Exemplo n.º 1
0
        public Algorithm(TileWorld.TileWorld world)
        {
            this.world = world;

            // Find the start and goalNode.
            int startX = 0;
            int startY = 0;
            int goalX  = 0;
            int goalY  = 0;

            for (int x = 0; x < world.getWidth(); x++)
            {
                for (int y = 0; y < world.getHeight(); y++)
                {
                    if (world.getTileType(x, y) == eTileType.START)
                    {
                        startX = x;
                        startY = y;
                    }

                    if (world.getTileType(x, y) == eTileType.END)
                    {
                        goalX = x;
                        goalY = y;
                    }
                }
            }
            startNode = GetNode(startX, startY, world.getTileType(startX, startY));
            goalNode  = GetNode(goalX, goalY, world.getTileType(goalX, goalY));

            startNode.cost      = 0;
            startNode.heuristic = CalculateHeuristic(startNode);

            open.Add(startNode);
            notDiscoveredYet.Add(goalNode);
        }
Exemplo n.º 2
0
        /// <summary>
        /// Returns a list with all the neighbours of the given node.
        /// </summary>
        /// <param name="node"></param>
        /// <returns>List of neighbouring nodes</returns>
        protected ArrayList GetNeighbourNodes(Node node)
        {
            ArrayList neighbours = new ArrayList();

            /* Straight neightbours */

            // If the node has a left neighbour.
            if (node.x > 0)
            {
                int neighbourX = node.x - 1;
                int neighbourY = node.y;
                if (world.getTileType(neighbourX, neighbourY) != eTileType.NONWALKABLE)
                {
                    neighbours.Add(GetNode(neighbourX, neighbourY, world.getTileType(neighbourX, neighbourY)));
                }
            }

            // If the node has a right neighbour.
            if (node.x < world.getWidth() - 1)
            {
                int neighbourX = node.x + 1;
                int neighbourY = node.y;
                if (world.getTileType(neighbourX, neighbourY) != eTileType.NONWALKABLE)
                {
                    neighbours.Add(GetNode(neighbourX, neighbourY, world.getTileType(neighbourX, neighbourY)));
                }
            }

            // If the node has a top neighbour.
            if (node.y > 0)
            {
                int neighbourX = node.x;
                int neighbourY = node.y - 1;
                if (world.getTileType(neighbourX, neighbourY) != eTileType.NONWALKABLE)
                {
                    neighbours.Add(GetNode(neighbourX, neighbourY, world.getTileType(neighbourX, neighbourY)));
                }
            }

            // If the node has a bottom neighbour.
            if (node.y < world.getHeight() - 1)
            {
                int neighbourX = node.x;
                int neighbourY = node.y + 1;
                if (world.getTileType(neighbourX, neighbourY) != eTileType.NONWALKABLE)
                {
                    neighbours.Add(GetNode(neighbourX, neighbourY, world.getTileType(neighbourX, neighbourY)));
                }
            }

            /* Diagonal neighbours */

            // If the node has an upper left neighbour.
            if (node.x > 0 && node.y > 0)
            {
                int neighbourX = node.x - 1;
                int neighbourY = node.y - 1;
                if (world.getTileType(neighbourX, neighbourY) != eTileType.NONWALKABLE)
                {
                    neighbours.Add(GetNode(neighbourX, neighbourY, world.getTileType(neighbourX, neighbourY)));
                }
            }

            // If the node has an upper right neighbour.
            if (node.x < world.getWidth() - 1 && node.y > 0)
            {
                int neighbourX = node.x + 1;
                int neighbourY = node.y - 1;
                if (world.getTileType(neighbourX, neighbourY) != eTileType.NONWALKABLE)
                {
                    neighbours.Add(GetNode(neighbourX, neighbourY, world.getTileType(neighbourX, neighbourY)));
                }
            }

            // If the node has a bottom left neighbour.
            if (node.x > 0 && node.y < world.getHeight() - 1)
            {
                int neighbourX = node.x - 1;
                int neighbourY = node.y + 1;
                if (world.getTileType(neighbourX, neighbourY) != eTileType.NONWALKABLE)
                {
                    neighbours.Add(GetNode(neighbourX, neighbourY, world.getTileType(neighbourX, neighbourY)));
                }
            }

            // If the node has a bottom right neighbour.
            if (node.x < world.getWidth() - 1 && node.y < world.getHeight() - 1)
            {
                int neighbourX = node.x + 1;
                int neighbourY = node.y + 1;
                if (world.getTileType(neighbourX, neighbourY) != eTileType.NONWALKABLE)
                {
                    neighbours.Add(GetNode(neighbourX, neighbourY, world.getTileType(neighbourX, neighbourY)));
                }
            }

            return(neighbours);
        }