static public void BStarStep(NLocate src, NLocate dst, NMap map, List <int> bufferIndex, NPathNode pathList)
{
if (src.Equals(dst))
{
Console.WriteLine("FindPath with B*");
GPath = new List <NLocate>(pathList.GetPath());
return;
}
var dstLoc = src.NearLocTo(dst);
if (!map.Alive(dstLoc))
{
bufferIndex.Add(dstLoc.ToIndex(map));
BStarStep(dstLoc, dst, map, bufferIndex, pathList.AddChild(dstLoc.X, dstLoc.Y));
}
else
{
foreach (var l in src.Branch(dstLoc))
{
if (!bufferIndex.Contains(l.ToIndex(map.Width)) && !map.Alive(l))
{
bufferIndex.Add(l.ToIndex(map));
BStarStep(l, dst, map, bufferIndex, pathList.AddChild(l.X, l.Y));
}
}
}
}
public static void SelfTest()
{
var loc = new NLocate(10, 10);
var revLoc = loc.Reverse(new NLocate(11, 10));
Console.WriteLine("Reverse:" + revLoc.x + "," + revLoc.y);
var branch = loc.Branch(new NLocate(11, 10));
foreach (var b in branch)
{
Console.WriteLine("Branch:" + b.x + "," + b.y);
}
NMap map = new NMap(20, 20);
var rect = new NLocate(9, 9).Square(5);
map.SetBlock(rect, 255);
Console.WriteLine(map.Print());
map = new NMap(20, 20);
var diam = new NLocate(9, 9).Diamond(5);
map.SetBlock(diam, 255);
Console.WriteLine(map.Print());
map = new NMap(20, 20);
var circle = new NLocate(9, 9).Circle(5);
map.SetBlock(circle, 255);
Console.WriteLine(map.Print());
map = new NMap(20, 20);
var line = new NLocate(9, 9).LineTo(new NLocate(19, 0));
map.SetBlock(line, 255);
Console.WriteLine(map.Print());
}