/// <summary>
/// Constructor for a node in a 2-dimensional map
/// </summary>
/// <param name="parentRef">Parent of the node</param>
/// <param name="goalRef">Goal node</param>
/// <param name="costRef">Accumulative cost</param>
/// <param name="AX">x-coordinate</param>
/// <param name="AY">y-coordinate</param>
public AStarNode2D(AStarNode parentRef, AStarNode goalRef, double costRef, int AX, int AY) :
base(parentRef, goalRef, costRef)
{
this.m_X = AX;
this.m_Y = AY;
}
/// <summary>
/// Determines wheather the current node is the same state as the on passed.
/// </summary>
/// <param name="node">AStarNode to compare the current node to</param>
/// <returns>Returns true if they are the same state</returns>
public virtual bool IsSameState(AStarNode node)
{
return(false);
}
/// <summary>
/// Finds the shortest path from the start node to the goal node
/// </summary>
/// <param name="startNode">Start node</param>
/// <param name="goalNode">Goal node</param>
public void FindPath(AStarNode startNode, AStarNode goalNode)
{
this.m_StartNode = startNode;
this.m_GoalNode = goalNode;
int loopBreak = 0;
this.m_OpenList.Add(this.m_StartNode);
while (this.m_OpenList.Count > 0 && loopBreak < LOOPBREAKER)
{
// Get the node with the lowest TotalCost
AStarNode NodeCurrent = (AStarNode)this.m_OpenList.Pop();
// If the node is the goal copy the path to the solution array
if (NodeCurrent.IsGoal())
{
while (NodeCurrent != null)
{
this.m_Solution.Insert(0, NodeCurrent);
NodeCurrent = NodeCurrent.parent;
}
break;
}
// Get successors to the current node
NodeCurrent.GetSuccessors(this.m_Successors);
foreach (AStarNode NodeSuccessor in this.m_Successors)
{
// Test if the currect successor node is on the open list, if it is and
// the TotalCost is higher, we will throw away the current successor.
AStarNode NodeOpen = null;
if (this.m_OpenList.Contains(NodeSuccessor))
{
NodeOpen = (AStarNode)this.m_OpenList[this.m_OpenList.IndexOf(NodeSuccessor)];
}
if ((NodeOpen != null) && (NodeSuccessor.totalCost > NodeOpen.totalCost))
{
continue;
}
// Test if the currect successor node is on the closed list, if it is and
// the TotalCost is higher, we will throw away the current successor.
AStarNode NodeClosed = null;
if (this.m_ClosedList.Contains(NodeSuccessor))
{
NodeClosed = (AStarNode)this.m_ClosedList[this.m_ClosedList.IndexOf(NodeSuccessor)];
}
if ((NodeClosed != null) && (NodeSuccessor.totalCost > NodeClosed.totalCost))
{
continue;
}
// Remove the old successor from the open list
this.m_OpenList.Remove(NodeOpen);
// Remove the old successor from the closed list
this.m_ClosedList.Remove(NodeClosed);
// Add the current successor to the open list
this.m_OpenList.Push(NodeSuccessor);
}
// Add the current node to the closed list
this.m_ClosedList.Add(NodeCurrent);
loopBreak += 1;
}
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="parentRef">The node's parent</param>
/// <param name="goalRef">The goal node</param>
/// <param name="costRef">The accumulative cost until now</param>
public AStarNode(AStarNode parentRef, AStarNode goalRef, double costRef)
{
this.m_Parent = parentRef;
this.m_Cost = costRef;
this.goalNode = goalRef;
}