public bool create(int row, int col, byte[] bytes)
{
mList.Clear();
mRow = row;
mCol = col;
mData = new asNode[mRow * mCol];
for (int i = 0; i < mRow; ++i)
{
for (int j = 0; j < mCol; ++j)
{
asNode node = new asNode();
mData[i * mCol + j] = node;
node.row = i;
node.col = j;
node.data = bytes[i * mCol + j];
node.f = node.g = node.h = 0;
node.findState = 0;
node.parent = null;
node.child = null;
}
}
return(true);
}
protected void _find(int g, Point2 curPos, Point2 checkPos)
{
if (this._can_walk(checkPos))
{
asNode checkNode = mData[checkPos.x * mCol + checkPos.y];
asNode curNode = mData[curPos.x * mCol + curPos.y];
if (checkNode.findState == (byte)FindState.FP_NOWALK)
{
checkNode.findState = (byte)FindState.FP_ISWALK;
checkNode.parent = curNode;
curNode.child = checkNode;
checkNode.g += checkNode.parent.g + g;
checkNode.h = (Math.Abs(mEnd.x - checkPos.x) + Math.Abs(mEnd.y - checkPos.y)) * 10;
checkNode.f = checkNode.g + checkNode.h;
mList.Add(checkNode);
}
else if (checkNode.findState == (byte)FindState.FP_ISWALK)
{
if (curNode.g + g < checkNode.g)
{
checkNode.g = curNode.g + g;
checkNode.f = checkNode.g + checkNode.h;
checkNode.parent = curNode;
curNode.child = checkNode;
}
}
}
}
public static bool points(List <Point2> lstPoints, asNode node)
{
asNode _node = node;
while (_node != null)
{
Point2 pt = new Point2();
pt.x = _node.row;
pt.y = _node.col;
lstPoints.Insert(0, pt);
_node = _node.parent;
}
return(true);
}
protected void clearData()
{
for (int i = 0; i < mRow; ++i)
{
for (int j = 0; j < mCol; ++j)
{
asNode node = mData[i * mCol + j];
node.f = node.g = node.h = 0;
node.findState = 0;
node.parent = null;
node.child = null;
}
}
}
protected asNode getFminNode()
{
int f = 0x00FFFFFF;
asNode reslut = null;
foreach (asNode node in mList)
{
if (node.f < f)
{
f = node.f;
reslut = node;
}
}
mList.Remove(reslut);
return(reslut);
}
protected bool _can_walk(Point2 checkPos)
{
if (!_check_point(checkPos.x, checkPos.y))
{
return(false);
}
asNode node = mData[checkPos.x * mCol + checkPos.y];
if (mRow > checkPos.x && mCol > checkPos.y &&
checkPos.x >= 0 && checkPos.y >= 0)
{
if (node.data == MAP_PASS)
{
return(true);
}
}
return(false);
}
public bool find(int startRow, int startCol, int endRow, int endCol)
{
mList.Clear();
mEndNode = null;
clearData();
if (!_check_point(startRow, startCol) || !_check_point(endRow, endCol))
{
return(false);
}
mStart.x = startRow;
mStart.y = startCol;
mEnd.x = endRow;
mEnd.y = endCol;
asNode currentNode = mData[startRow * mCol + startCol];
if (currentNode.data != MAP_PASS)
{
return(false);
}
mList.Add(currentNode);
asNode node = null;
while (true)
{
//node = this->front(m_openList);
//this->pop_front(m_openList);
if (mList.Count <= 0)
{
return(false);
}
node = this.getFminNode();
curPos.x = node.row;
curPos.y = node.col;
for (int i = 0; i < 8; ++i)
{
switch ((aStarDir)i)
{
case aStarDir.D_UP:
tempPos.x = curPos.x - 1;
tempPos.y = curPos.y;
this._find(10, curPos, tempPos);
//10
break;
case aStarDir.D_UPRIGHT:
tempPos.x = curPos.x - 1;
tempPos.y = curPos.y + 1;
this._find(14, curPos, tempPos);
//14
break;
case aStarDir.D_RIGHT:
tempPos.x = curPos.x;
tempPos.y = curPos.y + 1;
this._find(10, curPos, tempPos);
//10
break;
case aStarDir.D_DOWNRIGHT:
tempPos.x = curPos.x + 1;
tempPos.y = curPos.y + 1;
this._find(14, curPos, tempPos);
//14
break;
case aStarDir.D_DOWN:
tempPos.x = curPos.x + 1;
tempPos.y = curPos.y;
this._find(10, curPos, tempPos);
//10
break;
case aStarDir.D_DOWNLEFT:
tempPos.x = curPos.x + 1;
tempPos.y = curPos.y - 1;
this._find(14, curPos, tempPos);
//14
break;
case aStarDir.D_LEFT:
tempPos.x = curPos.x;
tempPos.y = curPos.y - 1;
this._find(10, curPos, tempPos);
//10
break;
case aStarDir.D_UPLEFT:
tempPos.x = curPos.x - 1;
tempPos.y = curPos.y - 1;
this._find(14, curPos, tempPos);
//14
break;
}
if (this._end_point(tempPos.x, tempPos.y))
{
mEndNode = mData[tempPos.x * mCol + tempPos.y];// 终点;
return(true);
}
}
mData[curPos.x * mCol + curPos.y].findState = (byte)FindState.FP_CLOSE;
}
return(true);
}
