//------------------------------------------
// Utilise A* http://fr.wikipedia.org/wiki/Algorithme_A*
// --------------------------------------------
/// ----------------------------------------------------------------------------------------
/// <summary>
/// Calculate the shortest path between the start point and the end point.
/// </summary>
/// <remarks> The path is reversed. </remarks>
/// <returns> The shortest path. </returns>
/// ----------------------------------------------------------------------------------------
private List <Point> CalculateBestPath()
{
//System.Diagnostics.Stopwatch chrono = new System.Diagnostics.Stopwatch();
//chrono.Start();
Map map = new Map(_jeu, _armee.positionCarte, _armee.moveTarget.GetValueOrDefault(), _armee);
Node.NodeList open = new Node.NodeList();
Node.NodeList close = new Node.NodeList();
Node[] possibleNodes = new Node[8];
Node startNode = new Node(null, map.StartPoint, map);
open.Add(startNode);
int nbIter = 0;
List <Point> sol = null;
while (open.Count > 0)
{
Node best = open.RemoveFirst(map); // This is the best node
if (best.MapPoint == map.EndPoint) // We are finished
{
sol = new List <Point>(); // The solution
while (best.Parent != null)
{
sol.Add(best.MapPoint);
best = best.Parent;
}
// Return the solution when the parent is null (the first point)
break;
}
close.Add(best);
this.AddToOpen(open, close, best, possibleNodes, best.GetPossibleNode(map, possibleNodes), map);
nbIter++;
}
//chrono.Stop();
//_jeu.messageDebug = "nb iter = " + nbIter + " en " + chrono.ElapsedMilliseconds + " ms" + "taille(close) = " + close.Count + " taille(open) = "+ open.Count;
return(sol);
}
/// ----------------------------------------------------------------------------------------
/// <summary>
/// Add a list of nodes to the open list if needed.
/// </summary>
/// <param name="current"> The current nodes. </param>
/// <param name="nodes"> The nodes to add. </param>
/// ----------------------------------------------------------------------------------------
private void AddToOpen(Node.NodeList open, Node.NodeList close, Node current, Node[] nodes, int nbNodes, Map map)
{
for (int i = 0; i < nbNodes; i++)
{
Node node = nodes[i];
if (!open.Contains(node))
{
if (!close.Contains(node))
{
open.Add(node);
}
}
// Else really needed ?
else
{
if (node.CostWillBe(map) < open[node].Cost)
{
node.SetParent(current, map);
}
}
}
}
