public JumpPointParam(BaseGrid iGrid, EndNodeUnWalkableTreatment iAllowEndNodeUnWalkable = EndNodeUnWalkableTreatment.ALLOW, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iMode)
{
CurEndNodeUnWalkableTreatment = iAllowEndNodeUnWalkable;
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.LOOP;
}
public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, bool iAllowEndNodeUnWalkable = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iStartPos, iEndPos, iMode)
{
CurEndNodeUnWalkableTreatment = iAllowEndNodeUnWalkable ? EndNodeUnWalkableTreatment.ALLOW : EndNodeUnWalkableTreatment.DISALLOW;
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.LOOP;
}
private void Init()
{
DoubleBuffered = true;
m_resultBox = new List <ResultBox>();
Width = (width + 1) * 10;
Height = (height + 1) * 10 + 100;
MaximumSize = new Size(Width, Height);
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 == 10 && heightTrav == 10)
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 10, heightTrav * 10 + 50, BoxType.Start);
}
else if (widthTrav == 100 && heightTrav == 50)
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 10, heightTrav * 10 + 50, BoxType.End);
}
else
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 10, heightTrav * 10 + 50, BoxType.Normal);
}
}
}
m_resultLine = new List <GridLine>();
searchGrid = new StaticGrid(width, height);
jumpParam = new AStarParam(searchGrid, 50, HeuristicMode.EUCLIDEAN);
}
internal override void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
}
public AStarParam(BaseGrid iGrid, float iweight, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iMode)
{
Weight = iweight;
}
internal override void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
openList = new IntervalHeap <Node>();
//openList.Clear();
}
private void Redraw()
{
foreach (GridLine l in m_resultLine)
{
l.Dispose();
}
m_resultLine = new List <GridLine>();
List <GridPos> resultList = new List <GridPos>();
searchGrid = new StaticGrid(width, height);
jumpParam = new AStarParam(searchGrid, 50, HeuristicMode.EUCLIDEAN);
Invalidate();
for (int resultTrav = 0; resultTrav < m_resultLine.Count; resultTrav++)
{
m_resultLine[resultTrav].Dispose();
}
m_resultLine.Clear();
for (int resultTrav = 0; resultTrav < m_resultBox.Count; resultTrav++)
{
m_resultBox[resultTrav].Dispose();
}
m_resultBox.Clear();
GridPos startPos = new GridPos();
GridPos endPos = new GridPos();
for (int widthTrav = 0; widthTrav < width; widthTrav++)
{
for (int heightTrav = 0; heightTrav < height; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxType != BoxType.Wall)
{
searchGrid.SetWalkableAt(new GridPos(widthTrav, heightTrav), true);
}
else
{
searchGrid.SetWalkableAt(new GridPos(widthTrav, heightTrav), false);
}
if (m_rectangles[widthTrav][heightTrav].boxType == BoxType.Start)
{
startPos.x = widthTrav;
startPos.y = heightTrav;
}
if (m_rectangles[widthTrav][heightTrav].boxType == BoxType.End)
{
endPos.x = widthTrav;
endPos.y = heightTrav;
}
}
}
System.Diagnostics.Stopwatch s = new System.Diagnostics.Stopwatch();
s.Start();
jumpParam.Reset(startPos, endPos);
resultList = AStarFinder.FindPath(jumpParam, isMultiThreading, lb_istrue);
double time = s.ElapsedMilliseconds;
s.Reset();
if (isMultiThreading)
{
lb_multi.Text = "Time elapsed with multithreading: " + time + " ms.";
}
else
{
lb_multi.Text = "Time elapsed without multithreading: " + time + " ms.";
}
for (int resultTrav = 0; resultTrav < resultList.Count - 1; resultTrav++)
{
m_resultLine.Add(new GridLine(m_rectangles[resultList[resultTrav].x][resultList[resultTrav].y], m_rectangles[resultList[resultTrav + 1].x][resultList[resultTrav + 1].y]));
}
for (int widthTrav = 0; widthTrav < jumpParam.SearchGrid.width; widthTrav++)
{
for (int heightTrav = 0; heightTrav < jumpParam.SearchGrid.height; heightTrav++)
{
if (jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav) == null)
{
continue;
}
if (jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav).isOpened)
{
ResultBox resultBox = new ResultBox(widthTrav * 10, heightTrav * 10 + 50, ResultBoxType.Opened);
m_resultBox.Add(resultBox);
}
if (jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav).isClosed)
{
ResultBox resultBox = new ResultBox(widthTrav * 10, heightTrav * 10 + 50, ResultBoxType.Closed);
m_resultBox.Add(resultBox);
}
}
}
Invalidate();
}
public BaseGrid(BaseGrid b)
{
m_gridRect = new GridRect(b.m_gridRect);
width = b.width;
height = b.height;
}
