public NXTNode(NXTNode parent, Point position, uint price)
{
this.parent = parent;
this.position = position;
this.price = price;
this.neighbours = new List <NXTNode>();
}
public List <Point> ComputeDijkstra(Point start, Point goal)
{
Initialize(start);
List <NXTNode> q = new List <NXTNode>(nodes);
NXTNode s1 = null;
while (q.Count > 0)
{
s1 = GetMin(q);
q.Remove(s1);
if (s1.position.Equals(goal))
{
break;
}
sptSet[s1.position] = true;
foreach (NXTNode s2 in s1.neighbours)
{
UpdatePrice(s1, s2);
}
}
return(ComputePath(s1));
}
public bool Equals(NXTNode obj)
{
if (obj.position.Equals(this.position))
{
return(true);
}
else
{
return(false);
}
}
private void CreateChilds(Point start, NXTNode current)
{
foreach (Point p in circuit.GetNeighbours(current.position))
{
if (accessibleCases.Contains(p))
{
NXTNode node = new NXTNode(current, p, uint.MaxValue);
nodes.Add(node);
accessibleCases.Remove(p);
sptSet.Add(node.position, false);
CreateChilds(start, node);
}
}
}
private List <Point> ComputePath(NXTNode finalNode)
{
List <Point> path = new List <Point>();
NXTNode cNode = finalNode;
while (cNode.price != 0)
{
path.Add(cNode.position);
cNode = cNode.parent;
}
path.Reverse();
return(path);
}
private void UpdatePrice(NXTNode na, NXTNode nb)
{
if (nb != null)
{
uint nPrice = na.price + (uint)GetManhattanHeuristic(na.position, nb.position);
if (!sptSet[nb.position] && na.price != uint.MaxValue && nPrice < nb.price)
{
nb.price = nPrice;
nb.parent = na;
//this.circuit.getCase(nb.position).CaseColor = new Color(nb.price / 10f, (10 - nb.price) / 10f, 0f); // Donne une couleur aux cases selon l'heuristique
//Console.WriteLine("Parent updated " + na.position + " -> " + nb.position);
}
}
}
private NXTNode GetMin(List <NXTNode> nodes)
{
uint mini = uint.MaxValue;
NXTNode node = null;
foreach (NXTNode n in nodes)
{
if (n.price < mini)
{
mini = n.price;
node = n;
}
}
return(node);
}
protected void Initialize(Point start)
{
nodes.Clear();
sptSet.Clear();
accessibleCases = circuit.getAllCases();
NXTNode sNode = new NXTNode(start, 0);
nodes.Add(sNode);
accessibleCases.Remove(start);
CreateChilds(start, sNode);
foreach (NXTNode n in nodes)
{
foreach (Point p in circuit.GetNeighbours(n.position))
{
NXTNode neighbour = FindNodeAt(p);
n.neighbours.Add(neighbour);
}
}
}
protected bool RemoveFullNode(NXTNode node)
{
if (this.nodes.Remove(node))
{
foreach (NXTNode n in node.neighbours)
{
foreach (NXTNode nn in n.neighbours)
{
if (nn == node)
{
n.neighbours.Remove(nn);
}
}
}
return(true);
}
else
{
return(false);
}
}
