public List <Node> AStar() { // Pop off lowest F int? min = OpenList.Min(n => n.F); Node current = OpenList.Where(n => n.F == min).First(); OpenList.Remove(current); // Check for goal if (current.Equals(Goal)) { ClosedList.Push(current); return(ClosedList.Reverse().ToList()); } else { //possibleMoves = GetPassibleNodes(current); OpenList = GetPassibleNodes(current); List <Node> toRemove = new List <Node>(); OpenList.ForEach(n => { if (ClosedList.Contains(n)) { toRemove.Add(n); } else { GetF(n); } }); toRemove.ForEach(n => OpenList.Remove(n)); //possibleMoves.ForEach(n => //{ // if (!ClosedList.Contains(n)) // Dont move to an already visited Node // { // GetF(n); // if (!OpenList.Contains(n)) // { // n.Parent = current; // OpenList.Add(n); // } // } //}); } ClosedList.Push(current); return(null); }
public bool FindTheShortesPath(Node Start, Node Target) { Node CurrentNode = Start; OpenList.Add(CurrentNode); for (; OpenList.Count > 0;) { CurrentNode = OpenList[0]; if (CurrentNode.Equals(Target)) { VisitedNodes.Add(Target); for (int Index = 0; Index < VisitedNodes.Count - 1; Index++) { ShortesPath.Add(InnerGraph.FindEdge(VisitedNodes[Index], VisitedNodes[Index + 1])); } return(true); } OpenList.Remove(CurrentNode); ClosedList.Add(CurrentNode); foreach (Node Inheritor in CurrentNode.Inheritors.Where(Node => Node != null && Node.Index != Node.Inheritors.Length - 1)) { if (!ClosedList.Contains(Inheritor)) { if (!OpenList.Contains(Inheritor)) { Inheritor[Inheritor.Index] = CurrentNode; Inheritor.HeuristicPathWeight = CalculateHeuristic(Inheritor, Target); Inheritor.GainedPathWeight = InnerGraph.FindEdge(CurrentNode, Inheritor).Weight; Inheritor.TotalPathWeight = Inheritor.GainedPathWeight + Inheritor.HeuristicPathWeight; OpenList.Add(Inheritor); OpenList = OpenList.OrderBy(Node => Node.TotalPathWeight).ToList <Node>(); } } } VisitedNodes.Add(CurrentNode); } return(true); }
public override ArrayList FindPaths(int StartPos, int InEndPos, int InID) { ArrayList Paths = new ArrayList(); if (!IsValidPosIndex(StartPos) || !IsValidPosIndex(InEndPos)) { return(Paths); } CTimeCheck.Start(InID); EndPos = InEndPos; ClosedList.Clear(); OpenList.Clear(); foreach (Tile tile in Tiles) { if (tile.bBlock) { ClosedList.Add(tile.Index); } tile.Reset(); } ClosedList.Add(StartPos); int FindNextPath = StartPos; int path_make_start_time = Environment.TickCount; while (true) { //if (100 <= Environment.TickCount - path_make_start_time) // return Paths; ArrayList MakedOpenList = MakeOpenList(FindNextPath); if (OpenList.Count == 0) { CDebugLog.Log(ELogType.AStar, "OpenList.Count == 0"); } //FindNextPath = FindNextPathIndex(ref MakedOpenList); ////FindNextPath = FindNextPathIndexFromOpenList(); //if (-1 == FindNextPath) //{ FindNextPath = FindNextPathIndexFromOpenList(); //} if (-1 == FindNextPath) { CTimeCheck.End(ELogType.AStar, "Failed FindPaths"); return(Paths); } if (FindNextPath == EndPos) { break; } OpenList.Remove(FindNextPath); ClosedList.Add(FindNextPath); } int path_index = EndPos; Paths.Add(EndPos); while (true) { if (path_index == StartPos) { break; } Paths.Add(((Tile)Tiles[path_index]).ParentTile); path_index = ((Tile)Tiles[path_index]).ParentTile; } Paths.Reverse(); CTimeCheck.End(ELogType.AStar, "Success FindPaths"); return(Paths); }