public AStarNode(Board board, AStarNode parent, Position blank, Move move)
{
parent_ = parent;
board_ = board;
blank_pos_ = blank;
move_ = move;
}
private void ShiftDown(AStarNode node, int idx)
{
if (IsEmpty() || idx >= size_ / 2) return;// || (node.f < nodes_[2 * idx + 1].f && node.f < nodes_[2 * idx + 2].f)) return;
if(size_ % 2 == 0 && idx == (size_ - 1) / 2) //last parent has 1 child
{
if(node.f < nodes_[2 * idx + 1].f)
{
nodes_[idx] = nodes_[2 * idx + 1];
nodes_[2 * idx + 1] = node;
}
return;
}
if((node.f < nodes_[2 * idx + 1].f && node.f < nodes_[2 * idx + 2].f)) return;
if(nodes_[2 * idx + 1].f <= nodes_[2 * idx + 2].f && node.f > nodes_[2 * idx + 1].f)
{
nodes_[idx] = nodes_[2 * idx + 1];
nodes_[2 * idx + 1] = node;
ShiftDown(node, 2 * idx + 1);
}
else if(nodes_[2 * idx + 2].f < nodes_[2 * idx + 1].f && node.f > nodes_[2 * idx + 2].f)
{
nodes_[idx] = nodes_[2 * idx + 2];
nodes_[2 * idx + 2] = node;
ShiftDown(node, 2 * idx + 2);
}
}
public AStarNode()
{
parent_ = null;
board_ = new Board();
blank_pos_ = new Position();
move_ = new Move();
}
private void ShiftUp(AStarNode node, int idx)
{
if (IsEmpty() || nodes_[(idx - 1) / 2].f <= node.f) return;
nodes_[idx] = nodes_[(idx - 1) / 2];
nodes_[(idx - 1) / 2] = node;
ShiftUp(node, (idx - 1) / 2);
}
public bool Run(Board board, Position blank_pos, Board goal_board, ref List<Move> moves, int grid_size, ref int boards_searched, ref int open_list_size, ref long timer, ref long memory_used)
{
hf_ = new HelperFunctions();
if (hf_.CompareBoards(board, goal_board))
return true;
size_ = grid_size;
AStarNode root = new AStarNode(board, null, blank_pos, null);
AStarNode goal = new AStarNode(goal_board, null, null, null);
PriorityQueue open_q = new PriorityQueue();
HashSet<AStarNode> open_d = new HashSet<AStarNode>();
HashSet<AStarNode> closed_list = new HashSet<AStarNode>();
open_q.Add(root);
open_d.Add(root);
bool goal_found = false;
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
while(open_q.Size() > 0 && !goal_found) // && sw.ElapsedMilliseconds < 10000)
{
AStarNode next_node = open_q.GetNext();
open_d.Remove(next_node);
if (next_node.board_.Equals(goal.board_))
{
timer = sw.ElapsedMilliseconds;
sw.Stop();
goal_found = true;
goal = next_node;
continue;
}
List<AStarNode> successors = GetChildren(next_node);
foreach(AStarNode successor in successors)
{
if (hf_.CompareBoards(successor, closed_list))
continue;
successor.g = next_node.g + 1;
if (hf_.CompareBoards(successor, open_d))
continue;
successor.h = ManhattanDistance(successor.board_);
successor.f = successor.g + successor.h;
open_q.Add(successor);
open_d.Add(successor);
}
closed_list.Add(next_node);
}
memory_used = GC.GetTotalMemory(false);
open_list_size = open_q.Size();
boards_searched = closed_list.Count;
if(goal_found) TraverseTree(ref moves, goal);
closed_list.Clear();
open_d.Clear();
open_q.Clear();
GC.Collect();
return goal_found;
}
private void TraverseTree(ref List<Move> moves, AStarNode node)
{
moves.Add(node.move_);
if (node.parent_ == null) return;
TraverseTree(ref moves, node.parent_);
}
private List<AStarNode> GetChildren(AStarNode node_to_expand)
{
List<AStarNode> children = new List<AStarNode>();
foreach (Direction dir in directions)
{
Position next_pos = hf_.GetCoordsFromDirection(node_to_expand.blank_pos_, dir, size_);
Move move = new Move(next_pos, node_to_expand.blank_pos_);
if (next_pos.x == node_to_expand.blank_pos_.x && next_pos.y == node_to_expand.blank_pos_.y) continue;
Board nextBoard = hf_.SimulateMove(node_to_expand.board_, move);
AStarNode node = new AStarNode(nextBoard, node_to_expand, next_pos, move);
children.Add(node);
}
return children;
}
public void UpdateKey(AStarNode node, float priority)
{
}
public void Add(AStarNode node)
{
nodes_.Add(node);
size_++;
ShiftUp(node, size_ - 1);
}
