private void Deixtr_Click(object sender, EventArgs e)
{
int width = pictureBox1.Width / set + 1;
int height = pictureBox1.Height / set + 1;
path[] PathL = new path[40000 * width * height + 1];
path TruePath = new path();
path First = new path();
First.Count = 0;
First.lenght = 0;
First.x = CircleX / set;
First.y = CircleY / set;
First.h = h(First.x, First.y);
int[,] NewMap = new int[width, height];
NewMap = MapBuild();
PathL[1] = First;
Open.Clear();
Close.Clear();
Open.Add(First);
int cc = 0;
Graphics ob = pictureBox1.CreateGraphics();
ob.Clear(Color.White);
while (Open.Count != 0)
{
cc++;
List <path> OpenSorted = (from t in Open orderby t.lenght select t).ToList <path>();
path CurrentPoint = OpenSorted[0];
//Rectangle rect = new Rectangle(CurrentPoint.x*set,CurrentPoint.y*set,set,set);
//ob.FillRectangle(Brushes.Green, rect);
if (CurrentPoint.x == FinX && CurrentPoint.y == FinY)
{
TruePath = CurrentPoint;
break;
}
for (int i = -1; i <= 1; i++)
{
for (int j = -1; j <= 1; j++)
{
if (i != 0 || j != 0)
{
path NewP = CreateNewPath(CurrentPoint, i, j);
int tempx = NewP.x;
int tempy = NewP.y;
if (NewMap[NewP.x, NewP.y] == 1)
{
AddToOpen(NewP);
}
}
}
}
AddToClose(CurrentPoint);
NewMap[CurrentPoint.x, CurrentPoint.y] = 0;
}
labelLen.Text = (TruePath.lenght * set).ToString();
labelCount.Text = cc.ToString();
path[] TrueP = new path[TruePath.Count + 1];
Point[] PathPoint = new Point[TruePath.Count + 1];
TrueP[TruePath.Count] = TruePath;
int error = 0;
PathPoint[TruePath.Count].X = TruePath.x;
PathPoint[TruePath.Count].Y = TruePath.y;
for (int i = TruePath.Count - 1; i >= 0; i--)
{
TrueP[i] = TrueP[i + 1].PrevPath;
PathPoint[i].X = TrueP[i].x;
PathPoint[i].Y = TrueP[i].y;
if (PathPoint[i].X == CircleX && PathPoint[i].Y == CircleY)
{
error = i;
break;
}
}
int CurrentX = CircleX;
int CurrentY = CircleY;
for (int t = error * set; t < TruePath.Count * set; t++)
{
int i = t / set;
int XMot = PathPoint[i + 1].X - PathPoint[i].X;
int YMot = PathPoint[i + 1].Y - PathPoint[i].Y;
ob.FillEllipse(Brushes.Black, CurrentX, CurrentY, CircleR, CircleR);
CurrentX += XMot;
CurrentY += YMot;
foreach (Obstacles obst in SqObst)
{
PointF P1 = new PointF(obst.p1.X, obst.p1.Y);
PointF P2 = new PointF(obst.p2.X, obst.p2.Y);
PointF P3 = new PointF(obst.p3.X, obst.p3.Y);
PointF P4 = new PointF(obst.p4.X, obst.p4.Y);
PointF[] ArrOb =
{
P1,
P2,
P3,
P4,
P1
};
Pen BluePen = new Pen(Color.Blue, 3);
ob.DrawPolygon(BluePen, ArrOb);
}
//ob.Clear(Color.White);
}
}
private void AddToOpen(path p)
{
Open.Add(p);
}
