/// <summary>
///
/// </summary>
/// <param name="grid"></param>
/// <param name="startLoc"></param>
/// <param name="goalLoc"></param>
public AStarSearch(int[,] grid, Location startLoc, Location goalLoc)
{
this.grid = grid;
this.startLoc = startLoc;
this.goalLoc = goalLoc;
open = new Dictionary<Location, Node>(grid.Length);
closed = new Dictionary<Location, Node>(grid.Length);
}
public PathFinder(int[,] grid, Location startLoc, Location goalLoc,
ISearchStrategy searchStrategy)
{
_grid = grid;
_startLoc = startLoc;
_goalLoc = goalLoc;
_searchStrategy = searchStrategy;
}
public SearchNode(Location location, INode parent)
{
Location = location;
Parent = parent;
}
/// <summary>
///
/// </summary>
/// <param name="location1"></param>
/// <param name="location2"></param>
/// <returns></returns>
private static decimal FindActualCost(Location location1, Location location2)
{
return (decimal)Math.Sqrt(Math.Abs(location2.X - location1.X) +
Math.Abs(location2.Y - location1.Y));
}
/// <summary>
///
/// </summary>
/// <param name="addTo"></param>
/// <param name="loc"></param>
/// <param name="x"></param>
/// <param name="y"></param>
private void AddConditional(IList<Node> addTo, Location loc, int x, int y)
{
int newX = loc.X + x, newY = loc.Y + y;
if (newX < 0 || newX >= grid.GetLength(0))
{
return;
}
if (newY < 0 || newY >= grid.GetLength(1))
{
return;
}
if (grid[newX, newY] == Constants.SOLID)
return;
var location = new Location(newX, newY);
var newNode = new Node() {Location = location};
addTo.Add(newNode);
}
/// <summary>
///
/// </summary>
/// <param name="startLoc"></param>
/// <param name="goalLoc"></param>
/// <returns></returns>
private static decimal FindHeuristic(Location startLoc, Location goalLoc)
{
decimal dx = Math.Abs(goalLoc.X - startLoc.X);
decimal dy = Math.Abs(goalLoc.Y - startLoc.Y);
return ((decimal)0.5 * (dx + dy));
}