/// <summary>
/// 逆序输出路径列表
/// </summary>
/// <returns>List"AStarPoint"</returns>
public List <MyAStarPoint> FindRoad()
{
List <MyAStarPoint> roadList = null;
MyAStarPoint nowPoint = null;
startList.Clear();
startList.Add(start);
do
{
int minF = -1;
for (int i = startList.Count - 1; i >= 0; i--)
{
MyAStarPoint p = startList[i];
if (minF == -1 || p.F < minF)
{
minF = p.F;
nowPoint = p;
}
}
AddStartList(nowPoint);
} while (!(startList.Count == 0 || (nowPoint.ParentPoint != null && nowPoint.H == 0)));
roadList = new List <MyAStarPoint>();
if (nowPoint != null && nowPoint.H == 0)
{
roadList.Add(nowPoint);
while (nowPoint.ParentPoint != null)
{
nowPoint = nowPoint.ParentPoint;
roadList.Add(nowPoint);
}
}
return(roadList);
}
public MyAStarPoint(int x, int y, int g, int h, MyAStarPoint parentPoint)
{
this.x = x;
this.y = y;
this.g = g;
this.h = h;
this.f = g + h;
this.parentPoint = parentPoint;
}
public MyAStar(int width, int height, MyAStarPoint start, MyAStarPoint end)
{
startList = new List <MyAStarPoint>();
startList.Add(start);
this.wallList = new List <MyAStarPoint>();
this.start = start;
this.end = end;
this.width = width;
this.height = height;
}
private void AddStartList(MyAStarPoint point)
{
int x, y;
x = point.X - 1;
y = point.Y - 1;
//上左
if (x >= 0 && y >= 0)
{
if (IsClose(x, y) == null) //检查是否在关闭列表
{
if (IsClose(x, y + 1) == null && IsClose(x + 1, y) == null) //检查是否有障碍物
{
MyAStarPoint s = IsStart(x, y);
if (s == null)//检查是否已存在于开始列表
{
int g = point.G + 14;
int h = (Math.Abs(x - end.X) + Math.Abs(y - end.Y)) * 10;
startList.Add(new MyAStarPoint(x, y, g, h, point));
}
else
{
if (point.G + 14 < s.G)//更新最短路径
{
s.ParentPoint = point;
s.G = point.G + 14;
}
}
}
}
}
x = point.X;
y = point.Y - 1;
//上中
if (y >= 0)
{
if (IsClose(x, y) == null)//检查是否在关闭列表
{
MyAStarPoint s = IsStart(x, y);
if (s == null)//检查是否已存在于开始列表
{
int g = point.G + 10;
int h = (Math.Abs(x - end.X) + Math.Abs(y - end.Y)) * 10;
startList.Add(new MyAStarPoint(x, y, g, h, point));
}
else
{
if (point.G + 10 < s.G)//更新最短路径
{
s.ParentPoint = point;
s.G = point.G + 10;
}
}
}
}
x = point.X + 1;
y = point.Y - 1;
//上右
if (x < width && y >= 0)
{
if (IsClose(x, y) == null) //检查是否在关闭列表
{
if (IsClose(x, y + 1) == null && IsClose(x - 1, y) == null) //检查是否有障碍物
{
MyAStarPoint s = IsStart(x, y);
if (s == null)//检查是否已存在于开始列表
{
int g = point.G + 14;
int h = (Math.Abs(x - end.X) + Math.Abs(y - end.Y)) * 10;
startList.Add(new MyAStarPoint(x, y, g, h, point));
}
else
{
if (point.G + 14 < s.G)//更新最短路径
{
s.ParentPoint = point;
s.G = point.G + 14;
}
}
}
}
}
x = point.X - 1;
y = point.Y;
//中左
if (x >= 0)
{
if (IsClose(x, y) == null)//检查是否在关闭列表
{
MyAStarPoint s = IsStart(x, y);
if (s == null)//检查是否已存在于开始列表
{
int g = point.G + 10;
int h = (Math.Abs(x - end.X) + Math.Abs(y - end.Y)) * 10;
startList.Add(new MyAStarPoint(x, y, g, h, point));
}
else
{
if (point.G + 10 < s.G)//更新最短路径
{
s.ParentPoint = point;
s.G = point.G + 10;
}
}
}
}
x = point.X + 1;
y = point.Y;
//中右
if (x < width)
{
if (IsClose(x, y) == null)//检查是否在关闭列表
{
MyAStarPoint s = IsStart(x, y);
if (s == null)//检查是否已存在于开始列表
{
int g = point.G + 10;
int h = (Math.Abs(x - end.X) + Math.Abs(y - end.Y)) * 10;
startList.Add(new MyAStarPoint(x, y, g, h, point));
}
else
{
if (point.G + 10 < s.G)//更新最短路径
{
s.ParentPoint = point;
s.G = point.G + 10;
}
}
}
}
x = point.X - 1;
y = point.Y + 1;
//下左
if (x >= 0 && y < height)
{
if (IsClose(x, y) == null) //检查是否在关闭列表
{
if (IsClose(x, y - 1) == null && IsClose(x + 1, y) == null) //检查是否有障碍物
{
MyAStarPoint s = IsStart(x, y);
if (s == null)//检查是否已存在于开始列表
{
int g = point.G + 14;
int h = (Math.Abs(x - end.X) + Math.Abs(y - end.Y)) * 10;
startList.Add(new MyAStarPoint(x, y, g, h, point));
}
else
{
if (point.G + 14 < s.G)//更新最短路径
{
s.ParentPoint = point;
s.G = point.G + 14;
}
}
}
}
}
x = point.X;
y = point.Y + 1;
//下中
if (y < height)
{
if (IsClose(x, y) == null)//检查是否在关闭列表
{
MyAStarPoint s = IsStart(x, y);
if (s == null)//检查是否已存在于开始列表
{
int g = point.G + 10;
int h = (Math.Abs(x - end.X) + Math.Abs(y - end.Y)) * 10;
startList.Add(new MyAStarPoint(x, y, g, h, point));
}
else
{
if (point.G + 10 < s.G)//更新最短路径
{
s.ParentPoint = point;
s.G = point.G + 10;
}
}
}
}
x = point.X + 1;
y = point.Y + 1;
//下右
if (x < width && y < height)
{
if (IsClose(x, y) == null) //检查是否在关闭列表
{
if (IsClose(x, y - 1) == null && IsClose(x - 1, y) == null) //检查是否有障碍物
{
MyAStarPoint s = IsStart(x, y);
if (s == null)//检查是否已存在于开始列表
{
int g = point.G + 14;
int h = (Math.Abs(x - end.X) + Math.Abs(y - end.Y)) * 10;
startList.Add(new MyAStarPoint(x, y, g, h, point));
}
else
{
if (point.G + 14 < s.G)//更新最短路径
{
s.ParentPoint = point;
s.G = point.G + 14;
}
}
}
}
}
if (startList.Remove(point))
{
wallList.Add(point);
}
}