public void clear()
{
pf_container[,] cont = new pf_container[razm, razm];
for (int i = 0; i < razm; i++)
{
for (int j = 0; j < razm; j++)
{
cont[i, j] = new pf_container(mass[i, j], new indexv2(i, j));
}
}
foreach (pf_container node in cont)
{
if (node.go.GetComponent <Square>().color != 1)
{
node.go.GetComponent <Square>().color = 0;
}
}
}
public void start_calc()
{
Debug.Log("start2");
pf_container[,] cont = new pf_container[razm, razm];
for (int i = 0; i < razm; i++)
{
for (int j = 0; j < razm; j++)
{
cont[i, j] = new pf_container(mass[i, j], new indexv2(i, j));
}
}
pf p = new pf();
ArrayList path = p.calc(cont, new indexv2(6, 6), new indexv2(34, 34));
foreach (pf_container node in path)
{
node.go.GetComponent <Square>().color = 4;
}
}
public ArrayList calc(pf_container[,] scont, indexv2 sstartpoint, indexv2 sendpoint)
{
ArrayList open = new ArrayList();
ArrayList closed = new ArrayList();
ArrayList path = new ArrayList();
bool win = false;
//задаем начальную точку
open.Add(scont[sstartpoint.x, sstartpoint.y]);
(open[0] as pf_container).mincost = 0f;
(open[0] as pf_container).hcost = dist2(sstartpoint, sendpoint);
(open[0] as pf_container).fincost = (open[0] as pf_container).mincost +
(open[0] as pf_container).hcost;
while (open.Count != 0)
{
pf_container min_item = open[0] as pf_container;
#region ищем минимальное значение
float min = float.MaxValue;
for (int i = 0; i < open.Count; i++)
{
if ((open[i] as pf_container).fincost < min)
{
min_item = open[i] as pf_container;
min = min_item.fincost;
}
}
#endregion
open.Remove(min_item);
closed.Add(min_item);
foreach (pf_container sosed in allnear(scont, min_item.ind))
{
if (!sosed.ini) //если не инициирован, то инициируем
{
if (sosed.ind == sendpoint) //если таргет
{
win = true;
sosed.parent = min_item;
break;
}
sosed.ini = true;
if (sosed.go.GetComponent <Square>().color == 1)
{
sosed.isbrick = true;
}
else
{
sosed.mincost = min_item.mincost + dist2(min_item.ind, sosed.ind);
sosed.hcost = dist2(sosed.ind, sendpoint);
sosed.fincost = sosed.hcost + sosed.mincost;
sosed.parent = min_item;
}
}
if (!sosed.isbrick) //если стенка, то пропускаем
{
float d = min_item.mincost + dist2(min_item.ind, sosed.ind);
if (d < sosed.mincost)
{
sosed.parent = min_item;
sosed.mincost = d;
sosed.fincost = sosed.hcost + sosed.mincost;
}
if (!closed.Contains(sosed))//если уже прошлись, то пропускаем
{
if (!open.Contains(sosed))
{
open.Add(sosed);
}
}
}
}
if (win)
{
break;
}
}
if (!win)
{
return(path);
}
pf_container cur = scont[sendpoint.x, sendpoint.y];
while (cur.parent != scont[sstartpoint.x, sstartpoint.y])
{
path.Add(cur);
cur = cur.parent;
}
path.Add(cur);
cur = cur.parent;
path.Add(cur);
foreach (pf_container node in open)
{
node.go.GetComponent <Square>().color = 2;
}
foreach (pf_container node in closed)
{
node.go.GetComponent <Square>().color = 3;
}
return(path);
}
