public AStarSearch(TiledGraphGenerator tiledGraphSystem)
{
Source = Destination = 0;
this.tiledGraphSystem = tiledGraphSystem;
GraphNodesNum = tiledGraphSystem.TotalNumNodes;
EdgeOfSquare = (int)Math.Sqrt(GraphNodesNum);
GCost = new float[GraphNodesNum];
FCost = new float[GraphNodesNum];
int combine2_n = (GraphNodesNum * (GraphNodesNum - 1)) / 2;
ShortestPathTree = new Edge[combine2_n]; //new List<Edge>(32);
SearchFrontier = new Edge[combine2_n]; //new List<Edge>(32);
Nodes = tiledGraphSystem.getNodes();
}
private void btnGenGraph_Click(object sender, EventArgs e)
{
Image image = Image.FromFile(imageFilePath);
TiledGraph = new TiledGraphGenerator(new PointF(20, 20), new PointF(800 - 20, 610), edgeOfSquare, image);
TiledGraphNode[] nodes = TiledGraph.getNodes();
Graphics g = this.CreateGraphics();
for (int i = 0; i < nodes.Length; i++)
{
if (nodes[i].isValid)
{
DrawCrossHair(g, nodes[i].Position, 3, Pens.Black);
nodes[i].setNeighbours(nodes, TiledGraph.GraphHeightNodeCount, TiledGraph.GraphWidthNodeCount, edgeOfSquare);
// g.DrawString(nodes[i].Index.ToString(), System.Drawing.SystemFonts.DefaultFont, Brushes.Red, nodes[i].Position);
}
}
for (int i = 0; i < nodes.Length; i++)
{
if (nodes[i].isValid)
{
for (int j = 0; j < 8; j++)
{
if (nodes[i].AdjacentEdges[j] != null && nodes[nodes[i].AdjacentEdges[j].Destination].isValid)
{
g.DrawLine(Pens.DarkBlue, nodes[i].Position, nodes[nodes[i].AdjacentEdges[j].Destination].Position);
}
}
}
}
g.Dispose();
}