internal AStarShortestPath(char[,] _Matrix, int _h, int _w)
{
this.Matrix = _Matrix;
this.w = _w;
this.h = _h;
for (int i = 0; i < this.h; i++)
{
for (int j = 0; j < this.w; j++)
{
if (this.Matrix[i, j] == 'e')
{
e._x = j;
e._y = i;
}
else
if (this.Matrix[i, j] == 's')
{
s._x = j;
s._y = i;
}
}
}
currentNode = s;
}
private int calc_G(asNode node)//水品代价计算函数
{
if (node._x != currentNode._x || node._y != currentNode._y)
{
return(currentNode.G + evalCost_X);
}
else
{
return(currentNode.G + evalCost_H);
}
}
internal List <asNode> Anilysize()
{
List <asNode> rtn_Path = new List <asNode>();
s.H = cacu_H(s);
e.H = cacu_H(e);
while (currentNode.H != 0)
{
loadChildNodes(currentNode);
if (childList.Count > 0)
{
foreach (asNode n in childList)
{
openList.Add(n);
}
}
if (openList.Count > 0)
{
//openList.Sort(new NodeComparer());
closeList.Add(openList[0]);
asNode t = openList[0];
Matrix[t._y, t._x] = 'r';
openList.RemoveAt(0);
}
else
{
return(null);
}
loadChildNodes(closeList[closeList.Count - 1]);
if (childList.Count == 0 && !IsEnd(closeList[closeList.Count - 1]))
{
closeList.RemoveAt(closeList.Count - 1);
}
if (closeList.Count != 0)
{
currentNode = closeList[closeList.Count - 1];
}
else
{
currentNode = s;
}
}
asNode end_tag = closeList[closeList.Count - 1].Parent;
while (end_tag.Parent != s)
{
rtn_Path.Add(end_tag);
end_tag = end_tag.Parent;
}
rtn_Path.Add(end_tag);
return(rtn_Path);
}
private bool IsEnd(asNode n)
{
//。。。。。。
return(false);
}
private void loadChildNodes(asNode p)
{
childList.Clear();
for (int i = -1; i < 2; i++)
{
for (int j = -1; j < 2; j++)
{
if (!(i == 0 && j == 0))
{
if (Matrix[i + p._y, j + p._x] != 'o' &&
Matrix[i + p._y, j + p._x] != 'r' &&
Matrix[i + p._y, j + p._x] != 's')
{
asNode n = new asNode();
n._x = p._x + j;
n._y = p._y + i;
n.G = calc_G(n);
n.H = cacu_H(n);
n.Parent = currentNode;
childList.Add(n);
}
}
}
}
if (Matrix[p._y, p._x - 1] == 'o')
{
delfromChildList(p._x - 1, p._y - 1);
delfromChildList(p._x - 1, p._y + 1);
}
if (Matrix[p._y - 1, p._x] == 'o')
{
delfromChildList(p._x - 1, p._y - 1);
delfromChildList(p._x + 1, p._y - 1);
}
if (Matrix[p._y, p._x + 1] == 'o')
{
delfromChildList(p._x + 1, p._y + 1);
delfromChildList(p._x + 1, p._y - 1);
}
if (Matrix[p._y + 1, p._x] == 'o')
{
delfromChildList(p._x - 1, p._y + 1);
delfromChildList(p._x + 1, p._y + 1);
}
foreach (asNode n in openList)
{
for (int i = 0; i < childList.Count; i++)
{
if (n._x == childList[i]._x && n._y == childList[i]._y)
{
childList.RemoveAt(i);
break;
}
}
}
}
private int cacu_H(asNode node) //曼哈顿法估算函数(斜角代价计算函数)
{
return(10 * (Math.Abs(node._x - e._x) + Math.Abs(node._y - e._y))); // ;
}
