public Searchnode(CoordDef pos, int cfs, int ctg, Searchnode parent)
{
this.pos = pos;
this.cfs = cfs;
this.ctg = ctg;
this.tc = cfs + ctg;
this.parent = parent;
}
public Searchnode()
{
this.pos = new CoordDef(0, 0);
this.cfs = 0;
this.ctg = 0;
this.tc = 0;
this.opcl = 0;
this.parent = null;
}
private static void priqueusPush(List <Searchnode> queue, Searchnode data)
{
if (queue.Count != 0)
{
int i = 0;
foreach (Searchnode node in queue)
{
if (node.tc > data.tc)
{
queue.Insert(i, data);
data.opcl |= 1;
break;
}
i++;
}
}
else
{
queue.Insert(0, data);
data.opcl |= 1;
}
}
public static bool PathSearch(CoordDef start, CoordDef goal, ref Stack <CoordDef> will_move, TileWrraper[,] map, int columns, int rows, MOVE_TYPE type)
{
if (column != columns || row != rows)
{
column = columns;
row = rows;
astar_node = new Searchnode[columns, rows];
for (int x = 0; x < columns; x++)
{
for (int y = 0; y < rows; y++)
{
astar_node[x, y] = new Searchnode();
}
}
}
will_move = new Stack <CoordDef>();
CoordDef ano_goal = start;
bool is_move = !map[goal.X, goal.Y].HasFlag(TILE_FLAG.NONE_MOVE);
if (!is_move)
{
return(false);
}
int heuristic = 5;
List <Searchnode> open = new List <Searchnode>();
for (int x = 0; x < columns; x++)
{
for (int y = 0; y < rows; y++)
{
astar_node[x, y].pos = new CoordDef(0, 0);
astar_node[x, y].cfs = 0;
astar_node[x, y].ctg = 0;
astar_node[x, y].tc = 0;
astar_node[x, y].opcl = 0;
astar_node[x, y].parent = null;
}
}
astar_node.Initialize();
priqueusPush(open, astar_node[start.X, start.Y].Set(start, 0, pathCost(start, goal), null));
while (open.Count > 0)
{
Searchnode node = open[0];
open.RemoveAt(0);
node.opcl &= ~1;
node.opcl |= 2;
if (node.pos == goal)
{
Searchnode path = node;
int i = 30;
DebugLogger.Log("start position [{0},{1}]", start.X, start.Y);
while (path != null && path.pos != start)
{
if (path.parent != null)
{
DebugLogger.Log("test willmove [{0},{1}] parent[{2},{3}]", path.pos.X, path.pos.Y, path.parent.pos.X, path.parent.pos.Y);
}
else
{
DebugLogger.Log("test willmove [{0},{1}] ", path.pos.X, path.pos.Y);
}
will_move.Push(path.pos);
path = path.parent;
i--;
if (i <= 0)
{
break;
}
}
DebugLogger.Log("goal position [{0},{1}]", goal.X, goal.Y);
return(true);
}
else
{
//rect_iterator로 수정하기
for (int x_ = -1; x_ <= 1; x_++)
{
for (int y_ = -1; y_ <= 1; y_++)
{
if (x_ == 0 && y_ == 0)
{
continue;
}
CoordDef it = new CoordDef(node.pos.X + x_, node.pos.Y + y_);
Searchnode newnode = astar_node[it.X, it.Y];
int newcost = node.cfs + 1;
bool is_open = (newnode.opcl & 1) != 0;
bool is_close = (newnode.opcl & 2) != 0;
bool is_move_node = !map[it.X, it.Y].HasFlag(TILE_FLAG.NONE_MOVE);
DebugLogger.Log("newnode.cfs{0}, newcost{1}", newnode.cfs, newcost);
if (!is_move_node)
{
continue;
}
else if ((is_open || is_close) && (newnode.cfs <= newcost))
{
continue;
}
DebugLogger.Log("set [{0},{1}] cost[{2}] parent[{3},{4}]", it.X, it.Y, newcost, node.pos.X, node.pos.Y);
newnode.Set(new CoordDef(it.X, it.Y), newcost, heuristic * pathCost(it, goal), node);
priqueusPush(open, newnode);
}
}
}
}
return(false);
}
