public Form1()
{
InitializeComponent();
this.DoubleBuffered = true;
this.BackColor = Color.Black;
w = (Width) / Cols;
h = (Height) / Rows;
this.WindowState = FormWindowState.Maximized;
Spots = new Dictionary <Point, Spot>();
OpenSet = new OpenSet(Color.Green);
ClosedSet = new ClosedSet(Color.Red);
MainPath = new List <Spot>();
Random Ran = new Random(10000000);
for (int i = 0; i < Cols; i++)
{
for (int j = 0; j < Rows; j++)
{
Spot spot = new Spot(i, j, w, h, Color.White, Ran);
KeyValuePair <Point, Spot> pair = new KeyValuePair <Point, Spot>(spot.Point, spot);
Spots.Add(spot.Point, spot);
if (i == Cols - 1 && j == Rows - 1)
{
End = spot.Point;
}
}
}
//Spot s = Spots.Last().Value;
foreach (KeyValuePair <Point, Spot> item in Spots)
{
item.Value.FindNeighbours(Spots, Cols, Rows);
}
Astar algorithm = new Astar(Spots, End);
algorithm.InvalidateCaller += RefreshForm;
ThreadPool.QueueUserWorkItem(new WaitCallback(algorithm.FindPath));
}
static void Main(string[] args)
{
//地图
matrix Matrix = new matrix(7, 3);
//开始点
Node startNode = new Node(2,2,0,new Node());
//结束点
Node endNode = new Node(6, 2, 0, new Node());
//阻挡点
Node obstalNode1 = new Node(4, 1, 0, new Node());
Node obstalNode2 = new Node(4, 2, 0, new Node());
Node obstalNode3 = new Node(4, 3, 0, new Node());
Dictionary<string, Node> obstalDic = new Dictionary<string,Node>();
obstalDic.Add(obstalNode1.getKey(), obstalNode1);
obstalDic.Add(obstalNode2.getKey(), obstalNode1);
obstalDic.Add(obstalNode3.getKey(), obstalNode1);
Astar astar = new Astar(startNode, endNode, Matrix, obstalDic);
astar.AStar();
astar.getShortCutRoute();
Console.Read();
}
static void Main(string[] args)
{
int[][] map = CreateMap();
Action <Node <int> > populateChildren = node =>
{
int locX = node.locationX;
int locY = node.locationY;
Node <int> child;
if (locX + 1 < map.Length)
{
if (map[locX + 1][locY] == 0)
{
child = Node <int> .CreateNode();
child.locationX = locX + 1;
child.locationY = locY;
node.Children.Add(child);
}
}
if (locX - 1 >= 0)
{
if (map[locX - 1][locY] == 0)
{
child = Node <int> .CreateNode();
child.locationX = locX - 1;
child.locationY = locY;
node.Children.Add(child);
}
}
if (locY + 1 < map[locX].Length)
{
if (map[locX][locY + 1] == 0)
{
child = Node <int> .CreateNode();
child.locationX = locX;
child.locationY = locY + 1;
node.Children.Add(child);
}
}
if (locY - 1 >= 0)
{
if (map[locX][locY - 1] == 0)
{
child = Node <int> .CreateNode();
child.locationX = locX;
child.locationY = locY - 1;
node.Children.Add(child);
}
}
};
Func <Node <int>, Node <int>, int> heuristic = (start, goal) =>
{
return(Math.Abs(start.locationX - goal.locationX) + Math.Abs(start.locationY - goal.locationY));
};
Astar <int> pathFinding = new Astar <int>(heuristic, populateChildren);
Node <int> s = Node <int> .CreateNode();
Node <int> g = Node <int> .CreateNode();
bool found = false;
int z = 0;
int q = 0;
while (!found)
{
if (map[z][q] == 0)
{
s.locationX = z;
s.locationY = q;
found = true;
break;
}
q++;
if (q == 5)
{
z++;
q = 0;
}
}
found = false;
z = map.Length - 1;
q = map.Length - 1;
while (!found)
{
if (map[z][q] == 0)
{
g.locationX = z;
g.locationY = q;
found = true;
break;
}
q--;
if (q == -1)
{
z--;
q = 4;
}
}
List <Node <int> > path = pathFinding.FindPath(s, g);
if (path != null && path.Count > 0)
{
Console.WriteLine("Path Found");
foreach (Node <int> x in path)
{
x.printNode();
}
}
else
{
Console.WriteLine("Path doesn't exist!");
}
PrintMap(map);
Console.ReadLine();
}