public List<__Point> GetPath(int x0, int y0, int x1, int y1)
{
List<__Point> Path = new List<__Point>();
List<AStarNode> OpenList = new List<AStarNode>();
List<AStarNode> CloseList = new List<AStarNode>();
AStarNode FirstNode = new AStarNode(x0, y0);
FirstNode.BuildGHF(0.0f, x1, y1);
OpenList.Add(FirstNode);
while (OpenList.Count > 0)
{
int MinIndex = 0;
float MinF = float.MaxValue;
AStarNode MinNode = null;
int i = 0;
foreach (var Node in OpenList)
{
if (Node.F < MinF)
{
MinNode = Node;
MinIndex = i;
MinF = Node.F;
}
i++;
}
int x = MinNode.x;
int y = MinNode.y;
if (x == x1 && y == y1)
{
while (MinNode != null)
{
__Point pp = new __Point();
pp.x = MinNode.x;
pp.y = MinNode.y;
Path.Add(pp);
MinNode = MinNode.ParentNode;
}
Console.WriteLine("Find.");
return Path;
}
OpenList.RemoveAt(MinIndex);
CloseList.Add(MinNode);
if (x - 1 >= 0)
DoANode(x - 1, y, x1, y1, MinNode.G + 1.0f, MinNode, OpenList, CloseList);
if (x + 1 < 50)
DoANode(x + 1, y, x1, y1, MinNode.G + 1.0f, MinNode, OpenList, CloseList);
if (y - 1 >= 0)
DoANode(x, y - 1, x1, y1, MinNode.G + 1.0f, MinNode, OpenList, CloseList);
if (y + 1 < 50)
DoANode(x, y + 1, x1, y1, MinNode.G + 1.0f, MinNode, OpenList, CloseList);
}
Console.WriteLine("Can\'t Find.");
return Path;
}
protected override void OnMouseUp(MouseEventArgs e)
{
base.OnMouseUp(e);
int ix = e.X / CellSize;
int iy = e.Y / CellSize;
if (e.Button == MouseButtons.Right)
{
if (__Index_Static == 0)
{
Start.x = ix;
Start.y = iy;
Graphics g = CreateGraphics();
PaintCell(g, ix, iy, Color.FromArgb(0, 230, 0));
}
else if (__Index_Static == 1)
{
AStar Star = new AStar(Data);
Path = Star.GetPath(Start.x, Start.y, ix, iy);
PaintPath();
}
__Index_Static += 1;
}
if (e.Button == MouseButtons.Left)
{
Data[ix, iy] = 1;
__Point pp = new __Point();
pp.x = ix;
pp.y = iy;
ColoredCells.Add(pp);
PaintColoredCell();
}
}