示例#1
0
        //寻路主要逻辑,通过调用该方法来获取路径信息,由一串Point2代表
        public List <APoint> FindPath(APoint beginPos, APoint endPos)
        {
            List <APoint> result = new List <APoint>();

            this.endPos = endPos;
            APoint currentPos = beginPos;

            openSet.Add(currentPos);

            while (!currentPos.Equals(this.endPos))
            {
                UpdatePath(currentPos);
                if (openSet.Count == 0)
                {
                    return(null);
                }

                currentPos = openTree.First().Value.First();
            }

            APoint path = currentPos;

            while (!path.Equals(beginPos))
            {
                result.Add(path);
                path        = allNodes[path].parent.position;
                currentPath = result;
            }

            result.Add(beginPos);
            return(result);
        }
示例#2
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        //找到某节点的所有相邻节点
        private List <APoint> FindNeighbor(APoint nodePos)
        {
            List <APoint> result = new List <APoint>();

            for (int x = -1; x < 2; x++)
            {
                for (int y = -1; y < 2; y++)
                {
                    if (x == 0 && y == 0)
                    {
                        continue;
                    }

                    APoint currentPos = new APoint(nodePos.X + x, nodePos.Y + y);

                    if (currentPos.X >= gridSize.X || currentPos.Y >= gridSize.Y || currentPos.X < 0 || currentPos.Y < 0)
                    {
                        continue;                                                                                                   //out of bondary
                    }
                    if (closeSet.Contains(currentPos))
                    {
                        continue;                                // already in the close list
                    }
                    if (allNodes[currentPos].isWall)
                    {
                        continue;                               // the node is a wall
                    }
                    result.Add(currentPos);
                }
            }

            return(result);
        }
示例#3
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        //将旧节点更新为新节点
        private void UpdateNode(PathNode newNode, PathNode oldNode)
        {
            APoint nodePos = newNode.position;
            int    oldCost = oldNode.fCost;

            allNodes[nodePos] = newNode;
            List <APoint> sameCost;

            if (openTree.TryGetValue(oldCost, out sameCost))
            {
                sameCost.Remove(nodePos);
                if (sameCost.Count == 0)
                {
                    openTree.Remove(oldCost);
                }
            }

            if (openTree.TryGetValue(newNode.fCost, out sameCost))
            {
                sameCost.Add(nodePos);
            }
            else
            {
                sameCost = new List <APoint> {
                    nodePos
                };
                openTree.Add(newNode.fCost, sameCost);
            }
        }
示例#4
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 //新建一个PathGrid,包含了网格大小和障碍物信息
 //public PathGrid(int x, int y, List<APoint> walls)
 public PathGrid(int x, int y, int[,] walls)
 {
     gridSize = new APoint(x, y);
     for (int i = 0; i < x; i++)
     {
         for (int j = 0; j < y; j++)
         {
             APoint newPos = new APoint(i, j);
             allNodes.Add(newPos, new PathNode(walls[i, j] == 1, newPos));
         }
     }
 }
示例#5
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        //将目标节点移出开启列表
        private void RemoveOpen(APoint pos, PathNode node)
        {
            openSet.Remove(pos);
            List <APoint> sameCost;

            if (openTree.TryGetValue(node.fCost, out sameCost))
            {
                sameCost.Remove(pos);
                if (sameCost.Count == 0)
                {
                    openTree.Remove(node.fCost);
                }
            }
        }
示例#6
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        //将目标节点加入开启列表
        private void AddOpen(APoint pos, PathNode node)
        {
            openSet.Add(pos);
            List <APoint> sameCost;

            if (openTree.TryGetValue(node.fCost, out sameCost))
            {
                sameCost.Add(pos);
            }
            else
            {
                sameCost = new List <APoint> {
                    pos
                };
                openTree.Add(node.fCost, sameCost);
            }
        }
示例#7
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        //寻路
        private void UpdatePath(APoint currentPos)
        {
            closeSet.Add(currentPos);
            RemoveOpen(currentPos, allNodes[currentPos]);
            List <APoint> neighborNodes = FindNeighbor(currentPos);

            foreach (APoint nodePos in neighborNodes)
            {
                PathNode newNode = new PathNode(false, nodePos);
                newNode.parent = allNodes[currentPos];

                int g;
                int h;

                g = currentPos.X == nodePos.X || currentPos.Y == nodePos.Y ? 10 : 14;

                int xMoves = Math.Abs(nodePos.X - endPos.X);
                int yMoves = Math.Abs(nodePos.Y - endPos.Y);

                int min = Math.Min(xMoves, yMoves);
                int max = Math.Max(xMoves, yMoves);
                h = min * 14 + (max - min) * 10;


                newNode.gCost = g + newNode.parent.gCost;
                newNode.hCost = h;

                PathNode originNode = allNodes[nodePos];

                if (openSet.Contains(nodePos))
                {
                    if (newNode.fCost < originNode.fCost)
                    {
                        UpdateNode(newNode, originNode);
                    }
                }
                else
                {
                    allNodes[nodePos] = newNode;
                    AddOpen(nodePos, newNode);
                }
            }
        }
示例#8
0
 public PathNode(bool isWall, APoint position)
 {
     this.isWall   = isWall;
     this.position = position;
 }