static void SettingMap(ref nodemap map)
{
map.CreateMap(userdefine.MAPSIZE_X, userdefine.MAPSIZE_Y);
map.nodeptr(userdefine.STARTPOINT_X, userdefine.STARTPOINT_Y).tile = constrants.STARTPOINT;
map.nodeptr(userdefine.DESTINATION_X, userdefine.DESTINATION_Y).tile = constrants.DESTINATION;
for (int i = 0; i < userdefine.OBSTACLE_LIST.GetLength(0); i++)
{
map.nodeptr(userdefine.OBSTACLE_LIST[i, 0], userdefine.OBSTACLE_LIST[i, 1]).tile = constrants.IMPASSABLE;
}
}
static void Main(string[] args)
{
//입력된 값의 유효성 확인
if (!check_userdefines.CHECK_USERDEF_PROGRESS())
{
return;
}
//데이터 준비
nodemap map = new nodemap(); SettingMap(ref map);
nodelist openlist = new nodelist(),
closelist = new nodelist();
node current = null;
openlist.push_front(map.nodeptr(userdefine.STARTPOINT_X, userdefine.STARTPOINT_Y));
//데이터 준비 끝
//길 탐색 시작
while ((current = openlist.pop_front()) != null)
{
closelist.push_front(current);
if (current.tile == constrants.DESTINATION)
{
break;
}
if (current.tile != constrants.STARTPOINT)
{
current.tile = constrants.CLOSED;
}
for (int ySubVal = 1; ySubVal >= -1; ySubVal--)
{
for (int xSubVal = -1; xSubVal <= 1; xSubVal++)
{
node direction = map.nodeptr(current.pos[0] + xSubVal, current.pos[1] + ySubVal);
if (direction == null)
{
continue; //갈 수 없는 곳일 경우
}
if (direction.tile == constrants.IMPASSABLE)
{
continue; //이동이 불가능한 곳일 경우
}
if (closelist.search(direction) != null)
{
continue; //이미 탐색된 곳일 경우
}
//발견되었지만 탐색한 적이 없는 곳일 경우
if (openlist.search(direction) != null)
{
int[] diff = { current.pos[0] - direction.pos[0], current.pos[1] - direction.pos[1] };
double distance_current_to_direction = (diff[0] != 0 && diff[1] != 0) ? constrants.DIAGONAL_DIST : constrants.STRAIGHT_DIST;
double current_g_plus_d_ctd = current.g + distance_current_to_direction;
if (direction.g > current_g_plus_d_ctd)//g값 비교 및 대입
{
direction.shortest_route = current; direction.g = current_g_plus_d_ctd;
direction.f = direction.g + direction.h;
}
}
else//발견되지 않은 곳일 경우
{
int[] diff = { Math.Abs(current.pos[0] - direction.pos[0]), Math.Abs(current.pos[1] - direction.pos[1]) };
//g값 산출 및 대입
direction.g = current.g + ((diff[0] != 0 && diff[1] != 0) ? constrants.DIAGONAL_DIST : constrants.STRAIGHT_DIST);
//h값 산출 및 대입
diff = new int[2] {
Math.Abs(direction.pos[0] - userdefine.DESTINATION_X), Math.Abs(direction.pos[1] - userdefine.DESTINATION_Y)
};
while (diff[0] >= 1 && diff[1] >= 1)
{
diff[0] -= 1; diff[1] -= 1; direction.h += constrants.DIAGONAL_DIST;
}
while (diff[0]-- >= 1)
{
direction.h += constrants.STRAIGHT_DIST;
}
while (diff[1]-- >= 1)
{
direction.h += constrants.STRAIGHT_DIST;
}
//최종 f값 산출 및 대입
direction.f = direction.g + direction.h;
if (direction.tile != constrants.DESTINATION && direction.tile != constrants.STARTPOINT)
{
direction.tile = constrants.OPENED;
}
direction.shortest_route = current;
openlist.push_front(direction);
}
}
}
//길찾기 과정 출력
for (int yi = 1; yi <= userdefine.MAPSIZE_Y; yi++)
{
for (int xi = 1; xi <= userdefine.MAPSIZE_X; xi++)
{
Console.Write(map.nodeptr(xi, yi).tile);
}
Console.WriteLine();
}
Console.WriteLine();
openlist.SortByFval();
}
//길 탐색 끝
//최적 루트 표시 및 결과 출력
node bestroute = current;
if (bestroute != null)
{
while (bestroute.shortest_route != null)
{
bestroute.tile = constrants.FINALPATH;
bestroute = bestroute.shortest_route;
}
bestroute.tile = constrants.FINALPATH;
}
for (int yi = 1; yi <= userdefine.MAPSIZE_Y; yi++)
{
for (int xi = 1; xi <= userdefine.MAPSIZE_X; xi++)
{
Console.Write(map.nodeptr(xi, yi).tile);
}
Console.WriteLine();
}
//최적 루트 표시 및 맵 출력 끝
}
