public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
m_heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
m_heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new List<Node>();
m_searchGrid = iGrid;
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
if (m_endNode == null)
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
m_useRecursive = false;
}
public JumpPointParam(BaseGrid iGrid, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
m_heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
m_heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new List <Node>();
m_searchGrid = iGrid;
m_startNode = null;
m_endNode = null;
m_useRecursive = false;
}
public JumpPointParam(BaseGrid iGrid, bool iCrossCorner = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
crossCorner = iCrossCorner;
openList = new List<Node>();
searchGrid = iGrid;
startNode = null;
endNode = null;
}
public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, EndNodeUnWalkableTreatment iAllowEndNodeUnWalkable = EndNodeUnWalkableTreatment.Allow, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.Euclidean)
: base(iGrid, iStartPos, iEndPos, iDiagonalMovement, iMode)
{
CurEndNodeUnWalkableTreatment = iAllowEndNodeUnWalkable;
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.Loop;
}
protected ParamBase(BaseGrid iGrid, DiagonalMovement iDiagonalMovement, HeuristicMode iMode)
{
SetHeuristic(iMode);
m_searchGrid = iGrid;
DiagonalMovement = iDiagonalMovement;
m_startNode = null;
m_endNode = null;
}
protected ParamBase(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, DiagonalMovement iDiagonalMovement, HeuristicMode iMode) : this(iGrid, iDiagonalMovement, iMode)
{
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
{
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
}
if (m_endNode == null)
{
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
}
public SearchGridForm()
{
InitializeComponent();
this.DoubleBuffered = true;
m_resultBox = new List <ResultBox>();
this.Width = (width + 1) * 20;
this.Height = (height + 1) * 20 + 100;
this.MaximumSize = new Size(this.Width, this.Height);
this.MaximizeBox = false;
m_rectangles = new GridBox[width][];
for (int widthTrav = 0; widthTrav < width; widthTrav++)
{
m_rectangles[widthTrav] = new GridBox[height];
for (int heightTrav = 0; heightTrav < height; heightTrav++)
{
if (widthTrav == (width / 3) && heightTrav == (height / 2))
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.Start);
}
else if (widthTrav == 41 && heightTrav == (height / 2))
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.End);
}
else
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.Normal);
}
}
}
m_resultLine = new List <GridLine>();
//Grid searchGrid=new Grid(width,height,movableMatrix);
//BaseGrid searchGrid = new StaticGrid(width, height, movableMatrix);
//searchGrid = new DynamicGrid();
searchGrid = new DynamicGridWPool(SingletonHolder <NodePool> .Instance);
jumpParam = new JumpPointParam(searchGrid, true, cbCrossCorners.Checked, cbCrossAdjacentPoint.Checked, HeuristicMode.EUCLIDEAN);//new JumpPointParam(searchGrid, startPos, endPos, cbCrossCorners.Checked, HeuristicMode.EUCLIDEANSQR);
jumpParam.UseRecursive = cbUseRecursive.Checked;
}
public void Reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
openList.Clear();
m_startNode = null;
m_endNode = null;
if (iSearchGrid != null)
{
m_searchGrid = iSearchGrid;
}
m_searchGrid.Reset();
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
{
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
}
if (m_endNode == null)
{
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
}
public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
m_heuristic = Heuristic.Manhattan;
break;
case HeuristicMode.EUCLIDEAN:
m_heuristic = Heuristic.Euclidean;
break;
case HeuristicMode.CHEBYSHEV:
m_heuristic = Heuristic.Chebyshev;
break;
default:
m_heuristic = Heuristic.Euclidean;
break;
}
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new List <Node>();
m_searchGrid = iGrid;
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
{
m_startNode = new Node(iStartPos.x, iStartPos.y, 0);
}
if (m_endNode == null)
{
m_endNode = new Node(iEndPos.x, iEndPos.y, 0);
}
m_useRecursive = false;
}
internal abstract void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null);
public void Reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
openList.Clear();
m_startNode = null;
m_endNode = null;
if (iSearchGrid != null)
m_searchGrid = iSearchGrid;
m_searchGrid.Reset();
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
m_startNode = new Node(iStartPos.x, iStartPos.y, 0);
if (m_endNode == null)
m_endNode = new Node(iEndPos.x, iEndPos.y, 0);
}
public JumpPointParam(JumpPointParam b)
{
m_heuristic = b.m_heuristic;
m_allowEndNodeUnWalkable = b.m_allowEndNodeUnWalkable;
m_crossAdjacentPoint = b.m_crossAdjacentPoint;
m_crossCorner = b.m_crossCorner;
openList = new List<Node>(b.openList);
m_searchGrid = b.m_searchGrid;
m_startNode = b.m_startNode;
m_endNode = b.m_endNode;
m_useRecursive = b.m_useRecursive;
}
public BaseGrid(BaseGrid b)
{
m_gridRect = new GridRect(b.m_gridRect);
width = b.width;
height = b.height;
}
internal override void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
openList = new IntervalHeap <Node>();
}
public BaseGrid(BaseGrid b)
{
MGridRect = new GridRect(b.MGridRect);
Width = b.Width;
Height = b.Height;
}
public SearchGridForm()
{
InitializeComponent();
this.DoubleBuffered = true;
m_resultBox = new List<ResultBox>();
this.Width = (width+1) * 20;
this.Height = (height+1) * 20 +100;
this.MaximumSize = new Size(this.Width, this.Height);
this.MaximizeBox = false;
m_rectangles = new GridBox[width][];
for (int widthTrav = 0; widthTrav < width; widthTrav++)
{
m_rectangles[widthTrav] = new GridBox[height];
for (int heightTrav = 0; heightTrav < height; heightTrav++)
{
if(widthTrav==(width/3) && heightTrav==(height/2))
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.Start);
else if (widthTrav == 41 && heightTrav == (height / 2))
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20 , heightTrav * 20 + 50, BoxType.End);
else
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.Normal);
}
}
m_resultLine = new List<GridLine>();
//Grid searchGrid=new Grid(width,height,movableMatrix);
//BaseGrid searchGrid = new StaticGrid(width, height, movableMatrix);
//searchGrid = new DynamicGrid();
searchGrid = new DynamicGridWPool(SingletonHolder<NodePool>.Instance);
jumpParam = new JumpPointParam(searchGrid, true, cbCrossCorners.Checked, cbCrossAdjacentPoint.Checked, HeuristicMode.EUCLIDEAN);//new JumpPointParam(searchGrid, startPos, endPos, cbCrossCorners.Checked, HeuristicMode.EUCLIDEANSQR);
jumpParam.UseRecursive = cbUseRecursive.Checked;
}
public AStarParam(BaseGrid iGrid, float iweight, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.Euclidean)
: base(iGrid, iDiagonalMovement, iMode)
{
Weight = iweight;
}
internal override void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
}
public BaseGrid(BaseGrid b)
{
MGridRect = new GridRect(b.MGridRect);
Width = b.Width;
Height = b.Height;
}
