private void backgroundWorker2_ProgressChanged(object sender,
ProgressChangedEventArgs e)
{
int x = Current.x;
int y = Current.y;
int x1 = x;
int y1 = y;
int d = Current.direction;
y += -1 * ((d - 1) / 3 - 1);
x += -1 * ((d - 1) % 3 - 1);
if (Current.x == 0 && Current.y == 0)
{
NeedCloseFinal = true;
return;
}
Pen LightBluePen = new Pen(Color.FromArgb(100, 100, 255), 7);
try
{
g.DrawLine(LightBluePen, x * size + size / 2, y * size + size / 2,
x1 * size + size / 2, y1 * size + size / 2);
this.CreateGraphics().DrawImageUnscaled(backBmp, 0, 0);
int index = CloseList.FindIndex(v => v.x == x && v.y == y);
Current = CloseList[index];
}
catch (Exception E) { }
if (x == 0 && y == 0)
{
backgroundWorker2.CancelAsync();
}
}
private void DrawOpenOnce(Estimate v)//劃出所有OpenList
{
int x = v.x;
int y = v.y;
if (x == 0 && y == 0 || (width - 1) == x && (height - 1) == y)
{
return;
}
g.FillRectangle(GreenBrush, x * size, y * size, size - 1, size - 1);
}
private void backgroundWorker1_ProgressChanged(object sender, ProgressChangedEventArgs e)
{
try
{
if (NeedCloseFlag)
{
return;
}
DrawCloseOnce();
this.CreateGraphics().DrawImageUnscaled(backBmp, 0, 0);
Previous = Current; //紀錄前一個點
Current = OpenList[0]; //移動當前點 index0是排序後最佳的點
CloseList.Add(Current); //當前點加入CloseList
}
catch (Exception E)
{ }
if (Current == null)
{
return;
}
for (int i = -1; i <= 1; i++)//新增OpenPoint
{
for (int j = -1; j <= 1; j++)
{
int x = Current.x + j;
int y = Current.y + i;
int OBstacleIndex = Obstacle.FindIndex(v => v.X == x && v.Y == y);
int CloseIndex = CloseList.FindIndex(v => v.x == x && v.y == y);
if (OBstacleIndex >= 0 ||
CloseIndex >= 0)//如果ObstacleList有點P就跳過
{
continue;
}
if (y < 0 || y > height - 1 || x < 0 || x > width - 1)//超出範圍
{
continue;
}
int x1 = x;
int y1 = y;
if (x1 < y1)
{
Swap <int>(ref x1, ref y1);
}
int h = ((width - 1 - x) + (height - y - 1)) * 10;
int d = (i + 1) * 3 + (j + 1) + 1;//計算移動方向
int g;
if (i == j || i * -1 == j || j * -1 == i)
{
g = Current.g + 16;
}
else
{
g = Current.g + 10;
}
int index = OpenList.FindIndex(v => v.x == x && v.y == y);
if (index >= 0) //OpenList有發現點P
{
if (OpenList[index].g > g) //比較g的大小
{
OpenList[index].Set(x, y, g, h, d); //更新g
DrawOpenOnce(new Estimate(x, y, g, h, d));
}
}
else
{
OpenList.Add(new Estimate(x, y, g, h, d));
DrawOpenOnce(new Estimate(x, y, g, h, d));
//新增OpenList
}
}
}
try
{
int index = OpenList.FindIndex(v => v == Previous); //2.刪除前一個當前點
if (index >= 0) //2.刪除前一個當前點
{
OpenList.RemoveAt(index); //2.刪除前一個當前點
}
index = OpenList.FindIndex(v => v.x == width - 1 &&
v.y == height - 1); //找看看有沒有到終點
if (OpenList.Count == 0 || index >= 0) //判斷結束條件
{
if (index >= 0)
{
Current = OpenList[index];
label2.Text = "Done for sarch path\nSearching " +
SearchTime.ToString() + " times";
}
else
{
label2.Text = "Can't find path";
}
NeedCloseFlag = true;
backgroundWorker1.CancelAsync();
g.Clear(Color.Black);
DrawOpen();
DrawClose();
DrawObstacle();
return;
}
OpenList.Sort((x, y) =>
{
int n = x.f.CompareTo(y.f);
if (n == 0)
{
return(x.h.CompareTo(y.h));
}
return(n);
});//對Open的F做排序
}
catch (Exception E) { }
SearchTime++;
}
