private ANode[,] GetMap(string[,] map)
{
int row = map.GetLength(0);
int col = map.GetLength(1);
ANode[,] aNodes = new ANode[row, col];
ANode aNode;
bool isobs = true;;
for (int i = 0; i < row; i++)
{
for (int j = 0; j < col; j++)
{
switch (map[i, j])
{
case "M1":
case "M2":
case "M3":
isobs = false;
break;
default: isobs = true; break;
}
aNode = new ANode(new Point(i, j), 0, 0, isobs, null)
{
Id = map[i, j]
};
aNodes[i, j] = aNode;
}
}
return(aNodes);
}
public ANode(Point point, int gc, int hc, bool obs, ANode parentNode)
{
this.GCost = gc;
this.HCost = hc;
this.FCost = this.GCost + this.HCost;
this.Obstacles = obs;
this.Parent = parentNode;
this.Position = point;
}
public ANode Star(Point ownpoint, Point tarPoint, ANode[,] map)
{
endPoint = tarPoint;
starPoint = ownpoint;
openList.Add(map[ownpoint.X, ownpoint.Y]);
int row = map.GetLength(0);
int col = map.GetLength(1);
int nextX, nextY;
ANode aNode = null;
do
{
openList.Sort();
if (openList.Count == 0)
{
return(map[ownpoint.X, ownpoint.Y]);
}
aNode = openList[0];
openList.Remove(aNode);
closeList.Add(aNode);
if (aNode.Position == tarPoint)
{
break;
}
//左
nextY = aNode.Position.Y - 1;
if (nextY >= 0)
{
AddOpenList(map[aNode.Position.X, nextY], aNode);
}
//右
nextY = aNode.Position.Y + 1;
if (nextY < col)
{
AddOpenList(map[aNode.Position.X, nextY], aNode);
}
//上
nextX = aNode.Position.X - 1;
if (nextX >= 0)
{
AddOpenList(map[nextX, aNode.Position.Y], aNode);
}
//下
nextX = aNode.Position.X + 1;
if (nextX < row)
{
AddOpenList(map[nextX, aNode.Position.Y], aNode);
}
} while (true);
return(aNode);
}
private void AddOpenList(ANode nextNode, ANode nowNode)
{
if (nextNode.Obstacles)
{
return;
}
if (closeList.Contains(nextNode))
{
return;
}
if (openList.Contains(nextNode))
{
return;
}
openList.Add(nextNode);
nextNode.GCost = nowNode.GCost + GetCost(nextNode.Position.X, nextNode.Position.Y, nowNode.Position.X, nowNode.Position.Y);
nextNode.HCost = GetCost(nextNode.Position.X, nextNode.Position.Y, endPoint.X, endPoint.Y);
nextNode.FCost = nextNode.GCost + nextNode.HCost;
nextNode.Parent = nowNode;
}
public int CompareTo(object obj)
{
if (obj == null)
{
return(1);
}
ANode aNode = obj as ANode;
if (this.FCost.CompareTo(aNode.FCost) != 0)
{
return(this.FCost.CompareTo(aNode.FCost));
}
else if (this.HCost.CompareTo(aNode.HCost) != 0)
{
return(this.HCost.CompareTo(aNode.HCost));
}
else
{
return(1);
}
}
