private void ReconstructPath(ExploerNode endNode)
{
ExploerNode currentNode = endNode;
while (!currentNode.position.Equals(position))
{
currentMovePath.Push(currentNode.cameFrom.position);
currentNode = currentNode.cameFrom;
}
}
public Explorer(DungeonMaster master, int size)
{
this.dungeonMaster = master;
map = new ExploerNode[size, size];
mapSize = size;
for (int i = 0; i < size; ++i)
{
for (int j = 0; j < size; ++j)
{
map[i, j] = new ExploerNode(dungeonMaster.IsTile(j, i), j, i);
}
}
}
private void MakePath(Int2D destination)
{
// Debug.WriteLine( "start to make the path" );
// Debug.WriteLine( "start : " + position.x + " / " + position.y );
// Debug.WriteLine( "dest : " + destination.x + " / " + destination.y );
// 조심해!!!
// priority_queue가 없어서 일단 list로 구현
// List<ExploerNode> openSet = new List<ExploerNode>();
MinHeap <ExploerNode> openSet = new MinHeap <ExploerNode>();
for (int i = 0; i < mapSize; ++i)
{
for (int j = 0; j < mapSize; ++j)
{
map[i, j].Reset();
}
}
map[position.y, position.x].gScore = 0;
map[position.y, position.x].fScore = map[position.y, position.x].gScore + GetHeuristicScore(position, destination);
map[position.y, position.x].isOpened = true;
// openSet.Add( map[position.y, position.x] );
openSet.Push(map[position.y, position.x]);
while (openSet.Count > 0)
{
// ExploerNode current = openSet.Min();
ExploerNode current = openSet.Peek();
// Debug.WriteLine( "current : " + current.position.x + " / " + current.position.y );
if (current.position.Equals(destination))
{
currentMovePath.Push(currentDestination); // 최종 목적지를 일단 넣고 그 사이를 채움
ReconstructPath(current);
currentMovePath.Pop(); // 현재 위치는 빼자
break;
}
// openSet.Remove( openSet.Min() );
openSet.Pop();
current.isClosed = true;
// 조심해!
// 배열을 하나 새로 만드는 것이 어색하다
// 맨 끝 지점들에는 안 가니까 예외 처리는 생략
List <ExploerNode> neigborNodes = new List <ExploerNode> {
map[current.position.y - 1, current.position.x],
map[current.position.y + 1, current.position.x],
map[current.position.y, current.position.x - 1],
map[current.position.y, current.position.x + 1]
};
for (int i = 0; i < neigborNodes.Count; ++i)
{
ExploerNode neighbor = neigborNodes[i];
if (neighbor.isClosed)
{
continue;
}
float gScoreTentative = current.gScore + Math.Abs(destination.x - current.position.x) + Math.Abs(destination.y - current.position.y);
if (!neighbor.isOpened || gScoreTentative < neighbor.gScore)
{
neighbor.cameFrom = current;
neighbor.gScore = gScoreTentative;
neighbor.fScore = neighbor.gScore + GetHeuristicScore(neighbor.position, destination);
if (!neighbor.isOpened)
{
neighbor.isOpened = true;
// openSet.Add( neighbor );
openSet.Push(neighbor);
}
else
{
openSet.DecreaseKeyValue(neighbor);
}
// openSet.Sort( new NodeComp() );
}
}
}
// Debug.WriteLine( "end!!!!" );
}