public void ReloadPathfinding(int[,] map,Point start, Point end)
{
Map = new StarNode[map.GetLength(0), map.GetLength(1)];
for (int x = 0; x < map.GetLength(0); x++)
for (int y = 0; y < map.GetLength(1); y++)
{
Map[x, y] = new StarNode(new Point(x, y));
Map[x, y].type = map[x, y];
}
Start = start;
curr = new StarNode(start);
End = end;
ValidPath = false;
IsComplete = false;
OpenSet = new List<StarNode>();
ClosedSet = new List<StarNode>();
CurNodeNeighbors = new List<StarNode>();
CompleatedPath = new List<StarNode>();
//StepFinding();
RunPathfinding();
}
private void RunPathfinding()
{
curr.G = 0;
curr.H = HcostEstimate(curr.Location,End);
OpenSet.Add(curr);
while (OpenSet.Count != 0)
{
curr = GetLowestInList(OpenSet);
if (curr.Location.X == End.X && curr.Location.Y == End.Y)
{
CompleatedPath = ConstructPath(curr);
LargestGScore = MaxGscore(ClosedSet);
IsComplete = true;
ValidPath = true;
break;
}
OpenSet.Remove(curr);
ClosedSet.Add(curr);
GetNeighborstonode(curr, CurNodeNeighbors);
for (int i = 0; i < CurNodeNeighbors.Count; i++)
{
if (ClosedSet.Contains(CurNodeNeighbors[i]))
continue;
double tentative_g_score = curr.G + DistBetween(curr.Location, CurNodeNeighbors[i].Location);
if (!OpenSet.Contains(CurNodeNeighbors[i]))
{
OpenSet.Add(CurNodeNeighbors[i]);
}
else if (tentative_g_score >= CurNodeNeighbors[i].G)
{
continue;
}
CurNodeNeighbors[i].Previous = curr;
CurNodeNeighbors[i].H = HcostEstimate(CurNodeNeighbors[i].Location, End);
CurNodeNeighbors[i].G = tentative_g_score;
}
CurNodeNeighbors.Clear();
}
if (OpenSet.Count == 0)
{
IsComplete = true;
ValidPath = false;
}
}
private void GetNeighborstonode(StarNode curr, List<StarNode> Nnodes)
{
// Retrieve 8 in a square
for (int x = -1; x <= 1; x++)
for (int y = -1; y <= 1; y++)
{
if (x == 0 && y == 0)
continue;
if (curr.Location.X + x > -1 && curr.Location.X + x < Map.GetLength(0) &&
curr.Location.Y + y > -1 && curr.Location.Y + y < Map.GetLength(1))
if ((Map[curr.Location.X + x, curr.Location.Y + y].type != 1))
{
if (/*!OpenSet.Contains(Map[curr.Location.X + x, curr.Location.Y + y]) &&*/
!ClosedSet.Contains(Map[curr.Location.X + x, curr.Location.Y + y]))
{
if (Map[curr.Location.X + x, curr.Location.Y].type != 1
&& Map[curr.Location.X, curr.Location.Y + y].type != 1)
{
Nnodes.Add(Map[curr.Location.X + x, curr.Location.Y + y]);
}
}
else
continue;
}
}
}
private List<StarNode> ConstructPath(StarNode curr)
{
List<StarNode> final = new List<StarNode>();
final.Add(curr);
while (curr.Previous != null)
{
curr = curr.Previous;
final.Add(curr);
}
return final;
}
public void StepFinding(Point start, Point end, int[,]map)
{
if (Isrun == false)
{
Map = new StarNode[map.GetLength(0), map.GetLength(1)];
for (int x = 0; x < map.GetLength(0); x++)
for (int y = 0; y < map.GetLength(1); y++)
{
Map[x, y] = new StarNode(new Point(x, y));
Map[x, y].type = map[x, y];
}
Start = start;
curr = new StarNode(start);
End = end;
OpenSet.Clear();
ClosedSet.Clear();
CurNodeNeighbors.Clear();
CompleatedPath.Clear();
curr.G = 0;
curr.H = HcostEstimate(curr.Location, End);
OpenSet.Add(curr);
Isrun = true;
}
if (OpenSet.Count != 0)
{
curr = GetLowestInList(OpenSet);
if (curr.Location.X == End.X && curr.Location.Y == End.Y)
{
CompleatedPath = ConstructPath(curr);
//LargestGScore = MaxGscore(ClosedSet);
IsComplete = true;
ValidPath = true;
Isrun = false;
return;
}
OpenSet.Remove(curr);
ClosedSet.Add(curr);
GetNeighborstonode(curr, CurNodeNeighbors);
for (int i = 0; i < CurNodeNeighbors.Count; i++)
{
if (ClosedSet.Contains(CurNodeNeighbors[i]))
continue;
double tentative_g_score = curr.G + DistBetween(curr.Location, CurNodeNeighbors[i].Location);
if (!OpenSet.Contains(CurNodeNeighbors[i]))
{
OpenSet.Add(CurNodeNeighbors[i]);
}
else if (tentative_g_score >= CurNodeNeighbors[i].G)
{
continue;
}
CurNodeNeighbors[i].Previous = curr;
CurNodeNeighbors[i].H = HcostEstimate(CurNodeNeighbors[i].Location, End);
CurNodeNeighbors[i].G = tentative_g_score;
}
CurNodeNeighbors.Clear();
}
if (OpenSet.Count == 0)
{
IsComplete = true;
ValidPath = false;
}
}