public async Task Dijkstra()
{
queueDij = new Queue <PointInt>();
now = map.Start;
bool isLink = true;
//
while (JudgeDij(now, -1, 0) && JudgeDij(now, 0, -1) && JudgeDij(now, 1, 0) && JudgeDij(now, 0, 1) &&
JudgeDij(now, -1, 1) && JudgeDij(now, -1, -1) && JudgeDij(now, 1, -1) && JudgeDij(now, 1, 1))
{
if (queueDij.Count == 0)
{
isLink = false;
break;
}
now = queueDij.Dequeue();
await Delay(DelayTime);
map[now].Rect.Fill = Map.clr_IsClose;
await Delay(DelayTime);
}
now = map.End;
if (isLink)
{
await DrawPathAsync(map.End, map.Start);
}
}
async Task QuickPath()
{
bool isLink = false;
HeapQp = new Heap(map.Size * map.Size);
Best = map.Start;
map[Best].H = H(map.Start, map.End);
await JudgeAroundQp(Best);
while (HeapQp.Last > 0)
{
Best = HeapQp[1].Position;
map[Best].Rect.Fill = Map.clr_IsClose;
if (Best == map.End)
{
isLink = true;
break;
}
HeapQp.DelNodeQp();
await JudgeAroundQp(Best);
}
if (isLink)
{
await DrawPathAsync(map.End, map.Start);
}
}
private async Task DrawPathAsync(PointInt from, PointInt to)
{
int g, gap = Math.Abs(map[from].G - map[to].G);
int gapA = Map.clr_End.Color.A - Map.clr_Start.Color.A,
gapR = Map.clr_End.Color.R - Map.clr_Start.Color.R,
gapG = Map.clr_End.Color.G - Map.clr_Start.Color.G,
gapB = Map.clr_End.Color.B - Map.clr_Start.Color.B;
if (gap == 0)
{
gap = 1;
}
while (from != to)
{
g = map[from].G;
map[from].Rect.Fill = new System.Windows.Media.SolidColorBrush(
System.Windows.Media.Color.FromArgb(
Convert.ToByte(Map.clr_Start.Color.A + g * gapA / gap),
Convert.ToByte(Map.clr_Start.Color.R + g * gapR / gap),
Convert.ToByte(Map.clr_Start.Color.G + g * gapG / gap),
Convert.ToByte(Map.clr_Start.Color.B + g * gapB / gap)
)
);
from = map[from].From;
await Delay(DelayTime);
}
}
async Task JudgeAroundQp(PointInt now)
{
await JudgeQp(now, -1, -1);
await JudgeQp(now, 0, -1);
await JudgeQp(now, 1, -1);
await JudgeQp(now, 1, 0);
await JudgeQp(now, 1, 1);
await JudgeQp(now, 0, 1);
await JudgeQp(now, -1, 1);
await JudgeQp(now, -1, 0);
}
async Task JudgeQp(PointInt now, int dx, int dy)
{
PointInt next = new PointInt(now.X + dx, now.Y + dy);
if (map.IsInRange(next) && map[next].Rect.Fill != Map.clr_Obstacle && map[next].Rect.Fill != Map.clr_Start)
{
if (map[next].G == 0)
{
map[next].Rect.Fill = Map.clr_IsOpen;
map[next].Step = map[now].Step + 1;
map[next].From = now;
map[next].G = map[now].G + extraGap(dx, dy);
map[next].H = H(next, map.End);
HeapQp.InsNodeQp(map[next]);
await Delay(DelayTime);
}
}
}
private void cvsMain_MouseMove(object sender, MouseEventArgs e)
{
Point pos = e.GetPosition(sender as IInputElement);
PointInt mPos = new PointInt((int)(pos.X / map.RectSize), (int)(pos.Y / map.RectSize));
if (e.LeftButton == MouseButtonState.Pressed)
{
if (map.prevRect.Fill == Map.clr_Start)
{
map[map.Start].Rect.Fill = Map.clr_Space;
map.Start = mPos;
map[mPos].Rect.Fill = map.prevRect.Fill;
}
else if (map.prevRect.Fill == Map.clr_End)
{
map[map.End].Rect.Fill = Map.clr_Space;
map.End = mPos;
map[mPos].Rect.Fill = map.prevRect.Fill;
}
else if (map.prevRect.Fill == Map.clr_Obstacle)
{
map[mPos].Rect.Fill = map.prevRect.Fill;
}
}
else if (e.RightButton == MouseButtonState.Pressed)
{
map[mPos].Rect.Fill = Map.clr_Space;
}
else
{
map.prevRect.SetValue(Canvas.LeftProperty, mPos.X * map.RectSize);
map.prevRect.SetValue(Canvas.TopProperty, mPos.Y * map.RectSize);
}
//
lblPos.Content = "[ " + mPos.X.ToString() + " , " + mPos.Y.ToString() + " ]";
lblFrom.Content = "From = [ " + map[mPos].From.X.ToString() + " , " + map[mPos].From.Y.ToString() + " ]";
lblStep.Content = "Step = " + map[mPos].Step.ToString();
lblG.Content = "G = " + map[mPos].G.ToString();
lblH.Content = "H = " + map[mPos].H.ToString();
lblF.Content = "F = " + map[mPos].F.ToString();
}
bool JudgeDij(PointInt pos, int dx, int dy)
{
PointInt next = new PointInt(pos.X + dx, pos.Y + dy);
if (map.IsInRange(next))
{
if (map[next].Rect.Fill == Map.clr_Space)
{
map[next].Step = map[now].Step + 1;
map[next].Rect.Fill = Map.clr_IsOpen;
map[next].From = pos;
map[next].G = map[pos].G + extraGap(dx, dy);
queueDij.Enqueue(next);
}
else if (map[next].Rect.Fill == Map.clr_End)
{
map[next].Step = map[now].Step + 1;
map[next].From = pos;
map[next].G = map[pos].G + extraGap(dx, dy);
return(false);
}
}
return(true);
}
private int H(PointInt from, PointInt to)
{
int x = Math.Abs(from.X - to.X), y = Math.Abs(from.Y - to.Y);
return(Math.Abs(x - y) * 10 + (x < y ? x : y) * 14);
}