public AStartPoint getTop()
{
AStartPoint result = data [1];
Swap(ref data [1], ref data [count]);
this.count--;
shiftDown(1);
return(result);
}
//地図を初期化する
public void initialAStarMap(int x, int y)
{
this.maxX = x;
this.maxY = y;
for (int i = 0; i < maxX; i++)
{
for (int j = 0; j < maxY; j++)
{
mazeMap [i, j].x = i;
mazeMap [i, j].y = j;
mazeMap [i, j].gScore = 0;
mazeMap [i, j].hScore = 0;
mazeMap [i, j].fScore = 0 + 0;
mazeMap [i, j].isOpen = false;
mazeMap [i, j].isClose = false;
mazeMap[i, j].state = transform.GetComponent <CityMazeGenerate> ().mazeMap [i, j].state;
if (mazeMap [i, j].state == 'S')
{
start = mazeMap [i, j];
}
if (mazeMap [i, j].state == 'E')
{
end = mazeMap [i, j];
}
}
}
for (int i = 0; i < maxX; i++)
{
for (int j = 0; j < maxY; j++)
{
double dis = Mathf.Sqrt(Mathf.Pow(i - end.x, 2) + Mathf.Pow(j - end.y, 2));
mazeMap [i, j].gScore = (int)(dis * 10);
mazeMap [i, j].fScore = mazeMap [i, j].gScore + mazeMap [i, j].hScore;
}
}
}
public void insert(AStartPoint elem)
{
data [count + 1] = elem;
this.count++;
shiftUp(count);
}
// AStarAlgorithm
public string AStar()
{
Stack <Point> stack = new Stack <Point>();
MinHeap table = new MinHeap(maxX * maxY);
mazeMap [start.x, start.y].isOpen = true;
table.insert(mazeMap [start.x, start.y]);
while (!table.isEmpty())
{
AStartPoint temp = table.getTop();
mazeMap [temp.x, temp.y].isClose = true;
if (temp.x == end.x && temp.y == end.y)
{
int imaX = end.x;
int imaY = end.y;
while (!(imaX == start.x && imaY == start.y))
{
stack.Push(new Point(imaX, imaY));
int ta = mazeMap [imaX, imaY].fatherX;
int tb = mazeMap [imaX, imaY].fatherY;
imaX = ta;
imaY = tb;
}
break;
}
for (int k = 0; k < 4; k++)
{
int x = temp.x + dx [k];
int y = temp.y + dy [k];
if (x < 0 || x >= maxX || y < 0 || y >= maxY || mazeMap [x, y].state == '#' || mazeMap [x, y].isClose)
{
continue;
}
if (mazeMap [x, y].isOpen)
{
if (mazeMap [temp.x, temp.y].hScore + 10 < mazeMap[x, y].hScore)
{
mazeMap [x, y].fatherX = temp.x;
mazeMap [x, y].fatherY = temp.y;
}
}
else
{
mazeMap [x, y].fatherX = temp.x;
mazeMap [x, y].fatherY = temp.y;
}
mazeMap [x, y].hScore = mazeMap [temp.x, temp.y].hScore + 10;
table.insert(mazeMap [x, y]);
}
}
string path = "";
Point temp1 = new Point(start.x, start.y);
while (stack.Count != 0)
{
Point temp2 = stack.Pop();
if (temp2.x == temp1.x && temp2.y < temp1.y)
{
path += 'R';
}
else if (temp2.x == temp1.x && temp2.y > temp1.y)
{
path += 'L';
}
else if (temp2.x < temp1.x && temp2.y == temp1.y)
{
path += 'D';
}
else if (temp2.x > temp1.x && temp2.y == temp1.y)
{
path += 'T';
}
temp1 = temp2;
}
return(path);
}
