public static List <GridPos> FindPath(AStarParam iParam, double iWeight)
{
object lo = new object();
//var openList = new IntervalHeap<Node>(new NodeComparer());
var openList = new IntervalHeap <Node>();
var startNode = iParam.StartNode;
var endNode = iParam.EndNode;
var heuristic = iParam.HeuristicFunc;
var grid = iParam.SearchGrid;
var diagonalMovement = iParam.DiagonalMovement;
// var weight = iParam.Weight;
var weight = iWeight;
startNode.StartToCurNodeLen = 0;
startNode.HeuristicStartToEndLen = 0;
openList.Add(startNode);
startNode.IsOpened = true;
while (openList.Count != 0)
{
var node = openList.DeleteMin();
node.IsClosed = true;
if (node == endNode)
{
return(Node.Backtrace(endNode));
}
var neighbors = grid.GetNeighbors(node, diagonalMovement);
Parallel.ForEach(neighbors, neighbor =>
{
if (neighbor.IsClosed)
{
return;
}
var x = neighbor.X;
var y = neighbor.Y;
float ng = node.StartToCurNodeLen + (float)((x - node.X == 0 || y - node.Y == 0) ? 1 : Math.Sqrt(2));
if (!neighbor.IsOpened || ng < neighbor.StartToCurNodeLen)
{
neighbor.StartToCurNodeLen = ng;
if (neighbor.HeuristicCurNodeToEndLen == null)
{
neighbor.HeuristicCurNodeToEndLen = Convert.ToSingle(weight) * heuristic(Math.Abs(x - endNode.X), Math.Abs(y - endNode.Y));
}
if (neighbor.HeuristicCurNodeToEndLen != null)
{
neighbor.HeuristicStartToEndLen =
neighbor.StartToCurNodeLen + neighbor.HeuristicCurNodeToEndLen.Value;
}
neighbor.Parent = node;
if (!neighbor.IsOpened)
{
lock (lo) {
openList.Add(neighbor);
}
neighbor.IsOpened = true;
}
}
});
}
return(new List <GridPos>());
}
public static List <GridPos> FindPath(AStarParam iParam, decimal iWeight)
{
return(FindPath(iParam, Convert.ToDouble(iWeight)));
}
