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);
}
/*
* private class NodeComparer : IComparer<Node>
* {
* public int Compare(Node x, Node y)
* {
* var result = (x.heuristicStartToEndLen - y.heuristicStartToEndLen);
* if (result < 0) return -1;
* else
* if (result > 0) return 1;
* else
* {
* return 0;
* }
* }
* }
*/
public static List <GridPos> FindPath(AStarParam iParam, bool iMultiThread, Label s)
{
object lo = new object();
//var openList = new IntervalHeap<Node>(new NodeComparer());
var openList = new IntervalHeap <Node>();
var startNode = iParam.StartNode;
var endNode = iParam.EndNode;
var heuristic = iParam.HeuristicFunc;
var grid = iParam.SearchGrid;
var weight = iParam.Weight;
startNode.startToCurNodeLen = 0;
startNode.heuristicStartToEndLen = 0;
openList.Add(startNode);
startNode.isOpened = true;
while (openList.Count != 0)
{
var node = openList.DeleteMin();
node.isClosed = true;
if (node == endNode)
{
return(Node.Backtrace(endNode));
}
var neighbors = grid.GetNeighbors(node);
if (iMultiThread)
{
s.Text = "true ";
Parallel.ForEach(neighbors, new ParallelOptions {
MaxDegreeOfParallelism = 2
}, neighbor =>
{
if (neighbor.isClosed)
{
return;
}
var x = neighbor.x;
var y = neighbor.y;
float ng = node.startToCurNodeLen + (float)((x - node.x == 0 || y - node.y == 0) ? 1 : Math.Sqrt(2));
if (!neighbor.isOpened || ng < neighbor.startToCurNodeLen)
{
neighbor.startToCurNodeLen = ng;
if (neighbor.heuristicCurNodeToEndLen == null)
{
neighbor.heuristicCurNodeToEndLen = weight * heuristic(Math.Abs(x - endNode.x), Math.Abs(y - endNode.y));
}
neighbor.heuristicStartToEndLen = neighbor.startToCurNodeLen + neighbor.heuristicCurNodeToEndLen.Value;
neighbor.parent = node;
if (!neighbor.isOpened)
{
lock (lo)
{
openList.Add(neighbor);
}
neighbor.isOpened = true;
}
else
{
}
}
}
);
}
else
{
s.Text = "false ";
foreach (Node neighbor in neighbors)
{
if (neighbor.isClosed)
{
continue;
}
var x = neighbor.x;
var y = neighbor.y;
float ng = node.startToCurNodeLen + (float)((x - node.x == 0 || y - node.y == 0) ? 1 : Math.Sqrt(2));
if (!neighbor.isOpened || ng < neighbor.startToCurNodeLen)
{
neighbor.startToCurNodeLen = ng;
if (neighbor.heuristicCurNodeToEndLen == null)
{
neighbor.heuristicCurNodeToEndLen = weight * heuristic(Math.Abs(x - endNode.x), Math.Abs(y - endNode.y));
}
neighbor.heuristicStartToEndLen = neighbor.startToCurNodeLen + neighbor.heuristicCurNodeToEndLen.Value;
neighbor.parent = node;
if (!neighbor.isOpened)
{
lock (lo)
{
openList.Add(neighbor);
}
neighbor.isOpened = true;
}
else
{
}
}
}
}
}
return(new List <GridPos>());
}
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();
}