public void Init(SparseGraph graph,
int source,
int target)
{
this.Clear();
m_Graph = graph;
m_iSource = source;
m_iTarget = target;
m_bFound = false;
m_Visited.Capacity = m_Graph.NumNodes();
m_Route.Capacity = m_Graph.NumNodes();
for (int i = 0; i < m_Graph.NumNodes(); i++)
{
//Debug.Log(m_Graph.NumNodes() + " : " + i); //chamto test
m_Visited.Add((int)Aid.unvisited);
m_Route.Add((int)Aid.no_parent_assigned);
//m_Visited[i] = (int)Aid.unvisited;
//m_Route[i] = (int)Aid.no_parent_assigned;
}
m_bFound = Search();
}
public void CreateGraph()
{
mNavGraph = new SparseGraph<NavGraphNode, GraphEdge> (mRow * mColumn);
mNavGraph.BDrawMap = mBDrawMap;
Vector3 nodeposition = new Vector3 ();
int nextindex = 0;
//SparseGraph nodes data
for (int rw = 0; rw < mRow; rw++) {
for (int col = 0; col < mColumn; col++) {
nodeposition = new Vector3 (rw, 0.0f, col);
nextindex = mNavGraph.NextFreeNodeIndex;
mNavGraph.AddNode (new NavGraphNode (nextindex, nodeposition, 0.0f, false));
}
}
//SparseGraph edges data
for (int rw = 0; rw < mRow; rw++)
{
for (int col = 0; col < mColumn; col++)
{
CreateAllNeighboursToGridNode(rw, col, mRow, mColumn);
}
}
mTotalNodes = mNavGraph.NumNodes();
mTotalEdges = mNavGraph.NumEdges ();
}
public SearchAStar(SparseGraph<NavGraphNode, GraphEdge> graph
, int source
, int target
, bool isignorewall
, float strickdistance
, float hcostpercentage
, bool drawexplorepath
, float explorepathremaintime)
{
mGraph = graph;
mPQ = new PriorityQueue<int, float>((int)Mathf.Sqrt(mGraph.NumNodes()));
mGCosts = new List<float>(graph.NumNodes());
mFCosts = new List<Pair<int, float>>(graph.NumNodes());
mShortestPathTree = new List<GraphEdge>(graph.NumNodes());
mSearchFrontier = new List<GraphEdge>(graph.NumNodes());
//Init G cost and F cost and Cost value
for (int i = 0; i < graph.NumNodes(); i++)
{
mGCosts.Add(0.0f);
mFCosts.Add(new Pair<int, float>(i, 0.0f));
mShortestPathTree.Add(new GraphEdge());
mSearchFrontier.Add(new GraphEdge());
}
mISource = source;
mITarget = target;
mOriginalTarget = target;
Assert.IsTrue(hcostpercentage >= 0);
mHCostPercentage = hcostpercentage;
mBDrawExplorePath = drawexplorepath;
mExplorePathRemainTime = explorepathremaintime;
mAStarPathInfo = new PathInfo();
mIsIgnoreWall = isignorewall;
mStrickDistance = strickdistance;
//Search(mStrickDistance, mIsIgnoreWall);
//GeneratePathToTargetInfo();
}
public void Render(Graphics objGraphics)
{
//render all the cells
for (int nd = 0; nd < m_Graph.NumNodes(); ++nd)
{
int left = (int)(m_Graph.GetNode(nd).Pos.X - m_dCellWidth / 2.0);
int top = (int)(m_Graph.GetNode(nd).Pos.Y - m_dCellHeight / 2.0);
int right = (int)(1 + m_Graph.GetNode(nd).Pos.X + m_dCellWidth / 2.0);
int bottom = (int)(1 + m_Graph.GetNode(nd).Pos.Y + m_dCellHeight / 2.0);
Rectangle rect = Rectangle.FromLTRB(left, top, right, bottom);
SolidBrush fillBrush = new SolidBrush(Color.Gray);
switch (m_TerrainType[nd])
{
case (int)brush_type.normal:
fillBrush.Color = Color.White;
break;
case (int)brush_type.obstacle:
fillBrush.Color = Color.Black;
break;
case (int)brush_type.water:
fillBrush.Color = Color.DodgerBlue;
break;
case (int)brush_type.mud:
fillBrush.Color = Color.Brown;
break;
default:
fillBrush.Color = Color.White;
break;
}//end switch
objGraphics.FillRectangle(fillBrush, rect);
if (m_bShowTiles)
{
objGraphics.DrawLine(Pens.Gray, rect.Location, new Point(rect.Right, rect.Top));
objGraphics.DrawLine(Pens.Gray, rect.Location, new Point(rect.Left, rect.Bottom));
}
if (nd == m_iTargetCell)
{
rect.Inflate(-4, -4);
objGraphics.FillRectangle(Brushes.Red, rect);
objGraphics.DrawString("T", m_font, Brushes.Black, rect.Right - (int)(rect.Width * 0.75), rect.Y);
}
else if (nd == m_iSourceCell)
{
rect.Inflate(-4, -4);
objGraphics.FillRectangle(Brushes.LightGreen, rect);
objGraphics.DrawString("S", m_font, Brushes.Black, rect.Right - (int)(rect.Width * 0.75), rect.Y);
}
//render dots at the corners of the cells
objGraphics.DrawLine(m_ThickBlack, left, top, left + 1, top + 1);
}
//draw the graph nodes and edges if rqd
if (m_bShowGraph)
{
if (m_Graph.NumNodes() > 0)
{
SparseGraph.NodeIterator NodeItr = new SparseGraph.NodeIterator(m_Graph);
while (NodeItr.MoveNext())
{
objGraphics.DrawEllipse(Pens.LightGray, (int)(NodeItr.Current.Pos.X - 2), (int)(NodeItr.Current.Pos.Y - 2), (int)2 * 2, (int)2 * 2);
SparseGraph.EdgeIterator EdgeItr = new SparseGraph.EdgeIterator(m_Graph, NodeItr.Current.Index);
while (EdgeItr.MoveNext())
{
objGraphics.DrawLine(Pens.LightGray, (int)NodeItr.Current.Pos.X, (int)NodeItr.Current.Pos.Y, (int)m_Graph.GetNode(EdgeItr.Current.To).Pos.X, (int)m_Graph.GetNode(EdgeItr.Current.To).Pos.Y);
}
}
}
}
//draw any tree retrieved from the algorithms
for (int e = 0; e < m_SubTree.Count; ++e)
{
if (!NavGraphEdge.IsNull(m_SubTree[e]))
{
Vector2D from = m_Graph.GetNode(m_SubTree[e].From).Pos;
Vector2D to = m_Graph.GetNode(m_SubTree[e].To).Pos;
objGraphics.DrawLine(Pens.Red, (int)from.X, (int)from.Y, (int)to.X, (int)to.Y);
}
}
//draw the path (if any)
if (m_Path.Count > 0)
{
for (int i = 0; i < m_Path.Count; ++i)
{
if (i > 0)
{
Point start = new Point((int)m_Graph.GetNode(m_Path[i - 1]).Pos.X, (int)m_Graph.GetNode(m_Path[i - 1]).Pos.Y);
Point end = new Point((int)m_Graph.GetNode(m_Path[i]).Pos.X, (int)m_Graph.GetNode(m_Path[i]).Pos.Y);
objGraphics.DrawLine(m_ThickBlue, start, end);
}
}
}
}