public void CanRetrieveNeighborsOfCell()
{
var cell = _grid.GetCell(0, 0);
Assert.AreEqual(_grid.GetNeighbors(cell).Count(), 3);
}
/*
private class NodeComparer : IComparer<Node>
{
public int Compare(Node x, Node y)
{
var result = (x.heuristicStartToEndLen - y.heuristicStartToEndLen);
if (result < 0) return -1;
else
if (result > 0) return 1;
else
{
return 0;
}
}
}
*/
public static List<GridPos> FindPath(AStarParam iParam)
{
var lo = new object();
//var openList = new IntervalHeap<Node>(new NodeComparer());
var openList = new IntervalHeap<Node>();
Node startNode = iParam.StartNode;
Node endNode = iParam.EndNode;
HeuristicDelegate heuristic = iParam.HeuristicFunc;
BaseGrid grid = iParam.SearchGrid;
DiagonalMovement diagonalMovement = iParam.DiagonalMovement;
float weight = iParam.Weight;
startNode.StartToCurNodeLen = 0;
startNode.HeuristicStartToEndLen = 0;
openList.Add(startNode);
startNode.IsOpened = true;
while (openList.Count != 0)
{
Node node = openList.DeleteMin();
node.IsClosed = true;
if (node == endNode)
{
return Node.Backtrace(endNode);
}
List<Node> neighbors = grid.GetNeighbors(node, diagonalMovement);
#if (UNITY)
foreach(var neighbor in neighbors)
#else
Parallel.ForEach(neighbors, neighbor =>
#endif
{
#if (UNITY)
if (neighbor.isClosed) continue;
#else
if (neighbor.IsClosed) return;
#endif
int x = neighbor.X;
int y = neighbor.Y;
float ng = node.StartToCurNodeLen + (float)((x - node.X == 0 || y - node.Y == 0) ? 1 : Math.Sqrt(2));
if (!neighbor.IsOpened || ng < neighbor.StartToCurNodeLen)
{
neighbor.StartToCurNodeLen = ng;
if (neighbor.HeuristicCurNodeToEndLen == null) neighbor.HeuristicCurNodeToEndLen = weight * heuristic(Math.Abs(x - endNode.X), Math.Abs(y - endNode.Y));
neighbor.HeuristicStartToEndLen = neighbor.StartToCurNodeLen + neighbor.HeuristicCurNodeToEndLen.Value;
neighbor.Parent = node;
if (!neighbor.IsOpened)
{
lock (lo)
{
openList.Add(neighbor);
}
neighbor.IsOpened = true;
}
else
{
}
}
}
#if (!UNITY)
);
#endif
}
return new List<GridPos>();
}
