gValue + hValue,
Parent = currentNode
};
openList.Add(currentNeighbor);
}
}
return(null);
}
public void init(ref INode[,] map)
{
this.map = map;
foreach (INode node in map)
{
if (node.property == nodeProp.START)
{
start = node;
}
if (node.property == nodeProp.GOAL)
{
goal = node;
}
}
curTile = null;
isCalculating = false;
if (OpenList == null)
{
OpenList = new List <INode>();
}
else
{
OpenList.Clear();
}
if (CloseList == null)
{
CloseList = new List <INode>();
}
else
{
CloseList.Clear();
}
if (PathList == null)
{
PathList = new List <INode>();
}
else
{
PathList.Clear();
}
}
/// <summary>
/// 重置
/// </summary>
public void ReSet()
{
if (StartCell != null)
{
MapBmpFillRectangle(StartCell, this._whiteSmoke);
StartCell = null;
}
if (GoalCell != null)
{
MapBmpFillRectangle(GoalCell, this._whiteSmoke);
GoalCell = null;
}
MapBmpFillRectangles(StoneCells, this._whiteSmoke);
StoneCells.Clear();
MapBmpFillRectangles(ClosedList, this._whiteSmoke);
ClosedList.Clear();
MapBmpFillRectangles(OpenList, this._whiteSmoke);
OpenList.Clear();
}
public override ArrayList FindPaths(int StartPos, int InEndPos, int InID)
{
ArrayList Paths = new ArrayList();
if (!IsValidPosIndex(StartPos) || !IsValidPosIndex(InEndPos))
{
return(Paths);
}
CTimeCheck.Start(InID);
EndPos = InEndPos;
ClosedList.Clear();
OpenList.Clear();
foreach (Tile tile in Tiles)
{
if (tile.bBlock)
{
ClosedList.Add(tile.Index);
}
tile.Reset();
}
ClosedList.Add(StartPos);
int FindNextPath = StartPos;
int path_make_start_time = Environment.TickCount;
while (true)
{
//if (100 <= Environment.TickCount - path_make_start_time)
// return Paths;
ArrayList MakedOpenList = MakeOpenList(FindNextPath);
if (OpenList.Count == 0)
{
CDebugLog.Log(ELogType.AStar, "OpenList.Count == 0");
}
//FindNextPath = FindNextPathIndex(ref MakedOpenList);
////FindNextPath = FindNextPathIndexFromOpenList();
//if (-1 == FindNextPath)
//{
FindNextPath = FindNextPathIndexFromOpenList();
//}
if (-1 == FindNextPath)
{
CTimeCheck.End(ELogType.AStar, "Failed FindPaths");
return(Paths);
}
if (FindNextPath == EndPos)
{
break;
}
OpenList.Remove(FindNextPath);
ClosedList.Add(FindNextPath);
}
int path_index = EndPos;
Paths.Add(EndPos);
while (true)
{
if (path_index == StartPos)
{
break;
}
Paths.Add(((Tile)Tiles[path_index]).ParentTile);
path_index = ((Tile)Tiles[path_index]).ParentTile;
}
Paths.Reverse();
CTimeCheck.End(ELogType.AStar, "Success FindPaths");
return(Paths);
}
public bool Compute(int originX, int originY, int destX, int destY)
{
OriginX = originX;
OriginY = originY;
DestinationX = destX;
DestinationY = destY;
Nodes.Clear();
OpenList.Clear();
if (originX == destX && originY == destY)
{
return(true);
}
var originOutsideMap = !IsValid(OriginX, OriginY);
var destOutsideMap = !IsValid(DestinationX, DestinationY);
if (originOutsideMap || destOutsideMap)
{
return(false);
}
if (!Map.Tiles[OriginX, OriginY].Walkable || !Map.Tiles[DestinationX, DestinationY].Walkable)
{
return(false);
}
InitializeGrid(ClosedList, false, Width, Height);
InitializeCellDetails();
OpenList.Add(new NodeScore(0, new Point(OriginX, OriginY)));
while (OpenList.Count != 0)
{
var nodeScore = OpenList[0];
OpenList.RemoveAt(0);
var x = nodeScore.Location.X;
var y = nodeScore.Location.Y;
ClosedList[x, y] = true;
if (ProcessCell(x, y, NorthEast, DiagonalCost))
{
break;
}
if (ProcessCell(x, y, North, 1))
{
break;
}
if (ProcessCell(x, y, NorthWest, DiagonalCost))
{
break;
}
if (ProcessCell(x, y, East, 1))
{
break;
}
if (ProcessCell(x, y, West, 1))
{
break;
}
if (ProcessCell(x, y, SouthEast, DiagonalCost))
{
break;
}
if (ProcessCell(x, y, South, 1))
{
break;
}
if (ProcessCell(x, y, SouthWest, DiagonalCost))
{
break;
}
}
return(true);
}
