/// <summary>
/// Finds a path from own position to given position in maze.
/// </summary>
/// <returns>The path.</returns>
/// <param name="map">Map.</param>
/// <param name="start">Start.</param>
/// <param name="end">End.</param>
/// <param name="solution">Solution.</param>
/// <param name="allowDiagonals">If set to <c>true</c> allow diagonals.</param>
public AStarSearch.SearchState FindPath(Vec3di end, List <Vec3di> solution, bool allowDiagonals)
{
solution.Clear();
AStarSearch astarsearch = new AStarSearch(map, ownPosition, end, allowDiagonals);
AStarSearch.SearchState SearchState;
do
{
SearchState = astarsearch.SearchStep();
}while(SearchState == AStarSearch.SearchState.SEARCHING);
if (SearchState == AStarSearch.SearchState.SUCCEEDED)
{
GridPosition mapPos = astarsearch.GetSolutionStart();
while (mapPos != null)
{
solution.Add(mapPos.Position);
mapPos = astarsearch.GetSolutionNext();
}
;
// Once you're done with the solution you can free the nodes up
astarsearch.Cleanup();
}
else if (SearchState == AStarSearch.SearchState.FAILED)
{
//Zentronic.Debug.LogError("search terminated. Goal state not found!");
}
return(SearchState);
}
static void astar(String[] args)
{
XmlDocument doc = new XmlDocument();
doc.Load("c:/njones/src/SkippingRock/weewar.net/map.xml");
WeewarMap map = new WeewarMap(doc.DocumentElement);
AStarSearch astarsearch = new AStarSearch();
bool[] path = new bool[map.Height * map.Width];
Unit u = new Unit();
u.Type = UnitType.Trooper;
List<Terrain> bases = map.getTerrainsByType(TerrainType.Base);
Coordinate cs = bases[0].Coordinate;
Coordinate ce = bases[bases.Count-1].Coordinate;
SticksNode start = new SticksNode(map, cs, u);
SticksNode end = new SticksNode(map, ce, u);
astarsearch.SetStartAndGoalStates(start, end);
SearchState searchState;
uint searchSteps = 0;
do
{
searchState = astarsearch.SearchStep();
searchSteps++;
}
while (searchState == SearchState.Searching);
if (searchState == SearchState.Succeeded)
{
Console.WriteLine("Search found goal state");
SticksNode node = astarsearch.GetSolutionStart() as SticksNode;
Console.WriteLine( "Displaying solution");
int steps = 0;
for (; ; )
{
node = astarsearch.GetSolutionNext() as SticksNode;
if (node == null)
{
break;
}
path[node.Coordinate.Y * map.Height + node.Coordinate.X] = true;
//node.PrintNodeInfo();
steps++;
};
for (int y = 0; y < map.Height; y++)
{
if (y % 2 == 1) Console.Write(" ");
for (int x = 0; x < map.Width; x++)
{
if (x == start.Coordinate.X &&
y == start.Coordinate.Y)
Console.Write("S");
else if (x == end.Coordinate.X &&
y == end.Coordinate.Y)
Console.Write("G");
else
Console.Write(path[y * map.Height + x] ? "x" : "o");
}
Console.WriteLine();
}
Console.WriteLine("Solution steps {0}", steps);
// Once you're done with the solution you can free the nodes up
astarsearch.FreeSolutionNodes();
}
else if (searchState == SearchState.Failed)
{
Console.WriteLine("Search terminated. Did not find goal state");
}
// Display the number of loops the search went through
Console.WriteLine("searchSteps : " + searchSteps);
}
// Main
public static int main(string[] args)
{
Console.WriteLine("STL A* Search implementation\n(C)2001 Justin Heyes-Jones");
// Our sample problem defines the world as a 2d array representing a terrain
// Each element contains an integer from 0 to 5 which indicates the cost
// of travel across the terrain. Zero means the least possible difficulty
// in travelling (think ice rink if you can skate) whilst 5 represents the
// most difficult. 9 indicates that we cannot pass.
// Create an instance of the search class...
AStarSearch astarsearch = new AStarSearch();
bool[] path = new bool[MAP_HEIGHT * MAP_WIDTH];
// Create a start state
MapSearchNode nodeStart = new MapSearchNode();
nodeStart.x = 0;
nodeStart.y = 0;
// Define the goal state
MapSearchNode nodeEnd = new MapSearchNode();
nodeEnd.x = 19;
nodeEnd.y = 19;
// Set Start and goal states
astarsearch.SetStartAndGoalStates(nodeStart, nodeEnd);
SearchState searchState;
uint searchSteps = 0;
do
{
searchState = astarsearch.SearchStep();
searchSteps++;
}
while (searchState == SearchState.Searching);
if (searchState == SearchState.Succeeded)
{
Console.Write("Search found goal state");
MapSearchNode node = astarsearch.GetSolutionStart() as MapSearchNode;
Console.WriteLine( "Displaying solution");
int steps = 0;
node.PrintNodeInfo();
for (; ; )
{
node = astarsearch.GetSolutionNext() as MapSearchNode;
if (node == null)
{
break;
}
path[node.y * MAP_HEIGHT + node.x] = true;
//node.PrintNodeInfo();
steps++;
};
for (int y = 0; y < MAP_HEIGHT; y++)
{
for (int x = 0; x < MAP_WIDTH; x++)
{
Console.Write(path[y * MAP_HEIGHT + x] ? "x" : "o");
}
Console.WriteLine();
}
Console.WriteLine("Solution steps {0}", steps);
// Once you're done with the solution you can free the nodes up
astarsearch.FreeSolutionNodes();
}
else if (searchState == SearchState.Failed)
{
Console.WriteLine("Search terminated. Did not find goal state");
}
// Display the number of loops the search went through
Console.WriteLine("searchSteps : " + searchSteps);
return 0;
}
