// 0 1 2 3 4
// 0 __ __ __ N6 __
// 1 N3 __ N5 __ __
// 2 __ N2 __ N4 __
// 3 __ __ N1 __ __
// 4 __ __ __ __ __
//
// Begin:N1
// Goal:N6
// Links of Nodes: N3<-N2<-N1->N4->N5->N6
// Result way:N1->N4->N5->N6
public static void Main()
{
try
{
var G = new Graph();
Node N1 = G.AddNode(2,3,0);
Node N2 = G.AddNode(1,2,0);
Node N3 = G.AddNode(0,1,0);
Node N4 = G.AddNode(3,2,0);
Node N5 = G.AddNode(2, 1, 0);
Node N6 = G.AddNode(3, 0, 0);
G.AddArc(N1,N2,1);
G.AddArc(N2,N3,1);
G.AddArc(N1,N4,1);
G.AddArc(N4,N5,1);
G.AddArc(N5, N6, 1);
Console.WriteLine( ListNodesAndArcs(G) );
Console.WriteLine("Start:"+N1.ToString());
Console.WriteLine("Goal:" + N6.ToString());
AStar AS = new AStar(G);
if (AS.SearchPath(N1, N6))
{
foreach (Arc A in AS.PathByArcs)
Console.WriteLine(A.ToString());
}
else
{
Console.WriteLine("No result !");
}
}
catch(Exception e)
{
Console.Write( "Error :\n\n"+e.ToString() );
}
Console.ReadLine();
}
private static void ParseDataIntoGraph()
{
g = new Graph();
// LOAD NODES
for (int y = 0; y <= squareSize_1; y++)
{
for (int x = 0; x <= squareSize_1; x++)
{
g.AddNode(nodes[x, y]);
}
}
// LOAD ARCS
for (int y = 0; y <= squareSize_1; y++)
{
for (int x = 0; x <= squareSize_1; x++)
{
// check up
if (y > 0)
{
g.AddArc(nodes[x, y], nodes[x, y - 1], fileNodes[x, y - 1]);
}
// check down
if (y < squareSize_1)
{
g.AddArc(nodes[x, y], nodes[x, y + 1], fileNodes[x, y + 1]);
}
// check left
if (x >0)
{
g.AddArc(nodes[x, y], nodes[x - 1, y], fileNodes[x - 1, y]);
}
// check right
if (x < squareSize_1)
{
g.AddArc(nodes[x, y], nodes[x + 1, y], fileNodes[x + 1, y]);
}
}
}
}
/// <summary>
/// Build level graph
/// </summary>
/// <param name="l"></param>
public void LoadData(LevelMapData l)
{
level = l;
//make graph based on map
try
{
MapGraph = new Graph();
MapNodes = new Node[level.Height * level.Width];
// put nodes in graph and array
for (int i = 0; i < level.Height * level.Width; i++)
{
if (level.GetSquareAt(i % level.Width, i / level.Width).type == MapSquareType.Open)
{
MapNodes[i] = MapGraph.AddNode((i % level.Width) * 16 -8, (i / level.Width) * 16 -8, 0);
}
}
for (int i = 0; i < level.Height * level.Width; i++)
{
//updown
if (i / level.Width > 0)
{
if (MapNodes[i - level.Width] != null && MapNodes[i] != null)
MapGraph.Add2Arcs(MapNodes[i], MapNodes[i - level.Width], 1);
}
//leftright
if (i % level.Width > 0)
{
if (MapNodes[i - 1] != null && MapNodes[i] != null)
MapGraph.Add2Arcs(MapNodes[i], MapNodes[i - 1], 1);
}
//top left diag
if (i % level.Width > 0 && i / level.Width > 0)
{
if (MapNodes[i - level.Width - 1] != null && MapNodes[i] != null && MapNodes[i - level.Width] != null && MapNodes[i - 1] != null)
MapGraph.Add2Arcs(MapNodes[i], MapNodes[i - level.Width - 1], 1);
}
//top right diag
if (i % level.Width < level.Width - 1 && i / level.Width > 0)
{
if (MapNodes[i - level.Width + 1] != null && MapNodes[i] != null && MapNodes[i + 1] != null && MapNodes[i - level.Width] != null)
MapGraph.Add2Arcs(MapNodes[i], MapNodes[i - level.Width + 1], 1);
}
}
}
catch (Exception e) { throw e; }
}
