public NPathNode AddChild(int x, int y)
{
var cNode = new NPathNode(x, y, this);
cNode.TotelCost = cNode.parent.TotelCost + cNode.RouteCost;
Childs.Add(cNode);
return(cNode);
}
static public List <NLocate> BStar(NLocate src, NLocate dst, NMap map)
{
GPath.Clear();
NPathNode rootNode = new NPathNode(src.X, src.Y);
List <int> bufferIndex = new List <int>();
//return
BStarStep(src, dst, map, bufferIndex, rootNode);
if (GPath != null)
{
return(GPath);
}
Console.WriteLine("Fail to Find Path!!!");
return(new List <NLocate>());
}
public IEnumerable <NLocate> GetPath()
{
NPathNode curNode = this;
if (curNode.IsRoot)
{
yield break;
}
do
{
yield return(curNode.Locate);
curNode = curNode.Parent;
} while (!curNode.IsRoot);
//NPathNode curNode = this;
//while (!curNode.IsRoot) ;
//{
// yield return curNode.Locate;
// curNode = curNode.Parent;
//}
yield break;
}
static public void BStarStep(NLocate src, NLocate dst, NMap map, List <int> bufferIndex, NPathNode pathList)
{
if (src.Equals(dst))
{
Console.WriteLine("FindPath with B*");
GPath = new List <NLocate>(pathList.GetPath());
return;
}
var dstLoc = src.NearLocTo(dst);
if (!map.Alive(dstLoc))
{
bufferIndex.Add(dstLoc.ToIndex(map));
BStarStep(dstLoc, dst, map, bufferIndex, pathList.AddChild(dstLoc.X, dstLoc.Y));
}
else
{
foreach (var l in src.Branch(dstLoc))
{
if (!bufferIndex.Contains(l.ToIndex(map.Width)) && !map.Alive(l))
{
bufferIndex.Add(l.ToIndex(map));
BStarStep(l, dst, map, bufferIndex, pathList.AddChild(l.X, l.Y));
}
}
}
}
static public List <NLocate> AStar(NLocate src, NLocate dst, NMap map)
{
GPath.Clear();
NPathNode rootNode = new NPathNode(src.X, src.Y);
List <int> closeList = new List <int>();
Dictionary <int, NPathNode> openList = new Dictionary <int, NPathNode>();
openList.Add(src.ToIndex(map.Width), rootNode);
//检查curPos可移动格（openList中尚未存在的，closeList中没有的）
//并加入routeData OpenList（将其父类设置为curPos）;
//如果openList包含目标则从目标格开始返回结果
//int count = 3;
//float maxCost = start.distanceToPoint(goal)*4;
while (openList.Count > 0)
{
//Console.WriteLine("CurrentLocate:" + rootNode.Locate.X + "*" + rootNode.Locate.Y);
foreach (var l in rootNode.Locate.Direction4())
{
if (l.Equals(dst))
{
return(new List <NLocate>(rootNode.GetPath()));
}
if (map.Alive(l) || (!map.WithIn(l)))
{
continue;
}
int index = l.ToIndex(map.Width);
if (!closeList.Contains(index))
{
if (!openList.ContainsKey(index))
{
openList.Add(index, rootNode.AddChild(l.X, l.Y));
}
}
}
int curIndex = rootNode.Locate.ToIndex(map.Width);
openList.Remove(curIndex);
closeList.Add(curIndex);
//qDebug()<<__FUNCTION__<<__LINE__;
//检查openList最小损耗格，将curPos加入closeList;将最小消耗格设curPos
int minTotelCost = int.MaxValue;
foreach (var l in openList.Values)
{
if (l.TotelCost < minTotelCost)
{
minTotelCost = l.TotelCost;
rootNode = l;
}
}
}
if ((GPath != null) && GPath.Count > 0)
{
Console.WriteLine("find route!!!");
return(GPath);
}
return(new List <NLocate>());
}
public NPathNode(int x, int y, NPathNode parent = null)
{
loc = new NLocate(x, y);
this.parent = parent;
}
