public override AlgorithmResults RunAlgorithm()
{
startTime = DateTime.Now;
start.H = H(start, start, goal);
start.G = 0;
start.F = start.G + start.H;
start.Parent = start;
fringe.Push(start, start.G + H(start, start, goal));
while (!fringe.IsEmpty)
{
Cell s = fringe.Pop();
isInFringe[s.X, s.Y] = false;
if (s.Equals(goal))
{
elapsedTime = DateTime.Now.Subtract(startTime);
return(getResults());
}
closedArray[s.X, s.Y] = true;
nodesExpanded++;
Cell[] sprimes = AlgorithmFormulas.Successors(s, cellGrid);
for (int i = 0; i < 8; i++)
{
if (sprimes[i] == null)
{
continue;
}
if (!closedArray[sprimes[i].X, sprimes[i].Y])
{
if (!isInFringe[sprimes[i].X, sprimes[i].Y])
{
sprimes[i].G = decimal.MaxValue;
sprimes[i].Parent = null;
}
UpdateVertex(s, sprimes[i]);
}
}
}
elapsedTime = DateTime.Now.Subtract(startTime);
return(new AlgorithmResults {
Success = false
});
}
private void UpdateVertex(Cell s, Cell sprime)
{
decimal totalCost = s.G + AlgorithmFormulas.C(s, sprime);
if (totalCost < sprime.G)
{
sprime.G = totalCost;
sprime.F = sprime.G;
sprime.Parent = s;
if (isInFringe[sprime.X, sprime.Y])
{
fringe.Remove(sprime);
}
fringe.Push(sprime, sprime.G);
isInFringe[sprime.X, sprime.Y] = true;
}
}
public void ExpandState(Cell s, int i)
{
Cell[] sprimes = AlgorithmFormulas.Successors(s, cellGrid);
for (int k = 0; k < sprimes.Length; k++)
{
if (sprimes[k] == null)
{
continue;
}
Cell sprime = sprimes[k];
decimal cost = cellData[i][s.X, s.Y].G + AlgorithmFormulas.C(s, sprime);
if (!itTracker[i][sprime.X, sprime.Y])
{
cellData[i][sprime.X, sprime.Y].G = decimal.MaxValue;
cellData[i][sprime.X, sprime.Y].Parent = null;
itTracker[i][sprime.X, sprime.Y] = true;
}
if (cellData[i][sprime.X, sprime.Y].G > cost)
{
cellData[i][sprime.X, sprime.Y].G = cost;
cellData[i][sprime.X, sprime.Y].Parent = vectorOf(s);
if (!closedList[i][sprime.X, sprime.Y])
{
if (isInFringe[i][sprime.X, sprime.Y])
{
fringe[i].Remove(sprime);
}
fringe[i].Push(sprime, Key(vectorOf(sprime), i));
isInFringe[i][sprime.X, sprime.Y] = true;
}
}
}
}
