/// <summary>
///小车移动函数，小车的横纵坐标每改变一次，窗体就执行重绘函数，就实现了小车的移动
/// </summary>
/// <param name="Elc"></param>
public int SearchRoute(ElecMap Elc, int startX, int startY, int endX, int endY)//04022
{
AstarSearch astartSearch = new AstarSearch();
Elc.mapnode[startX, startY].nodeCanUsed = true; //小车自己所在的地方解除占用
Elc.TempMapNode[startX, startY].nodeCanUsed = true; //小车自己所在的地方解除占用
this.route = astartSearch.search(Elc, Elc.Width, Elc.Height, startX, startY, endX, endY);
routeIndex = 0;
if (this.route == null)
{
this.vehical_state = v_state.cannotToDestination;
}
for (int ii = 0; ii < this.route.Count; ii++)
{
this.cost = this.cost + 1;
// Elc.mapnode[(int)this.route[ii].X, (int)this.route[ii].Y].vehiclePriority = new List<int>();
// Elc.mapnode[(int)this.route[ii].Height, (int)this.route[ii].Width].vehiclePriority.Add(this.v_num);
}
//解除节点的占用
for (int p = 0; p < Elc.heightNum; p++)
{
for (int q = 0; q < Elc.widthNum; q++)
{
Elc.mapnode[p, q].nodeCanUsed = true;
Elc.TempMapNode[p, q].nodeCanUsed = true;//小车自己所在的地方解除占用
}
}
return(this.route.Count);
}
List <Vector3> RedTrace(Vector3 position)
{
AstarSearch actions = new AstarSearch(this, position);
List <Vector3> getAction = actions.GetActions();
return(getAction);
}
public static void DrawGride(SquareGrid grid, AstarSearch aStar)
{
for (int row = 0; row < grid.Rows; row++)
{
for (int column = 0; column < grid.Columns; column++)
{
Location cell = new Location(column, row);
if (cell == aStar.Start)
{
Console.Write("S ");
}
else if (cell == aStar.Goal)
{
Console.Write("G ");
}
else if (grid.walls.Contains(cell))
{
Console.Write("# ");
}
else if (aStar.Path.Contains(cell))
{
Console.Write("* ");
}
else
{
Console.Write(" ");
}
}
Console.WriteLine();
}
}
//size == dimension * dimension
public RandomMaze(int dimension, int seed,float roadPercentage)
{
//atleast be half dimension apart
startAndDestDist = dimension / 2;
astar = new AstarSearch();
this.gridNeedToFill = (int)(dimension * dimension * roadPercentage);
this.dimension=dimension;
this.roadPercentage = roadPercentage;
this.seed = seed;
random = new Random(seed);
random.Next(Int32.MaxValue);
maze = new float[dimension,dimension];
astar.initailize2DArrayToValue(maze, WALL);
setStartPointAndDestPoint(dimension);
}
public void TestSearchWithRoadMap()
{
var problem = new RoadMapProblem();
var hOfn = new StraightLineDistance();
var testSubject = new AstarSearch(problem, hOfn);
var testResult = testSubject.Search();
Assert.AreEqual(418, testResult.PathCost);
var destCity = testResult.State as City;
Assert.IsNotNull(destCity);
System.Diagnostics.Debug.WriteLine(testResult);
}
public void MazeTest()
{
AstarSearch astar = new AstarSearch();
int dimension = 20;
int dumbSmart = dimension / 10 * 2;
int seed = 34534;
List<Node> path = null;
RandomMaze maze = new RandomMaze(dimension,seed,0.85f);
path = maze.generateDumbPathToDestPoint(maze.destX,maze.destY,dumbSmart, dumbSmart);
Console.WriteLine(" -- path count " + path.Count);
maze.astar.printPath(path);
maze.updateMazeRoad(path);
maze.printMaze();
Console.WriteLine("-----------------astar---------------------");
astar.printPath(astar.FindPath(astar.Float2DtoInt(maze.maze),1,maze.startPoint.x,maze.startPoint.y,maze.destPoint.x,
maze.destPoint.y));
}
public SearchManager()
{
Elc = ElecMap.Instance;
astarSearch = new AstarSearch();
}
public void TestMethod1()
{
AstarSearch astar = new AstarSearch();
List<Node> path = null;
int srcX=1;
int srcY=4;
int destX =4;
int destY =4;
int limit=1;
int[,] world ={
{0,0,0,0,0},
{1,0,1,1,0},
{0,0,1,0,0},
{0,1,1,1,0},
{0,0,1,1,0}
};
path = astar.FindPath(world,limit,srcX,srcY,destX,destY);
astar.printPath(path);
Assert.IsNotNull(path);
}
static void Main(string[] args)
{
/*
* This is just a quick test of the implemetned A* in the Pathfinding project.
* This test will create a 6 row x 10 column grid, as represented by the
* drawing below. After creating the grid, we will use the AStarSearch class
* to find the shorest path from the start to the goal. Finally we'll draw
* a representation of the grid with the shortest path to a console window.
*/
/*
* The following is a representation of the grid that will be implemented
* S = Starting Point
* W = Wall
* G = Goal/Ending Point.
*
* 0 1 2 3 4 5 6 7 8 9
* |-----|-----|-----|-----|-----|-----|-----|-----|-----|-----|
* | | | | | | | | | | |
* 0 | S | | | | | | | | | W |
* | | | | | | | | | | |
* |-----|-----|-----|-----|-----|-----|-----|-----|-----|-----|
* | | | | | | | | | | |
* 1 | | W | W | W | W | W | W | W | | W |
* | | | | | | | | | | |
* |-----|-----|-----|-----|-----|-----|-----|-----|-----|-----|
* | | | | | | | | | | |
* 2 | | W | | | | | W | | | W |
* | | | | | | | | | | |
* |-----|-----|-----|-----|-----|-----|-----|-----|-----|-----|
* | | | | | | | | | | |
* 3 | | | | W | W | | W | | | |
* | | | | | | | | | | |
* |-----|-----|-----|-----|-----|-----|-----|-----|-----|-----|
* | | | | | | | | | | |
* 4 | W | W | W | W | W | | W | W | W | |
* | | | | | | | | | | |
* |-----|-----|-----|-----|-----|-----|-----|-----|-----|-----|
* | | | | | | | | | | |
* 5 | W | W | W | W | W | | | | | G |
* | | | | | | | | | | |
* |-----|-----|-----|-----|-----|-----|-----|-----|-----|-----|
*
*/
SquareGrid grid = new SquareGrid(6, 10);
// Row 1
grid.walls.Add(new Location(10 - 1, 1 - 1));
// Row 2 walls
grid.walls.Add(new Location(2 - 1, 2 - 1));
grid.walls.Add(new Location(3 - 1, 2 - 1));
grid.walls.Add(new Location(4 - 1, 2 - 1));
grid.walls.Add(new Location(5 - 1, 2 - 1));
grid.walls.Add(new Location(6 - 1, 2 - 1));
grid.walls.Add(new Location(7 - 1, 2 - 1));
grid.walls.Add(new Location(8 - 1, 2 - 1));
grid.walls.Add(new Location(10 - 1, 2 - 1));
// Row 3 walls
grid.walls.Add(new Location(2 - 1, 3 - 1));
grid.walls.Add(new Location(7 - 1, 3 - 1));
grid.walls.Add(new Location(10 - 1, 3 - 1));
// Row 4 walls
grid.walls.Add(new Location(4 - 1, 4 - 1));
grid.walls.Add(new Location(5 - 1, 4 - 1));
grid.walls.Add(new Location(7 - 1, 4 - 1));
// Row 5 walls
grid.walls.Add(new Location(1 - 1, 5 - 1));
grid.walls.Add(new Location(2 - 1, 5 - 1));
grid.walls.Add(new Location(3 - 1, 5 - 1));
grid.walls.Add(new Location(4 - 1, 5 - 1));
grid.walls.Add(new Location(5 - 1, 5 - 1));
grid.walls.Add(new Location(7 - 1, 5 - 1));
grid.walls.Add(new Location(8 - 1, 5 - 1));
grid.walls.Add(new Location(9 - 1, 5 - 1));
// Row 6 walls
grid.walls.Add(new Location(1 - 1, 6 - 1));
grid.walls.Add(new Location(2 - 1, 6 - 1));
grid.walls.Add(new Location(3 - 1, 6 - 1));
grid.walls.Add(new Location(4 - 1, 6 - 1));
grid.walls.Add(new Location(5 - 1, 6 - 1));
// Start at (1, 1)
Location startingLocation = new Location(0, 0);
// End at (10, 6)
Location endingLocation = new Location(9, 5);
// Calculate the path
AstarSearch aStar = new AstarSearch(grid);
aStar.CalculatePath(startingLocation, endingLocation);
// Draw the grid to the screen so we can visually see it.
DrawGride(grid, aStar);
Console.ReadLine();
}
