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1 using System;
2 using System.Collections.Generic;
3 using System.ComponentModel;
4 using System.Data;
5 using System.Drawing;
6 using System.Linq;
7 using System.Text;
8 using System.Threading.Tasks;
9 using System.Windows.Forms;
10
11 namespace A星算法
12 {
13 public partial class Form1 : Form
14 {
15 int x_count = 20;
16 int y_count = 20;
17 //List<AStarMapType> MapData;
18 AStarMap Map;
19 //List<Position> Path;
20 Position start_pos, end_pos;
21
22 int x_last_pos, y_last_pos;
23 int mode;
24 public Form1()
25 {
26 InitializeComponent();
27 Map = new AStarMap(x_count, y_count);
28
29
30 }
31
32
33
34 public void redraw()
35 {
36 Graphics g = pictureBox1.CreateGraphics();
37 g.DrawRectangle(Pens.Black, 0, 0, pictureBox1.ClientSize.Width - 1, pictureBox1.ClientSize.Height - 1);
38 double x_step = (double)(pictureBox1.ClientSize.Width) / x_count;
39 double y_step = (double)(pictureBox1.ClientSize.Height) / y_count;
40
41 for (int x = 0; x < x_count; x++)
42 {
43 for (int y = 0; y < y_count; y++)
44 {
45 //g.DrawRectangle(Pens.Black, (float)(x * x_step), (float)(y * y_step), (float)x_step, (float)y_step);
46 drawBox(x, y);
47
48 }
49 }
50
51
52 }
53
54 //public void clearBox(int x, int y)
55 //{
56 // Graphics g = pictureBox1.CreateGraphics();
57 // double x_step = (double)(pictureBox1.ClientSize.Width) / x_count;
58 // double y_step = (double)(pictureBox1.ClientSize.Height) / y_count;
59 // g.FillRectangle(Brushes.White, (float)(x * x_step), (float)(y * y_step), (float)x_step, (float)y_step);
60 //}
61
62 public void drawBox(int x, int y)
63 {
64 Graphics g = pictureBox1.CreateGraphics();
65 Position pos = new Position(x, y);
66
67 double x_step = (double)(pictureBox1.ClientSize.Width) / x_count;
68 double y_step = (double)(pictureBox1.ClientSize.Height) / y_count;
69 g.FillRectangle(Brushes.White, (float)(x * x_step), (float)(y * y_step), (float)x_step, (float)y_step);
70 g.DrawRectangle(Pens.Black, (float)(x * x_step), (float)(y * y_step), (float)x_step, (float)y_step);
71 if (Map.GetMapType(pos) == 0)
72 {
73 // g.DrawRectangle(Pens.Black, (float)(x * x_step), (float)(y * y_step), (float)x_step, (float)y_step);
74 }
75 if (Map.GetMapType(pos) == 1)
76 g.FillRectangle(Brushes.Brown, (float)(x * x_step) + 1, (float)(y * y_step) + 1, (float)x_step - 2, (float)y_step - 2);
77
78
79 if (start_pos != null)
80 if (pos == start_pos)
81 {
82 g.FillEllipse(Brushes.OrangeRed, (float)(x * x_step) + 4, (float)(y * y_step) + 4, (float)x_step - 8, (float)y_step - 8);
83 }
84 if (end_pos != null)
85 if (pos == end_pos)
86 {
87 g.FillEllipse(Brushes.DarkGreen, (float)(x * x_step) + 4, (float)(y * y_step) + 4, (float)x_step - 8, (float)y_step - 8);
88 }
89 //if (Path != null)
90 //{
91 // var f = from m in Path where (m.X == x && m.Y == y) select m;
92 // if (f.Count() > 0)
93 // {
94 // g.FillEllipse(Brushes.OrangeRed, (float)(x * x_step) + 4, (float)(y * y_step) + 4, (float)x_step - 8, (float)y_step - 8);
95 // }
96 //}
97 }
98
99 private void button1_Click(object sender, EventArgs e)
100 {
101 mode = 1;
102 }
103
104
105 private void pictureBox1_MouseMove(object sender, MouseEventArgs e)
106 {
107 double x_step = (double)(pictureBox1.ClientSize.Width) / x_count;
108 double y_step = (double)(pictureBox1.ClientSize.Height) / y_count;
109 int x_pos = (int)(e.X / x_step);
110 int y_pos = (int)(e.Y / y_step);
111 if (x_last_pos != x_pos || y_last_pos != y_pos)
112 {
113 x_last_pos = x_pos;
114 y_last_pos = y_pos;
115
116 }
117 }
118
119 private void Form1_Load(object sender, EventArgs e)
120 {
121 pictureBox1.Refresh();
122 }
123
124 private void pictureBox1_Paint(object sender, PaintEventArgs e)
125 {
126 redraw();
127 }
128
129 private void button2_Click(object sender, EventArgs e)
130 {
131 mode = 2;
132 }
133
134
135 //public void clear_start()
136 //{
137 // for (int y = 0; y < y_count; y++)
138 // {
139 // for (int x = 0; x < x_count; x++)
140 // {
141 // if (Map.GetMapType(x, y) == 3)
142 // {
143 // Map.SetMapType(x, y, 0);
144 // drawBox(x, y);
145 // }
146 // }
147 // }
148 //}
149
150 //public void clear_end()
151 //{
152 // for (int y = 0; y < y_count; y++)
153 // {
154 // for (int x = 0; x < x_count; x++)
155 // {
156 // if (Map.GetMapType(x, y) == 4)
157 // {
158 // Map.SetMapType(x, y, 0);
159 // drawBox(x, y);
160 // }
161 // }
162 // }
163 //}
164
165
166
167 private void pictureBox1_MouseDown(object sender, MouseEventArgs e)
168 {
169 double x_step = (double)(pictureBox1.ClientSize.Width) / x_count;
170 double y_step = (double)(pictureBox1.ClientSize.Height) / y_count;
171 int x_pos = (int)(e.X / x_step);
172 int y_pos = (int)(e.Y / y_step);
173
174 Position pos = new Position(x_pos, y_pos);
175
176 if (mode == 1)
177 {
178 Map.SetMapType(pos, 1);
179 drawBox(x_pos, y_pos);
180 }
181 if (mode == 2)
182 {
183 Map.SetMapType(pos, 0);
184 drawBox(x_pos, y_pos);
185 }
186 if (mode == 3 && Map.GetMapType(pos) == 0)
187 {
188 if (start_pos != null)
189 {
190 int x = start_pos.X;
191 int y = start_pos.Y;
192 start_pos = null;
193 drawBox(x, y);
194 }
195 start_pos = pos;
196 drawBox(x_pos, y_pos);
197 }
198 if (mode == 4 && Map.GetMapType(pos) == 0)
199 {
200 if (end_pos != null)
201 {
202 int x = end_pos.X;
203 int y = end_pos.Y;
204 end_pos = null;
205 drawBox(x, y);
206 }
207 end_pos = pos;
208 drawBox(x_pos, y_pos);
209 }
210 }
211
212 private void button3_Click(object sender, EventArgs e)
213 {
214 Map.MapData.Clear();
215 for (int y = 0; y < y_count; y++)
216 {
217 for (int x = 0; x < x_count; x++)
218 {
219 Map.MapData.Add(new AStarMapData(x, y));
220 }
221 }
222 redraw();
223 mode = 0;
224 }
225
226 private void button4_Click(object sender, EventArgs e)
227 {
228 mode = 3;
229
230 }
231
232 private void button5_Click(object sender, EventArgs e)
233 {
234 mode = 4;
235 }
236
237 public void drawPath(List<Position> path)
238 {
239 Graphics g = pictureBox1.CreateGraphics();
240 double x_step = (double)(pictureBox1.ClientSize.Width) / x_count;
241 double y_step = (double)(pictureBox1.ClientSize.Height) / y_count;
242 path.Remove(path.First());
243 path.Remove(path.Last());
244 foreach (Position p in path)
245 {
246 int x = p.X;
247 int y = p.Y;
248 g.FillEllipse(Brushes.LightSeaGreen, (float)(x * x_step) + 4, (float)(y * y_step) + 4, (float)x_step - 8, (float)y_step - 8);
249 }
250
251 }
252
253 private void button6_Click(object sender, EventArgs e)
254 {
255 if (start_pos != null && end_pos != null)
256 {
257 AStarSearch s = new AStarSearch(Map, start_pos, end_pos);
258 if (s.search_path() == 0)
259 {
260 drawPath(s.Result);
261 }
262 }
263 }
264 }
265 }
1 using System;
2 using System.Collections.Generic;
3 using System.Diagnostics;
4 using System.Linq;
5 using System.Text;
6 using System.Threading.Tasks;
7
8 namespace A星算法
9 {
10 class AStarSearch
11 {
12 //AStarMapType startNode, endNode;
13 List<AStarMapData> OpenList;
14 List<AStarMapData> CloseList;
15 AStarMap map;
16 Position StartPos, EndPos;
17 public List<Position> Result;
18
19 public AStarSearch(AStarMap m, Position start_pos, Position end_pos)
20 {
21 map = m;
22 StartPos = start_pos;
23 EndPos = end_pos;
24 OpenList = new List<AStarMapData>();
25 CloseList = new List<AStarMapData>();
26 Result = new List<Position>();
27 }
28
29
30 public bool CheckMap(Position pos)
31 {
32 if (pos.X < 0 || pos.Y < 0 || pos.X >= map.Width || pos.Y >= map.Height)
33 return false;
34 int r = map.GetMapType(pos);
35 if (r == 0 || r == 4)
36 return true;
37 else
38 return false;
39 }
40
41 public bool CheckInOpenList(Position pos)
42 {
43 var f = from x in OpenList where x.Pos == pos select x;
44 if (f.Count() > 0)
45 return true;
46 else
47 return false;
48 }
49
50
51 public bool CheckInCloseList(Position pos)
52 {
53 var f = from x in CloseList where x.Pos == pos select x;
54 if (f.Count() > 0)
55 return true;
56 else
57 return false;
58 }
59
60
61 public int Cal_H(Position a, Position b)
62 {
63 return (Math.Abs(a.X - b.X) + Math.Abs(a.Y - b.Y)) * 10;
64 }
65
66 public int search_path()
67 {
68 int res = -1;
69
70 OpenList.Add(map.GetMapData(StartPos));
71
72 while (true)
73 {
74 if (OpenList.Count == 0)
75 {
76 res = 1;
77 break;
78 }
79 else
80 {
81 var f = from x in OpenList orderby x.F select x;
82 AStarMapData curMapData = f.First();
83 Position pos = curMapData.Pos;
84 if (pos == EndPos)
85 {
86 res = 0;
87 break;
88 }
89 Debug.WriteLine(pos.ToString());
90 CloseList.Add(curMapData);
91 OpenList.Remove(f.First());
92
93 #region 左上方
94 {
95 Position pos1 = new Position(pos.X - 1, pos.Y - 1);
96 if (CheckMap(pos1))
97 {
98 if (CheckInCloseList(pos1) == false)
99 {
100 AStarMapData md = map.GetMapData(pos1);
101 if (CheckInOpenList(pos1) == true)
102 {
103 if (md.F > curMapData.F + 14)
104 {
105 md.G = curMapData.F + 14;
106 md.H = Cal_H(pos1, EndPos);
107 md.F = md.G + md.H;
108 md.LastPos = curMapData.Pos;
109 }
110 }
111 else
112 {
113 md.G = curMapData.F + 14;
114 md.H = Cal_H(pos1, EndPos);
115 md.F = md.G + md.H;
116 md.LastPos = curMapData.Pos;
117 OpenList.Add(md);
118 }
119 }
120 }
121 }
122 #endregion
123
124 #region 上方
125 {
126 Position pos1 = new Position(pos.X, pos.Y - 1);
127 if (CheckMap(pos1))
128 {
129 if (CheckInCloseList(pos1) == false)
130 {
131 AStarMapData md = map.GetMapData(pos1);
132 if (CheckInOpenList(pos1) == true)
133 {
134 if (md.F > curMapData.F + 10)
135 {
136 md.G = curMapData.F + 10;
137 md.H = Cal_H(pos1, EndPos);
138 md.F = md.G + md.H;
139 md.LastPos = curMapData.Pos;
140 }
141 }
142 else
143 {
144 md.G = curMapData.F + 10;
145 md.H = Cal_H(pos1, EndPos);
146 md.F = md.G + md.H;
147 md.LastPos = curMapData.Pos;
148 OpenList.Add(md);
149 }
150 }
151 }
152 }
153 #endregion
154
155 #region 右上方
156 {
157 Position pos1 = new Position(pos.X + 1, pos.Y - 1);
158 if (CheckMap(pos1))
159 {
160 if (CheckInCloseList(pos1) == false)
161 {
162 AStarMapData md = map.GetMapData(pos1);
163 if (CheckInOpenList(pos1) == true)
164 {
165 if (md.F > curMapData.F + 14)
166 {
167 md.G = curMapData.F + 14;
168 md.H = Cal_H(pos1, EndPos);
169 md.F = md.G + md.H;
170 md.LastPos = curMapData.Pos;
171 }
172 }
173 else
174 {
175 md.G = curMapData.F + 14;
176 md.H = Cal_H(pos1, EndPos);
177 md.F = md.G + md.H;
178 md.LastPos = curMapData.Pos;
179 OpenList.Add(md);
180 }
181 }
182 }
183 }
184 #endregion
185
186 #region 左方
187 {
188 Position pos1 = new Position(pos.X - 1, pos.Y);
189 if (CheckMap(pos1))
190 {
191 if (CheckInCloseList(pos1) == false)
192 {
193 AStarMapData md = map.GetMapData(pos1);
194 if (CheckInOpenList(pos1) == true)
195 {
196 if (md.F > curMapData.F + 10)
197 {
198 md.G = curMapData.F + 10;
199 md.H = Cal_H(pos1, EndPos);
200 md.F = md.G + md.H;
201 md.LastPos = curMapData.Pos;
202 }
203 }
204 else
205 {
206 md.G = curMapData.F + 10;
207 md.H = Cal_H(pos1, EndPos);
208 md.F = md.G + md.H;
209 md.LastPos = curMapData.Pos;
210 OpenList.Add(md);
211 }
212 }
213 }
214 }
215 #endregion
216
217 #region 右方
218 {
219 Position pos1 = new Position(pos.X + 1, pos.Y);
220 if (CheckMap(pos1))
221 {
222 if (CheckInCloseList(pos1) == false)
223 {
224 AStarMapData md = map.GetMapData(pos1);
225 if (CheckInOpenList(pos1) == true)
226 {
227 if (md.F > curMapData.F + 10)
228 {
229 md.G = curMapData.F + 10;
230 md.H = Cal_H(pos1, EndPos);
231 md.F = md.G + md.H;
232 md.LastPos = curMapData.Pos;
233 }
234 }
235 else
236 {
237 md.G = curMapData.F + 10;
238 md.H = Cal_H(pos1, EndPos);
239 md.F = md.G + md.H;
240 md.LastPos = curMapData.Pos;
241 OpenList.Add(md);
242 }
243 }
244 }
245 }
246 #endregion
247
248 #region 左下方
249 {
250 Position pos1 = new Position(pos.X - 1, pos.Y + 1);
251 if (CheckMap(pos1))
252 {
253 if (CheckInCloseList(pos1) == false)
254 {
255 AStarMapData md = map.GetMapData(pos1);
256 if (CheckInOpenList(pos1) == true)
257 {
258 if (md.F > curMapData.F + 14)
259 {
260 md.G = curMapData.F + 14;
261 md.H = Cal_H(pos1, EndPos);
262 md.F = md.G + md.H;
263 md.LastPos = curMapData.Pos;
264 }
265 }
266 else
267 {
268 md.G = curMapData.F + 14;
269 md.H = Cal_H(pos1, EndPos);
270 md.F = md.G + md.H;
271 md.LastPos = curMapData.Pos;
272 OpenList.Add(md);
273 }
274 }
275 }
276 }
277 #endregion
278
279 #region 下方
280 {
281 Position pos1 = new Position(pos.X, pos.Y + 1);
282 if (CheckMap(pos1))
283 {
284 if (CheckInCloseList(pos1) == false)
285 {
286 AStarMapData md = map.GetMapData(pos1);
287 if (CheckInOpenList(pos1) == true)
288 {
289 if (md.F > curMapData.F + 10)
290 {
291 md.G = curMapData.F + 10;
292 md.H = Cal_H(pos1, EndPos);
293 md.F = md.G + md.H;
294 md.LastPos = curMapData.Pos;
295 }
296 }
297 else
298 {
299 md.G = curMapData.F + 10;
300 md.H = Cal_H(pos1, EndPos);
301 md.F = md.G + md.H;
302 md.LastPos = curMapData.Pos;
303 OpenList.Add(md);
304 }
305 }
306 }
307 }
308 #endregion
309
310 #region 右下方
311 {
312 Position pos1 = new Position(pos.X + 1, pos.Y + 1);
313 if (CheckMap(pos1))
314 {
315 if (CheckInCloseList(pos1) == false)
316 {
317 AStarMapData md = map.GetMapData(pos1);
318 if (CheckInOpenList(pos1) == true)
319 {
320 if (md.F > curMapData.F + 14)
321 {
322 md.G = curMapData.F + 14;
323 md.H = Cal_H(pos1, EndPos);
324 md.F = md.G + md.H;
325 md.LastPos = curMapData.Pos;
326 }
327 }
328 else
329 {
330 md.G = curMapData.F + 14;
331 md.H = Cal_H(pos1, EndPos);
332 md.F = md.G + md.H;
333 md.LastPos = curMapData.Pos;
334 OpenList.Add(md);
335 }
336 }
337 }
338 }
339 #endregion
340
341
342 if (CloseList.Count == 0)
343 {
344 res = 1;
345 break;
346 }
347
348 }
349 }
350
351 if (res == 0)
352 {
353 AStarMapData last = map.GetMapData(EndPos);
354 Result.Add(last.Pos);
355 while (true)
356 {
357 last = map.GetMapData(last.LastPos);
358 Result.Add(last.Pos);
359 if (last.Pos == StartPos)
360 break;
361
362 }
363 Result.Reverse();
364 }
365 return res;
366 }
367 }
368 }
1 using System;
2 using System.Collections.Generic;
3 using System.Linq;
4 using System.Text;
5 using System.Threading.Tasks;
6
7 namespace A星算法
8 {
9 class AStarMapData
10 {
11 public int 地图;
12 public int 类型;
13 public Position Pos;
14 public Position LastPos;
15 public int G;
16 public int H;
17 public int F;
18
19
20 public AStarMapData(int x, int y)
21 {
22 Pos = new Position(x, y);
23 LastPos = null;
24 G = 0;
25 H = 0;
26 F = 0;
27 地图 = 0;
28 类型 = 0;
29 }
30 }
31
32 }
1 using System;
2 using System.Collections.Generic;
3 using System.Linq;
4 using System.Text;
5 using System.Threading.Tasks;
6
7 namespace A星算法
8 {
9 class AStarMap
10 {
11 public int Width;
12 public int Height;
13 public List<AStarMapData> MapData;
14
15
16 public AStarMap(int width, int height)
17 {
18 Width = width;
19 Height = height;
20 MapData = new List<AStarMapData>();
21 for (int y = 0; y < Height; y++)
22 for (int x = 0; x < Width; x++)
23 {
24 MapData.Add(new AStarMapData(x, y));
25 }
26 }
27
28 public AStarMap(int widht, int height, List<AStarMapData> mapdata)
29 {
30 Width = widht;
31 Height = height;
32 MapData = mapdata;
33 }
34
35 public AStarMapData GetMapData(Position pos)
36 {
37 return MapData[pos.Y * Width + pos.X];
38 }
39
40 //public AStarMapData GetMapData(int x, int y)
41 //{
42 // return MapData[y * Width + x];
43 //}
44
45 public int GetMapType(Position pos)
46 {
47 return MapData[pos.Y * Width + pos.X].类型;
48 }
49
50 public void SetMapType(Position pos, int value)
51 {
52 MapData[pos.Y * Width + pos.X].类型 = value;
53 }
54
55 //public int GetMapType(int x, int y)
56 //{
57 // return MapData[y * Width + x].类型;
58 //}
59
60 //public void SetMapType(int x, int y, int value)
61 //{
62 // MapData[y * Width + x].类型 = value;
63 //}
64
65 }
66 }
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