public List <Node> AStar()
{
// Pop off lowest F
int? min = OpenList.Min(n => n.F);
Node current = OpenList.Where(n => n.F == min).First();
OpenList.Remove(current);
// Check for goal
if (current.Equals(Goal))
{
ClosedList.Push(current);
return(ClosedList.Reverse().ToList());
}
else
{
//possibleMoves = GetPassibleNodes(current);
OpenList = GetPassibleNodes(current);
List <Node> toRemove = new List <Node>();
OpenList.ForEach(n =>
{
if (ClosedList.Contains(n))
{
toRemove.Add(n);
}
else
{
GetF(n);
}
});
toRemove.ForEach(n => OpenList.Remove(n));
//possibleMoves.ForEach(n =>
//{
// if (!ClosedList.Contains(n)) // Dont move to an already visited Node
// {
// GetF(n);
// if (!OpenList.Contains(n))
// {
// n.Parent = current;
// OpenList.Add(n);
// }
// }
//});
}
ClosedList.Push(current);
return(null);
}
public bool FindTheShortesPath(Node Start, Node Target)
{
Node CurrentNode = Start;
OpenList.Add(CurrentNode);
for (; OpenList.Count > 0;)
{
CurrentNode = OpenList[0];
if (CurrentNode.Equals(Target))
{
VisitedNodes.Add(Target);
for (int Index = 0; Index < VisitedNodes.Count - 1; Index++)
{
ShortesPath.Add(InnerGraph.FindEdge(VisitedNodes[Index], VisitedNodes[Index + 1]));
}
return(true);
}
OpenList.Remove(CurrentNode);
ClosedList.Add(CurrentNode);
foreach (Node Inheritor in CurrentNode.Inheritors.Where(Node => Node != null && Node.Index != Node.Inheritors.Length - 1))
{
if (!ClosedList.Contains(Inheritor))
{
if (!OpenList.Contains(Inheritor))
{
Inheritor[Inheritor.Index] = CurrentNode;
Inheritor.HeuristicPathWeight = CalculateHeuristic(Inheritor, Target);
Inheritor.GainedPathWeight = InnerGraph.FindEdge(CurrentNode, Inheritor).Weight;
Inheritor.TotalPathWeight = Inheritor.GainedPathWeight + Inheritor.HeuristicPathWeight;
OpenList.Add(Inheritor);
OpenList = OpenList.OrderBy(Node => Node.TotalPathWeight).ToList <Node>();
}
}
}
VisitedNodes.Add(CurrentNode);
}
return(true);
}
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);
}
