public List<Node> ConnectedNodes(Node current, Location targetLoc)
{
//Returns the nodes around a certain node, depending on whether those surrounding nodes are dirt, water or unknown
//Input requires location of node, with the distance that has been traversed so far
int x = current.X;
int y = current.Y;
//Check left, right, up and down
List<Node> connected = new List<Node>();
//Check left
x--;
if (x < 0) x = w - 1; //For wrapping around the map
if (map[x, y].IsPassable)
connected.Add(new Node(x, y, DistanceToLocation(x, y, targetLoc) + current.DistanceTraversed + 1, current.DistanceTraversed + 1)); //new node has x, y, tentative f score, tentative g score
//Check right
x = current.X + 1;
if (x == w) x = 0; //For wrapping around the map
if (map[x, y].IsPassable)
connected.Add(new Node(x, y, DistanceToLocation(x, y, targetLoc) + current.DistanceTraversed + 1, current.DistanceTraversed + 1));
//Check up
x = current.X;
y--;
if (y < 0) y = h - 1; //For wrapping around the map
if (map[x, y].IsPassable)
connected.Add(new Node(x, y, DistanceToLocation(x, y, targetLoc) + current.DistanceTraversed + 1, current.DistanceTraversed + 1));
//Check down
y = current.Y + 1;
if (y == h) y = h - 1; //For wrapping around the map
if (map[x, y].IsPassable)
connected.Add(new Node(x, y, DistanceToLocation(x, y, targetLoc) + current.DistanceTraversed + 1, current.DistanceTraversed + 1));
return connected;
}
public void CameFrom(Node node)
{
cameFrom = node;
}
public double CompareTo(Node n)
{
//Compare the distanceToTarget with another node
return tentative_f_score - n.tentative_f_score;
}
public List<char> direction_algor_A(Location loc1, Location loc2)
{
//Открытий список вершин по которым идет поиск
IDictionary<Location, Node > OpenList = new Dictionary<Location, Node> ();
//Закрытий список вершин поиск завершен
IDictionary<Location, Node > CloseList = new Dictionary<Location, Node> ();
//Оптимизация поиска по массиву открытих вершин
IDictionary<int,List<Location >> Tree = new Dictionary<int, List<Location>> ();
List<char > directions = new List<char> ();
//начальная точка
CloseList.Add (loc1, new Node (loc1, new Location (0, distance (loc1, loc2))));
Location loc = loc1;
bool finish = true;
DateTime start = DateTime.Now;
int head = int.MaxValue;
while (finish) {
foreach (char c in Ants.Aim.Keys) {
Location newLoc = destination (loc, c);
if (unoccupied (newLoc) && !CloseList.Keys.Contains (newLoc)) {
Location size = new Location (CloseList [loc].Size.row + 1, distance (newLoc, loc2));
int f = size.row + size.col;
if (OpenList.ContainsKey (newLoc)) {
if (size.row < OpenList [newLoc].Size.row) {
//Смена значание Node требует смены индекса в дереве
int ff = OpenList [newLoc].Size.row + OpenList [newLoc].Size.col;
Tree [ff].Remove (newLoc);
if (Tree [ff].Count == 0)
Tree.Remove (ff);
if (ff == head) {
head = int.MaxValue;
foreach (var item in Tree.Keys) {
if (item < head)
head = item;
}
}
OpenList [newLoc] = new Node (loc, size);
if (f < head) head = f;
if (!Tree.ContainsKey (f)) Tree.Add (f, new List<Location> ());
Tree [f].Add (newLoc);
}
} else {
OpenList.Add (newLoc, new Node (loc, size));
if (f < head) head = f;
if (!Tree.ContainsKey (f)) Tree.Add (f, new List<Location> ());
Tree [f].Add (newLoc);
}
}
}
if (Tree.Keys.Count > 0) {
//loc = Tree [head] [Tree[head].Count - 1];
loc = Tree [head] [0];
CloseList.Add (loc, OpenList [loc]);
OpenList.Remove (loc);
Tree [head].Remove (loc);
if (Tree [head].Count == 0) {
Tree.Remove (head);
head = int.MaxValue;
foreach (var item in Tree.Keys) {
if (item < head)
head = item;
}
}
} else {
break;
}
if ((TimeRemaining < 30) || ((DateTime.Now - start).Milliseconds > TurnTime / 10))
//return new List<char> ();
break;
if (CloseList.ContainsKey (loc2))
finish = false;
}
Location find = loc1;
Location old;
if (CloseList.ContainsKey (loc2)) {
//Точка достижима
find = loc2;
} else {
//Точка не достижима
int h = int.MaxValue;
foreach (var item in CloseList.Keys) {
if ((CloseList [item].Size.col < h) && ((item.row != loc1.row) || (item.col != loc1.col))) {
h = CloseList [item].Size.col;
find = CloseList [item].Parent;
}
}
}
while (find != loc1) {
old = CloseList [find].Parent;
directions.InsertRange (0, direction (old, find));
find = old;
}
return directions;
/*
//Вышли т.к. не пути
/**/
}