//Find path using A-Star Pathfinder
private void findPath()
{
//GO!
var finder = new ClopPathFinder(_clpWar.Field);
IClopNode bestn = finder.FindPath(_ebx, _eby, _bx, _by);
//Write found path into bestpath
_bestpath = new ArrayList();
IClopNode n = bestn;
while (n != null)
{
n.inpath = true;
_bestpath.Add(n);
n = n.Parent;
}
}
private double findPathLength()
{
//GO!
var finder = new ClopPathFinder(_clpWar.Field);
IClopNode bestn = finder.FindPath(_ebx, _eby, _bx, _by);
//Count path length
//int len = 0;
IClopNode n = bestn;
/*while (n!=null)
* {
* n=n.Parent;
* len++;
* }*/
return(n.gdist);
}
//public GetNodeByXY NodeXY;
public IClopNode FindPath(IClopNode s, IClopNode f, GetDist Dist, GetNodeByXY NodeXY)
{
//Some checks
if ((Dist == null) | (NodeXY == null))
{
throw new ArgumentException("Delegate Function(s) not set! (Functions Dist and NodeXY)");
}
//Reset
Open.Clear();
Closed.Clear();
//Aux
int[] dx = new int[8] {
-1, -1, -1, 1, 1, 1, 0, 0
};
int[] dy = new int[8] {
-1, 0, 1, -1, 0, 1, -1, 1
};
IClopNode n, nn;
//GO!
//s.g = 0 // s is the start node
s.gdist = 0;
//s.h = GoalDistEstimate( s )
s.hdist = Dist(s, f);
//s.f = s.g + s.h
//OK
//s.Parent = null
s.Parent = null;
//push s on Open
Open.Add(s, null);
//while Open is not empty
while (Open.Count > 0)
{
//pop node n from Open // n has the lowest f
//System.Windows.Forms.MessageBox.Show(Open.Count.ToString());
n = Open.Pop();
//if n is a goal node
if (n.Equals(f))
{
// construct path
// return success
return(n);
}
//for each successor n' of n
for (int i = 0; i <= 7; i++)
{
nn = NodeXY(n.px + dx[i], n.py + dy[i]);
if (nn != null)
{
//newg = n.g + cost(n,n')
double newg = n.gdist + nn.cost;
//if n' is in Open or Closed,and n'.g <= newg { skip }
if (!((Open.Contains(nn) || Closed.Contains(nn)) && (nn.gdist <= newg)))
{
//n'.Parent = n
nn.Parent = n;
//n'.g = newg
nn.gdist = newg;
//n'.h = GoalDistEstimate( n' )
nn.hdist = Dist(nn, f);
//n'.f = n'.g + n'.h
//OK
//if n' is in Closed remove it from Closed
//nn.visited=false;
if (Closed.Contains(nn))
{
Closed.Remove(nn);
}
//if n' is not yet in Open push n' on Open
if (!(Open.Contains(nn)))
{
Open.Add(nn, null);
}
}
}
}
//push n onto Closed
//n.visited=true;
Closed.Add(n, null);
}
// return failure // if no path found
return(null);
}
private static double dist(IClopNode n1, IClopNode n2)
{
return(ClopCPU.Distance(n1.px, n1.py, n2.px, n2.py));
}
