private void Update_cell(DStatLiteNode paramCell, int Iteration, Maze maze)
{
DStatLiteNode localCell = null;
System.Console.WriteLine("Update_cell: " + paramCell);
Key localKey = new Key(paramCell);
paramCell.iteration = Iteration;
if (paramCell != this.goal)
{
paramCell.rhs = 2147483647;
for (int i = 0; i < Maze.N_DIRECTIONS_WITHOUT_DIAGONALS; i++)
{
int j = paramCell.GetMazeCell().X + Maze.delta_x[i];
int k = paramCell.GetMazeCell().Y + Maze.delta_y[i];
if ((0 > j) || (j >= SimulationForm.MAZE_W) || (0 > k) || (k >= SimulationForm.MAZE_H) || (maze.cells[j, k].blocked))
{
continue;
}
int m;
if (this.graph[j, k].g == 2147483647)
{
m = 2147483647;
}
else
{
m = this.graph[j, k].g + 1;
}
if (paramCell.rhs > m)
{
paramCell.rhs = m;
localCell = this.graph[j, k];
}
}
}
//open_list.Delete(localCell);
this.u.remove(localKey);
paramCell.parent = localCell;
System.Console.WriteLine("New Parente: " + localCell);
if (paramCell.g != paramCell.rhs)
{
open_list.Insert(paramCell);
this.u.add(new Key(paramCell));
}
}
public void printactualmaze(Maze maze)
{
int x, y;
for (y = 0; y < SimulationForm.MAZE_H; ++y)
{
for (x = 0; x < SimulationForm.MAZE_W; ++x)
{
if (goal.GetMazeCell() == maze.cells[y,x])
maze.cells[y,x].BackColor=System.Drawing.Color.Blue;
else if (start.GetMazeCell() == maze.cells[y, x])
maze.cells[y, x].BackColor = System.Drawing.Color.Gold;
else if (maze.cells[y,x].blocked)
maze.cells[y, x].BackColor = System.Drawing.Color.Orange;
}
}
}
public void Calculate_path(bool paramBoolean, int Iteration, Maze maze)
{
//Clear_path();
//with heap : DStatLiteNode node;
while (!Execution_end())
{
//with heap : node = (DStatLiteNode)open_list.Pop();
//with heap : node.closed = true;
Key localKey = (Key)this.u.first();
this.u.remove(localKey);
DStatLiteNode node = localKey.cell;
node.iteration = Iteration;
int i;
int j;
int k;
if (node.g > node.rhs)
{
node.g = node.rhs;
if (node != this.start)
{
for (i = 0; i < Maze.N_DIRECTIONS_WITHOUT_DIAGONALS; i++)
{
j = node.GetMazeCell().X + Maze.delta_x[i];
k = node.GetMazeCell().Y + Maze.delta_y[i];
//if ((0 > j) || (j >= this.size_x) || (0 > k) || (k >= this.size_y) || (this.cells[j][k].type_robot_vision == 1) || (node.g + 1 >= this.cells[j][k].rhs))
if ((0 > j) || (j >= SimulationForm.MAZE_W) || (0 > k) || (k >= SimulationForm.MAZE_H) || (maze.cells[j,k].blocked) || (node.g + 1 >= this.graph[j,k].rhs))
{
continue;
}
Update_cell(this.graph[j, k], Iteration, maze);
}
}
}
else
{
node.g = 2147483647;
Update_cell(node, Iteration, maze);
for (i = 0; i < Maze.N_DIRECTIONS_WITHOUT_DIAGONALS; i++)
{
j = node.GetMazeCell().X + Maze.delta_x[i];
k = node.GetMazeCell().Y + Maze.delta_y[i];
//if ((0 > j) || (j >= this.size_x) || (0 > k) || (k >= this.size_y) || (this.cells[j][k].type_robot_vision == 1))
if ((0 > j) || (j >= SimulationForm.MAZE_W) || (0 > k) || (k >= SimulationForm.MAZE_H) || (maze.cells[j, k].blocked))
{
continue;
}
Update_cell(this.graph[j,k], Iteration, maze);
}
}
if (paramBoolean)
break;
}
if (Execution_end())
Mark_path(maze);
}
public void Solve()
{
DStatLiteNode node;
while(!HasExecutionFinished())
{
node = (DStatLiteNode)open_list.Pop();
node.closed = true;
if(node == goal)
{
DStatLiteNode node_child = null;
path_cost = node.g;
has_solution = true;
if(mark_path)
{
node.GetMazeCell().SetPathFlag();
node_child = node;
node = node.parent;
do
{
node.GetMazeCell().SetNextMazeCell(node_child.GetMazeCell());
node.GetMazeCell().SetPathFlag();
node_child = node;
node = node.parent;
}while(node != null);
}
break;
}
for(int i = 0 ; i < neighborhood ; i++)
{
int x , y;
x = node.GetMazeCell().X + Maze.delta_x[i];
y = node.GetMazeCell().Y + Maze.delta_y[i];
if(0 <= x && x < w && 0 <= y && y < h)
{
DStatLiteNode child = graph[y, x];
if(child.GetMazeCell().IsBlocked() || child.closed) continue;
int cost = child.GetMazeCell().GetCost();
if(open_list.Has(child))
{
if(child.g > node.g + cost)
{
child.parent = node;
child.g = node.g + cost;
child.f = child.g + child.h;
open_list.Insert(child);
}
}
else
{
child.parent = node;
child.g = node.g + cost;
child.f = child.g + child.h;
open_list.Insert(child);
}
}
}
if(step_by_step) break;
}
}