/// <summary>
/// 寻找附近可到坐标
/// 附近的8个点
/// </summary>
/// <param name="cp">当前坐标</param>
/// <returns>附近可达坐标数组</returns>
private List <RoutePoint> FindNearCell(RoutePoint p0)
{
List <RoutePoint> NearCellPoints = new List <RoutePoint>();
for (int xt = p0.x - 1; xt <= p0.x + 1; xt++)
{
for (int yt = p0.y - 1; yt <= p0.y + 1; yt++)
{
//排除超过边界的点
if (xt < 0 || yt < 0 || xt >= w || yt >= h)
{
continue;
}
//排除自己
if (xt == p0.x && yt == p0.y)
{
continue;
}
//排除不通的点
if (R[xt, yt] != 1)
{
continue;
}
NearCellPoints.Add(new RoutePoint(xt, yt));
}
}
return(NearCellPoints);
}
//从开启列表删除
private void OpenRemove(RoutePoint p)
{
//Open_List.Remove(p);
string key = p.x + "," + p.y;
Open_dic.Remove(key);
}
public RoutePoint(int x0, int y0, int G0, int H0, RoutePoint F)
{
x = x0;
y = y0;
G = G0;
H = H0;
father = F;
}
//加入开启列表
private void OpenAdd(RoutePoint p)
{
//Open_List.Add(p);
string key = p.x + "," + p.y;
if (!Open_dic.ContainsKey(key))
{
Open_dic.Add(key, p);
}
}
//从开启列表查找F值最小的节点(就是G+H最小的点)
private RoutePoint GetMinFFromOpenList()
{
RoutePoint Pmin = null;
//foreach (RoutePoint p in Open_List) if (Pmin == null || Pmin.G + Pmin.H > p.G + p.H) Pmin = p;
foreach (RoutePoint p in Open_dic.Values)
{
if (Pmin == null || Pmin.G + Pmin.H > p.G + p.H)
{
Pmin = p;
}
}
return(Pmin);
}
//计算某个点的G值
private int GetG(RoutePoint p)
{
if (p.father == null)
{
return(0);
}
if (p.x == p.father.x || p.y == p.father.y)
{
return(p.father.G + 10);
}
else
{
return(p.father.G + 14);
}
}
//入口，开始节点pa,目标节点pb
public List <Point> FindeWay(Point _pa, Point _pb)
{
RoutePoint pa = new RoutePoint(_pa);
RoutePoint pb = new RoutePoint(_pb);
List <Point> myp = new List <Point>();
OpenAdd(pa);
bool isEnd = false;//是否结束
while (Open_dic.Count > 0 && !isEnd)
{
RoutePoint p0 = GetMinFFromOpenList();
if (p0 == null)
{
return(myp);
}
OpenRemove(p0);
R[p0.x, p0.y] = 3;//关闭掉
foreach (RoutePoint childCell in FindNearCell(p0))
{
//如果已经到了终点，把终点的父亲指向当前点，并直接结束掉
if (childCell.x == pb.x && childCell.y == pb.y)
{
pb.father = p0;
isEnd = true;
break;
}
//在开启列表,则取出来，重新计算G值，如果从当前节点过去的G值更低，则更新那个点的G值和父亲
RoutePoint pt = GetPointFromOpenList(childCell.x, childCell.y);
if (pt != null)
{
int G_new = 0;
if (p0.x == pt.x || p0.y == pt.y)
{
G_new = p0.G + 10;
}
else
{
G_new = p0.G + 14;
}
if (G_new < pt.G)
{
pt.father = p0;
pt.G = G_new;
}
}
else
{
//不在开启列表中,全新的点,则加入开启列表
childCell.father = p0;
childCell.G = GetG(childCell);
childCell.H = GetH(childCell, pb);
OpenAdd(childCell);
}
}
}
//终点在列表里，起点不在
while (pb.father != null)
{
myp.Add(pb.getPoint());
pb = pb.father;
}
return(myp);
}
//计算某个点的H值
private int GetH(RoutePoint p, RoutePoint pb)
{
return(Math.Abs(p.x - pb.x) * 10 + Math.Abs(p.y - pb.y) * 10);
}
