示例#1
0
        // класс для вычисления маршрута.
        public static List<Point> FindPath(AreaType[,] field, Point start, Point goal)
        {
            // Шаг 1.
            var closedSet = new Collection<PathNode>();
            var openSet = new Collection<PathNode>();
            // Шаг 2.
            PathNode startNode = new PathNode()
            {
                Position = start,
                CameFrom = null,
                PathLengthFromStart = 0,
                HeuristicEstimatePathLength = GetHeuristicPathLength(start, goal)
            };
            openSet.Add(startNode);
            while (openSet.Count > 0)
            {
                // Шаг 3.

                var currentNode = openSet.OrderBy(node =>
                  node.EstimateFullPathLength).First();
                // Шаг 4.
                if (currentNode.Position == goal /*|| GetHeuristicPathLength(currentNode.Position, start) > 50*/)
                {
                    
                    return GetPathForNode(currentNode);
                  
                }
                // Шаг 5.
                openSet.Remove(currentNode);
                closedSet.Add(currentNode);
                // Шаг 6.
                foreach (var neighbourNode in GetNeighbours(currentNode, goal, field))
                {
                    // Шаг 7.
                    if (closedSet.Count(node => node.Position == neighbourNode.Position) > 0)
                    {
                        continue;
                    }
                        
                    var openNode = openSet.FirstOrDefault(node =>
                      node.Position == neighbourNode.Position);
                    // Шаг 8.
                    if (openNode == null)
                        openSet.Add(neighbourNode);
                    else
                        if (openNode.PathLengthFromStart > neighbourNode.PathLengthFromStart)
                        {
                            // Шаг 9.
                            openNode.CameFrom = currentNode;
                            openNode.PathLengthFromStart = neighbourNode.PathLengthFromStart;
                        }
                }
            }
            // Шаг 10.
            return null;
        }