public void AStar()
{
Node tempNode = new Node();
Node temp = new Node();
currentNode = this.getStartNode();
openDic.Add(currentNode.getKey(), currentNode);
do
{
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
tempNode.X = currentNode.X + i - 1;
tempNode.Y = currentNode.Y + j - 1;
if (!obstancleDic.ContainsKey(tempNode.getKey()) && !clostDic.ContainsKey(tempNode.getKey()) && tempNode.X >= 0 && tempNode.X <= Matrix.x && tempNode.Y >= 0 && tempNode.Y <= Matrix.y && (i != 1 || j != 1))
{
if (openDic.TryGetValue(tempNode.getKey(), out temp))
{
int gF = temp.getG(temp.getFather());
int gC = temp.getG(currentNode);
if (gF > gC)
{
temp.setFather(currentNode);
}
}
else
{
tempNode.setFather(currentNode);
openDic.Add(tempNode.getKey(), tempNode);
}
tempNode = new Node();
}
}
}
openDic.Remove(currentNode.getKey());
clostDic.Add(currentNode.getKey(), currentNode);
currentNode = this.getMinNode(openDic, this.getEndNode());
} while (!clostDic.ContainsKey(this.getEndNode().getKey()) && openDic.Count != 0);
}
static void Main(string[] args)
{
//地图
matrix Matrix = new matrix(7, 3);
//开始点
Node startNode = new Node(2,2,0,new Node());
//结束点
Node endNode = new Node(6, 2, 0, new Node());
//阻挡点
Node obstalNode1 = new Node(4, 1, 0, new Node());
Node obstalNode2 = new Node(4, 2, 0, new Node());
Node obstalNode3 = new Node(4, 3, 0, new Node());
Dictionary<string, Node> obstalDic = new Dictionary<string,Node>();
obstalDic.Add(obstalNode1.getKey(), obstalNode1);
obstalDic.Add(obstalNode2.getKey(), obstalNode1);
obstalDic.Add(obstalNode3.getKey(), obstalNode1);
Astar astar = new Astar(startNode, endNode, Matrix, obstalDic);
astar.AStar();
astar.getShortCutRoute();
Console.Read();
}
