public void CompleteInsert()
{
if (iAStarHeuristic == null)
{
iAStarHeuristic = new AStarManhattanHeuristic();
}
this.RefreshLinksOfAllNodes();
if (binaryHeapUtils == null)
{
binaryHeapUtils = new BinaryHeapUtils(nodes.Count / 2);
}
else
{
binaryHeapUtils.Reset();
}
}
/// <summary>
/// 搜索路径
/// </summary>
/// <returns><c>true</c>, if base binary heap was searched, <c>false</c> otherwise.</returns>
/// <param name="startNode">Start Node.</param>
/// <param name="endNode">End Node.</param>
/// <param name="nowCheckNum">Now check number.</param>
private bool SearchBaseBinaryHeap(AStarNode startNode, AStarNode endNode, int nowCheckNum)
{
var statusClosed = nowCheckNum + 1;
_binaryHeapUtils.Reset();
startNode.G = 0;
startNode.F = startNode.G +
_iAStarHeuristic.Heuristic(startNode.NodeX, startNode.NodeY, endNode.NodeX, endNode.NodeY);
startNode.SearchPathCheckNum = statusClosed;
var node = startNode;
while (node != endNode)
{
var links = node.Links;
foreach (var link in links)
{
var nodeItem = link.Node;
var g = node.G + link.Cost;
// 如果已被检查过
if (nodeItem.SearchPathCheckNum >= nowCheckNum)
{
if (nodeItem.G <= g)
{
continue;
}
nodeItem.F = g +
_iAStarHeuristic.Heuristic(nodeItem.NodeX, nodeItem.NodeY, endNode.NodeX,
endNode.NodeY);
nodeItem.G = g;
nodeItem.ParentNode = node;
if (nodeItem.SearchPathCheckNum == nowCheckNum)
{
_binaryHeapUtils.ModifyNode(nodeItem.BinaryHeapNode);
}
}
else
{
nodeItem.F = g +
_iAStarHeuristic.Heuristic(nodeItem.NodeX, nodeItem.NodeY, endNode.NodeX, endNode.NodeY);
nodeItem.G = g;
nodeItem.ParentNode = node;
nodeItem.BinaryHeapNode = _binaryHeapUtils.InsertNode(nodeItem);
nodeItem.SearchPathCheckNum = nowCheckNum;
}
}
if (_binaryHeapUtils.HeadNode != null)
{
node = _binaryHeapUtils.PopNode();
node.SearchPathCheckNum = statusClosed;
}
else
{
return(false);
}
}
return(true);
}
