//public bool Stopped
//{
// get { return mStopped; }
//}
//public int Formula
//{
// get { return hFormula; }
// set { hFormula = value; }
//}
//public bool Diagonals
//{
// get { return mDiagonals; }
// set { mDiagonals = value; }
//}
//public int HeuristicEstimate
//{
// get { return mHEstimate; }
// set { mHEstimate = value; }
//}
//public int SearchLimit
//{
// get { return mSearchLimit; }
// set { mSearchLimit = value; }
//}
//public double CompletedTime
//{
// get { return mCompletedTime; }
// set { mCompletedTime = value; }
//}
//public void FindPathStop()
//{
// mStop = true;
//}
public List <PathFinderNode> FindPath(Point start, Point end, int num)
{
PathFinderNode parentNode;
bool found = false;
int gridX = mGrid.GetUpperBound(0);
int gridY = mGrid.GetUpperBound(1);
mStop = false;
mStopped = false;
mOpen.Clear();
mClose.Clear();
parentNode.g = 0;
parentNode.h = mHEstimate;
parentNode.f = parentNode.g + parentNode.h;
parentNode.x = start.X;
parentNode.y = start.Y;
parentNode.px = parentNode.x;
parentNode.py = parentNode.y;
mOpen.Push(parentNode);
while (mOpen.Count > 0 && !mStop)
{
parentNode = mOpen.Pop();
if (parentNode.x == end.X && parentNode.y == end.Y)
{
mClose.Add(parentNode);
found = true;
break;
}
if (mClose.Count > mSearchLimit)
{
mStopped = true;
return(null);
}
sbyte[,] direction = new sbyte[4, 2] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }
};
for (int i = 0; i < 4; i++)
{
PathFinderNode newNode = new PathFinderNode();
newNode.x = parentNode.x + direction[i, 0];
newNode.y = parentNode.y + direction[i, 1];
if (newNode.x < 0 || newNode.y < 0 || newNode.x > num - 1 || newNode.y > num - 1)
{
continue;
}
if (isHurdle[newNode.x, newNode.y])
{
continue;
}
int newG = parentNode.g + mGrid[newNode.x, newNode.y];
if (newG == parentNode.g)
{
continue;
}
int foundInOpenIndex = -1;
for (int j = 0; j < mOpen.Count; j++)
{
if (mOpen[j].x == newNode.x && mOpen[j].y == newNode.y)
{
foundInOpenIndex = j;
break;
}
}
if (foundInOpenIndex != -1 && mOpen[foundInOpenIndex].g <= newG)
{
continue;
}
int foundInCloseIndex = -1;
for (int j = 0; j < mClose.Count; j++)
{
if (mClose[j].x == newNode.x && mClose[j].y == newNode.y)
{
foundInCloseIndex = j;
break;
}
}
if (foundInCloseIndex != -1 && mClose[foundInCloseIndex].g <= newG)
{
continue;
}
newNode.px = parentNode.x;
newNode.py = parentNode.y;
newNode.f = newG;
newNode.f = mHEstimate * (Math.Abs(newNode.x - end.X) + Math.Abs(newNode.y - end.Y));
newNode.f = newNode.f + newNode.f;
mOpen.Push(newNode);
}
mClose.Add(parentNode);
}
if (found)
{
PathFinderNode fNode = mClose[mClose.Count - 1];
for (int i = mClose.Count - 1; i >= 0; i--)
{
if (fNode.px == mClose[i].x && fNode.py == mClose[i].y || i == mClose.Count - 1)
{
fNode = mClose[i];
}
else
{
mClose.RemoveAt(i);
}
}
mStopped = true;
return(mClose);
}
mStopped = true;
return(null);
}
public List <PathFinderNode> FindPath(Point start, Point end)
{
PathFinderNode parentNode;
bool found = false;
int gridX = mGrid.GetUpperBound(0);
int gridY = mGrid.GetUpperBound(1);
mStop = false;
mStopped = false;
mOpen.Clear();
mClose.Clear();
sbyte[,] direction;
if (mDiagonals)
{
direction = new sbyte[8, 2] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }, { 1, -1 }, { 1, 1 }, { -1, 1 }, { -1, -1 }
}
}
;
else
{
direction = new sbyte[4, 2] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }
}
};
parentNode.G = 0;
parentNode.H = mHEstimate;
parentNode.F = parentNode.G + parentNode.H;
parentNode.x = start.X;
parentNode.y = start.Y;
parentNode.px = parentNode.x;
parentNode.py = parentNode.y;
mOpen.Push(parentNode);
while (mOpen.Count > 0 && !mStop)
{
parentNode = mOpen.Pop();
if (parentNode.x == end.X && parentNode.x == end.Y)
{
mClose.Add(parentNode);
found = true;
break;
}
if (mClose.Count > mSearchLimit)
{
mStopped = true;
return(null);
}
for (int i = 0; i < (mDiagonals ? 8 : 4); i++)
{
PathFinderNode newNode;
newNode.x = parentNode.x + direction[i, 0];
newNode.y = parentNode.y + direction[i, 1];
if (newNode.x < 0 || newNode.y < 0 || newNode.x >= gridX || newNode.y >= gridY)
{
continue;
}
int newG = parentNode.G + mGrid[newNode.x, newNode.y];
if (newG == parentNode.G)
{
continue;
}
int foundInOpenIndex = -1;
for (int j = 0; j < mOpen.Count; j++)
{
if (mOpen[j].x == newNode.x && mOpen[j].y == newNode.y)
{
foundInOpenIndex = j;
break;
}
}
if (foundInOpenIndex != -1 && mOpen[foundInOpenIndex].G <= newG)
{
continue;
}
int foundInCloseIndex = -1;
for (int j = 0; j < mClose.Count; j++)
{
if (mClose[j].x == newNode.x && mClose[j].y == newNode.y)
{
foundInCloseIndex = j;
break;
}
}
if (foundInCloseIndex != -1 && mClose[foundInCloseIndex].G <= newG)
{
continue;
}
newNode.px = parentNode.x;
newNode.py = parentNode.y;
newNode.G = newG;
newNode.H = mHEstimate * (Math.Abs(newNode.x - end.X) + Math.Abs(newNode.y - end.Y));
newNode.F = newNode.G + newNode.H;
mOpen.Push(newNode);
}
mClose.Add(parentNode);
}
// mCompletedTime = HighResolutionTime.GetTime();
if (found)
{
PathFinderNode fNode = mClose[mClose.Count - 1];
for (int i = mClose.Count - 1; i >= 0; i--)
{
if (fNode.px == mClose[i].x && fNode.py == mClose[i].y || i == mClose.Count - 1)
{
fNode = mClose[i];
}
else
{
mClose.RemoveAt(i);
}
}
mStopped = true;
return(mClose);
}
mStopped = true;
return(null);
}
