/// <summary>
/// 寻径调用-主方法
/// </summary>
/// <param name="start">起始点</param>
/// <param name="end"> 终点 </param>
/// <returns></returns>
public List <Astar_Node> FindeWay(Astar_Node start, Astar_Node end)
{
List <Astar_Node> Path = new List <Astar_Node>();
Open_List.Add(start);
while (!(IsInOpenList(end.x, end.y) || //当终点不在Open_List时
Open_List.Count == 0)) //或者Open_List的数量为0循环(终点在list就停)
{
Astar_Node now = GetMinFFromOpenList();
if (now == null)
{
return(null);
}
Open_List.Remove(now);
Close_List.Add(now);
CheckP8(now, R, ref end);
}
Astar_Node p = GetPointFromOpenList(end.x, end.y);
while (p.father != null)
{
Path.Add(p);
p = p.father;
}
return(Path);
}
//判断一个点是否为障碍物
private bool IsBar(Astar_Node p, byte[,] map)
{
if (map[p.y, p.x] == 0)
{
return(true);
}
return(false);
}
public Astar_Node(int x0, int y0, int G0, int H0, Astar_Node F)
{
x = x0;
y = y0;
G = G0;
H = H0;
father = F;
}
void Init()
{
for (int i = 0; i < 20; i++)
{
for (int j = 0; j < 20; j++)
{
R[i, j] = 1;
myBtn[i, j].BackColor = Color.Transparent;
strPoint = new Astar_Node();
desPoint = new Astar_Node();
}
}
}
//从开启列表查找F值最小的节点
private Astar_Node GetMinFFromOpenList()
{
Astar_Node Pmin = null;
foreach (Astar_Node p in Open_List)
{
if (Pmin == null || Pmin.G + Pmin.H > p.G + p.H)
{
Pmin = p;
}
}
return(Pmin);
}
//计算某个点的G值
private int GetG(Astar_Node p)
{
if (p.father == null)
{
return(0); //该点为起始点
}
if (p.x == p.father.x || p.y == p.father.y)
{
return(p.father.G + 10); //垂直走的距离是10
}
else
{
return(p.father.G + 14); //斜着走的距离是14（即根号2）
}
}
/// <summary>
/// 检查当前节点附近的节点
/// </summary>
/// <param name="now"> 当前节点</param>
/// <param name="map"> 障碍</param>
/// <param name="pa"> 起点</param>
/// <param name="pb"> 终点</param>
private void CheckP8(Astar_Node now, byte[,] map, ref Astar_Node destination)
{
for (int x = now.x - 1; x <= now.x + 1; x++)
{
for (int y = now.y - 1; y <= now.y + 1; y++)
{
if ((x >= 0 && x < R.GetLength(0) && //排除超过边界的点
y >= 0 && y < R.GetLength(1)) &&
!(x == now.x && y == now.y) && //关闭自身的点（自身点总是最小）
map[x, y] == 1 && //排除障碍点
!IsInCloseList(x, y)) //关闭列表中的点
{
if (IsInOpenList(x, y)) //在搜寻列表中
{
Astar_Node tempPoint = GetPointFromOpenList(x, y);
int G_new = 0;
if (now.x == tempPoint.x || now.y == tempPoint.y)
{
G_new = now.G + 10;
}
else
{
G_new = now.G + 14;
}
if (G_new < tempPoint.G)
{
Open_List.Remove(tempPoint);
tempPoint.father = now;
tempPoint.G = G_new;
Open_List.Add(tempPoint);
}
}
else //不在开启列表中
{
Astar_Node tempPoint = new Astar_Node();
tempPoint.x = x;
tempPoint.y = y;
tempPoint.father = now;
tempPoint.G = GetG(tempPoint);
tempPoint.H = GetH(tempPoint, destination);
Open_List.Add(tempPoint);
}
}
}
}
}
int GetH(Astar_Node p)
{
return(Math.Abs(p.x - desPoint.x) * 10 + Math.Abs(p.y - desPoint.y) * 10);
}
//计算某个点的H值
private int GetH(Astar_Node p, Astar_Node pb)
{
return(Math.Abs(p.x - pb.x) * 10 + Math.Abs(p.y - pb.y) * 10);
}
