public List <Node> AStar()
{
// Pop off lowest F
int? min = OpenList.Min(n => n.F);
Node current = OpenList.Where(n => n.F == min).First();
OpenList.Remove(current);
// Check for goal
if (current.Equals(Goal))
{
ClosedList.Push(current);
return(ClosedList.Reverse().ToList());
}
else
{
//possibleMoves = GetPassibleNodes(current);
OpenList = GetPassibleNodes(current);
List <Node> toRemove = new List <Node>();
OpenList.ForEach(n =>
{
if (ClosedList.Contains(n))
{
toRemove.Add(n);
}
else
{
GetF(n);
}
});
toRemove.ForEach(n => OpenList.Remove(n));
//possibleMoves.ForEach(n =>
//{
// if (!ClosedList.Contains(n)) // Dont move to an already visited Node
// {
// GetF(n);
// if (!OpenList.Contains(n))
// {
// n.Parent = current;
// OpenList.Add(n);
// }
// }
//});
}
ClosedList.Push(current);
return(null);
}
public bool Find(int x0, int y0, int x1, int y1)
{
if (!Ready(x0, y0, x1, y1))
{
return(false);
}
Node current = null;
do
{
current = GetBestFromOpenList();
if (current == null)
{
break;
}
if (current.Equals(goal_))
{
break;
}
if (!ProcessNeigbhors(current))
{
break;
}
} while (true);
if (goal_.parent != null)
{
current = goal_;
}
if (current != null && current.Equals(goal_))
{
GeneratePath(current);
return(true);
}
return(false);
}
public List <Node> findPath(Node startNode, Node finishNode, WeightedGraph graph)
{
Dictionary <Node, int> pricesToVisitedNodes = new Dictionary <Node, int>();
Dictionary <Node, Node> paths = new Dictionary <Node, Node>();
QueueWithPriority queue = new QueueWithPriority();
queue.Put(startNode, 0);
pricesToVisitedNodes.Add(startNode, 0);
while (!queue.IsEmpty())
{
Node current = queue.PopMostPriorityElement();
if (finishNode.Equals(current))
{
break;
}
foreach (var neighbor in graph.GetNeighbors(current))
{
int costToNeighbor = pricesToVisitedNodes[current] + graph.getWeight(current, neighbor);
bool condition = false;
// если соседний узел еще не посещался или новая цена перехода из старта до него меньше чем была, то
if (!pricesToVisitedNodes.ContainsKey(neighbor))
{
condition = true;
}
else
if (pricesToVisitedNodes[neighbor] > costToNeighbor)
{
condition = true;
}
if (condition)
{
// обновляем цену перехода до соседнего узла
pricesToVisitedNodes[neighbor] = costToNeighbor;
queue.Put(neighbor, costToNeighbor + heuristic(current, neighbor));
if (!paths.ContainsKey(neighbor))
{
paths.Add(neighbor, current);
}
else
{
paths[neighbor] = current;
}
}
}
}
// выбираем цепочку , которая привела к цели
Node next = finishNode;
List <Node> path = new List <Node>();
path.Add(next);
while (!startNode.Equals(next))
{
next = paths[next];
path.Add(next);
}
return(path);
}
