public bool IsInBestLoad(Cell cell, List <Cell> bestLoad)
{
foreach (Cell cell1 in bestLoad)
{
if (Cell.IsSampleCell(cell, cell1))
{
return(true);
}
}
return(false);
}
public bool IsInOpen(Cell cell)
{
foreach (Cell cell1 in openList)
{
if (Cell.IsSampleCell(cell, cell1))
{
return(true);
}
}
return(false);
}
public bool IsInClosed(Cell cell)
{
foreach (Cell cell1 in closedList)
{
if (Cell.IsSampleCell(cell, cell1))
{
return(true);
}
}
return(false);
}
public bool IsStoneOrOutWord(List <Cell> cellList, Cell cell1)
{
if (cell1.Location.X >= 0 && cell1.Location.X < this.panelMap.Width && cell1.Location.Y >= 0 && cell1.Location.Y < this.panelMap.Height)
{
for (int i = 0; i < cellList.Count; i++)
{
if (Cell.IsSampleCell(cell1, cellList[i]))
{
return(false);
}
}
return(true);
}
return(false);
}
public void BeginSearch()
{
//开始搜索的时候，计时开始
stopWatch.Start();
//不停的搜索直到到达目的地
while (true)
{
this.SearchBestCell();
if (isState)
{
return;
}
Cell closedCell = this.closedList[closedList.Count - 1];
Cell _upCell = new Cell();
Cell _downCell = new Cell();
Cell _rightCell = new Cell();
Cell _leftCell = new Cell();
Cell _upLeftCell = new Cell();
Cell _downLeftCell = new Cell();
Cell _upRightCell = new Cell();
Cell _downRightCell = new Cell();
_upCell.Location = new Point(closedCell.Location.X, closedCell.Location.Y + 20);
_downCell.Location = new Point(closedCell.Location.X, closedCell.Location.Y - 20);
_rightCell.Location = new Point(closedCell.Location.X + 20, closedCell.Location.Y);
_leftCell.Location = new Point(closedCell.Location.X - 20, closedCell.Location.Y);
if (isUseGlobal)
{
_upLeftCell.Location = new Point(closedCell.Location.X - 20, closedCell.Location.Y - 20);
_downLeftCell.Location = new Point(closedCell.Location.X - 20, closedCell.Location.Y + 20);
_upRightCell.Location = new Point(closedCell.Location.X + 20, closedCell.Location.Y - 20);
_downRightCell.Location = new Point(closedCell.Location.X + 20, closedCell.Location.Y + 20);
}
if (Cell.IsSampleCell(_upCell, goalCell))
{
break;
}
if (Cell.IsSampleCell(_downCell, goalCell))
{
break;
}
if (Cell.IsSampleCell(_rightCell, goalCell))
{
break;
}
if (Cell.IsSampleCell(_leftCell, goalCell))
{
break;
}
if (isUseGlobal)
{
if (Cell.IsSampleCell(_upLeftCell, goalCell))
{
break;
}
if (Cell.IsSampleCell(_downLeftCell, goalCell))
{
break;
}
if (Cell.IsSampleCell(_upRightCell, goalCell))
{
break;
}
if (Cell.IsSampleCell(_downRightCell, goalCell))
{
break;
}
}
}
List <Cell> bestLoad = new List <Cell>();
Cell lastClosedCell = new Cell();
int n = 1000;
for (int i = 0; i < this.closedList.Count; i++)
{
if (this.closedList[i].EvaluateDistance <= n)
{
n = this.closedList[i].EvaluateDistance;
}
}
for (int i = 0; i < this.closedList.Count; i++)
{
if (this.closedList[i].EvaluateDistance == n)
{
lastClosedCell = this.closedList[i];
break;
}
}
while (true)
{
if (Cell.IsSampleCell(lastClosedCell.ParentCell, startCell))
{
bestLoad.Add(lastClosedCell);
break;
}
else
{
bestLoad.Add(lastClosedCell);
lastClosedCell = lastClosedCell.ParentCell;
}
}
for (int i = 0; i < bestLoad.Count; i++)
{
if (isUseGlobal == true)
{
if (bestLoad[0].Location.Y > goalCell.Location.Y && bestLoad[0].Location.X == goalCell.Location.X)
{
this.panelMap.CreateGraphics().FillRectangle(new SolidBrush(Color.Purple), bestLoad[0].Location.X + 1, bestLoad[0].Location.Y + 1 - 20, 19, 19);
}
if (bestLoad[0].Location.Y < goalCell.Location.Y && bestLoad[0].Location.X == goalCell.Location.X)
{
this.panelMap.CreateGraphics().FillRectangle(new SolidBrush(Color.Purple), bestLoad[0].Location.X + 1, bestLoad[0].Location.Y + 1 + 20, 19, 19);
}
if (bestLoad[0].Location.X > goalCell.Location.X && bestLoad[0].Location.Y == goalCell.Location.Y)
{
this.panelMap.CreateGraphics().FillRectangle(new SolidBrush(Color.Purple), bestLoad[0].Location.X + 1 - 20, bestLoad[0].Location.Y + 1, 19, 19);
}
if (bestLoad[0].Location.X < goalCell.Location.X && bestLoad[0].Location.Y == goalCell.Location.Y)
{
this.panelMap.CreateGraphics().FillRectangle(new SolidBrush(Color.Purple), bestLoad[0].Location.X + 1 + 20, bestLoad[0].Location.Y + 1, 19, 19);
}
}
this.panelMap.CreateGraphics().FillRectangle(new SolidBrush(Color.Purple), bestLoad[i].Location.X + 1, bestLoad[i].Location.Y + 1, 19, 19);
//Thread.Sleep(100);
}
this.btnRest.Enabled = true;
//结束计时
stopWatch.Stop();
//转换格式
TimeSpan ts = stopWatch.Elapsed;
string elapsedTime = String.Format("{0:00}.{1:00000000}s", ts.Seconds, ts.Milliseconds);
MessageBox.Show("RunTime: " + elapsedTime);
}
public void SearchBestCell()
{
//为起始节点初始化上下左右方格
upCell = new Cell();
downCell = new Cell();
rightCell = new Cell();
leftCell = new Cell();
upLeftCell = new Cell();
downLeftCell = new Cell();
upRightCell = new Cell();
downRightCell = new Cell();
upCell.Location = new Point(closedList[closedList.Count - 1].Location.X, closedList[closedList.Count - 1].Location.Y - 20);
downCell.Location = new Point(closedList[closedList.Count - 1].Location.X, closedList[closedList.Count - 1].Location.Y + 20);
rightCell.Location = new Point(closedList[closedList.Count - 1].Location.X + 20, closedList[closedList.Count - 1].Location.Y);
leftCell.Location = new Point(closedList[closedList.Count - 1].Location.X - 20, closedList[closedList.Count - 1].Location.Y);
if (isUseGlobal)
{
upLeftCell.Location = new Point(closedList[closedList.Count - 1].Location.X - 20, closedList[closedList.Count - 1].Location.Y - 20);
downLeftCell.Location = new Point(closedList[closedList.Count - 1].Location.X - 20, closedList[closedList.Count - 1].Location.Y + 20);
upRightCell.Location = new Point(closedList[closedList.Count - 1].Location.X + 20, closedList[closedList.Count - 1].Location.Y - 20);
downRightCell.Location = new Point(closedList[closedList.Count - 1].Location.X + 20, closedList[closedList.Count - 1].Location.Y + 20);
}
//判断这四个方格是否处于边界是否是障碍物，如果不是则将方格加入到Open集合列表中
if (this.IsStoneOrOutWord(stoneCells, upCell) && !IsInClosed(upCell) && !IsInOpen(upCell))
{
upCell.ParentCell = closedList[closedList.Count - 1];
upCell.RealDistance = upCell.ParentCell.RealDistance + 10;
upCell.EvaluateDistance = this.h(upCell);
upCell.FinalDistance = upCell.EvaluateDistance + upCell.RealDistance;
this.openList.Add(upCell);
//this.panelMap.CreateGraphics().DrawString("开", new Font("宋体", 10), new SolidBrush(Color.Red), upCell.Location);
//Thread.Sleep(100);
}
if (this.IsStoneOrOutWord(stoneCells, downCell) && !IsInClosed(downCell) && !IsInOpen(downCell))
{
downCell.ParentCell = closedList[closedList.Count - 1];
downCell.RealDistance = downCell.ParentCell.RealDistance + 10;
downCell.EvaluateDistance = this.h(downCell);
downCell.FinalDistance = downCell.EvaluateDistance + downCell.RealDistance;
this.openList.Add(downCell);
//this.panelMap.CreateGraphics().DrawString("开", new Font("宋体", 10), new SolidBrush(Color.Red), downCell.Location);
//Thread.Sleep(100);
}
if (this.IsStoneOrOutWord(stoneCells, rightCell) && !IsInClosed(rightCell) && !IsInOpen(rightCell))
{
rightCell.ParentCell = closedList[closedList.Count - 1];
rightCell.RealDistance = rightCell.ParentCell.RealDistance + 10;
rightCell.EvaluateDistance = this.h(rightCell);
rightCell.FinalDistance = rightCell.EvaluateDistance + rightCell.RealDistance;
this.openList.Add(rightCell);
//this.panelMap.CreateGraphics().DrawString("开", new Font("宋体", 10), new SolidBrush(Color.Red), rightCell.Location);
//Thread.Sleep(100);
}
if (this.IsStoneOrOutWord(stoneCells, leftCell) && !IsInClosed(leftCell) && !IsInOpen(leftCell))
{
leftCell.ParentCell = closedList[closedList.Count - 1];
leftCell.RealDistance = leftCell.ParentCell.RealDistance + 10;
leftCell.EvaluateDistance = this.h(leftCell);
leftCell.FinalDistance = leftCell.EvaluateDistance + leftCell.RealDistance;
this.openList.Add(leftCell);
//this.panelMap.CreateGraphics().DrawString("开", new Font("宋体", 10), new SolidBrush(Color.Red), leftCell.Location);
//Thread.Sleep(100);
}
if (isUseGlobal)
{
if (this.IsStoneOrOutWord(stoneCells, upLeftCell) && !IsInClosed(upLeftCell) && !IsInOpen(upLeftCell))
{
upLeftCell.ParentCell = closedList[closedList.Count - 1];
upLeftCell.RealDistance = upLeftCell.ParentCell.RealDistance + 14;
upLeftCell.EvaluateDistance = this.h(upLeftCell);
upLeftCell.FinalDistance = upLeftCell.EvaluateDistance + upLeftCell.RealDistance;
this.openList.Add(upLeftCell);
//this.panelMap.CreateGraphics().DrawString("开", new Font("宋体", 10), new SolidBrush(Color.Red), upLeftCell.Location);
//Thread.Sleep(100);
}
if (this.IsStoneOrOutWord(stoneCells, downLeftCell) && !IsInClosed(downLeftCell) && !IsInOpen(downLeftCell))
{
downLeftCell.ParentCell = closedList[closedList.Count - 1];
downLeftCell.RealDistance = downLeftCell.ParentCell.RealDistance + 14;
downLeftCell.EvaluateDistance = this.h(downLeftCell);
downLeftCell.FinalDistance = downLeftCell.EvaluateDistance + downLeftCell.RealDistance;
this.openList.Add(downLeftCell);
//this.panelMap.CreateGraphics().DrawString("开", new Font("宋体", 10), new SolidBrush(Color.Red), downLeftCell.Location);
//Thread.Sleep(100);
}
if (this.IsStoneOrOutWord(stoneCells, upRightCell) && !IsInClosed(upRightCell) && !IsInOpen(upRightCell))
{
upRightCell.ParentCell = closedList[closedList.Count - 1];
upRightCell.RealDistance = upRightCell.ParentCell.RealDistance + 14;
upRightCell.EvaluateDistance = this.h(upRightCell);
upRightCell.FinalDistance = upRightCell.EvaluateDistance + upRightCell.RealDistance;
this.openList.Add(upRightCell);
//this.panelMap.CreateGraphics().DrawString("开", new Font("宋体", 10), new SolidBrush(Color.Red), upRightCell.Location);
//Thread.Sleep(100);
}
if (this.IsStoneOrOutWord(stoneCells, downRightCell) && !IsInClosed(downRightCell) && !IsInOpen(downRightCell))
{
downRightCell.ParentCell = closedList[closedList.Count - 1];
downRightCell.RealDistance = downRightCell.ParentCell.RealDistance + 14;
downRightCell.EvaluateDistance = this.h(downRightCell);
downRightCell.FinalDistance = downRightCell.EvaluateDistance + downRightCell.RealDistance;
this.openList.Add(downRightCell);
//this.panelMap.CreateGraphics().DrawString("开", new Font("宋体", 10), new SolidBrush(Color.Red), downRightCell.Location);
//Thread.Sleep(100);
}
}
List <Cell> minCells = new List <Cell>();
List <Cell> minestCells = new List <Cell>();
int min = 1000;
int n = 1000;
//在open集合中找出最小的f(n)值
foreach (Cell cell in openList)
{
if (cell.FinalDistance <= min)
{
min = cell.FinalDistance;
}
}
//找出f(n)值最小的格子
for (int i = 0; i < this.openList.Count; i++)
{
if (openList[i].FinalDistance == min)
{
minCells.Add(openList[i]);
}
}
//在f(n)值最小的格子集合中找出最小的g(n)值
for (int i = 0; i < minCells.Count; i++)
{
if (minCells[i].EvaluateDistance <= n)
{
n = minCells[i].EvaluateDistance;
}
}
//在f(n)值最小的格子集合中找出g(n)值最小的格子
for (int i = 0; i < minCells.Count; i++)
{
if (minCells[i].EvaluateDistance == n)
{
minestCells.Add(minCells[i]);
}
}
Random rd = new Random();
//在f(n)值和g(n)的格子集合中随机选取一个格子
if (minestCells.Count == 0)
{
MessageBox.Show("苦海无边，回头是岸！");
isState = true;
return;
}
int j = rd.Next(minestCells.Count);
minestCells[j].CellColor = Color.Yellow;
this.closedList.Add(minestCells[j]);
this.panelMap.CreateGraphics().FillRectangle(new SolidBrush(Color.Orange), this.closedList[closedList.Count - 1].Location.X + 1, this.closedList[closedList.Count - 1].Location.Y + 1, 19, 19);
//this.panelMap.CreateGraphics().DrawString("关", new Font("宋体", 10), new SolidBrush(Color.Red), this.closedList[closedList.Count - 1].Location);
//Thread.Sleep(100);
this.panelMap.CreateGraphics().FillRectangle(new SolidBrush(Color.Yellow), this.closedList[closedList.Count - 1].Location.X + 1, this.closedList[closedList.Count - 1].Location.Y + 1, 19, 19);
//从open集合中移除刚刚添加到closed集合中的格子
for (int i = 0; i < openList.Count; i++)
{
if (Cell.IsSampleCell(openList[i], minestCells[j]))
{
openList.Remove(openList[i]);
break;
}
}
}