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package main
import (
"container/heap"
"fmt"
"math"
"strings"
)
import "strconv"
type OpenList []*_AstarPoint
func (self OpenList) Len() int { return len(self) }
func (self OpenList) Less(i,j int) bool { return self[i].fVal < self[j].fVal }
func (self OpenList) Swap(i,j int) { self[i],self[j] = self[j],self[i] }
func (this *OpenList) Push(x interface{}) {
// Push and Pop use pointer receivers because they modify the slice's length,// not just its contents.
*this = append(*this,x.(*_AstarPoint))
}
func (this *OpenList) Pop() interface{} {
old := *this
n := len(old)
x := old[n-1]
*this = old[0 : n-1]
return x
}
type _Point struct {
x int
y int
view string
}
//========================================================================================
// 保存地图的基本信息
type Map struct {
points [][]_Point
blocks map[string]*_Point
maxX int
maxY int
}
func NewMap(charMap []string) (m Map) {
m.points = make([][]_Point,len(charMap))
m.blocks = make(map[string]*_Point,len(charMap)*2)
for x,row := range charMap {
cols := strings.Split(row," ")
m.points[x] = make([]_Point,len(cols))
for y,view := range cols {
m.points[x][y] = _Point{x,y,view}
if view == "X" {
m.blocks[pointAsKey(x,y)] = &m.points[x][y]
}
} // end of cols
} // end of row
m.maxX = len(m.points)
m.maxY = len(m.points[0])
return m
}
func (this *Map) getAdjacentPoint(curPoint *_Point) (adjacents []*_Point) {
if x,y := curPoint.x,curPoint.y-1; x >= 0 && x < this.maxX && y >= 0 && y < this.maxY {
adjacents = append(adjacents,&this.points[x][y])
}
if x,y := curPoint.x+1,curPoint.y; x >= 0 && x < this.maxX && y >= 0 && y < this.maxY {
adjacents = append(adjacents,curPoint.y+1; x >= 0 && x < this.maxX && y >= 0 && y < this.maxY {
adjacents = append(adjacents,y := curPoint.x-1,&this.points[x][y])
}
return adjacents
}
func (this *Map) PrintMap(path *SearchRoad) {
fmt.Println("map's border:",this.maxX,this.maxY)
for x := 0; x < this.maxX; x++ {
for y := 0; y < this.maxY; y++ {
if path != nil {
if x == path.start.x && y == path.start.y {
fmt.Print("S")
goto NEXT
}
if x == path.end.x && y == path.end.y {
fmt.Print("E")
goto NEXT
}
for i := 0; i < len(path.TheRoad); i++ {
if path.TheRoad[i].x == x && path.TheRoad[i].y == y {
fmt.Print("*")
goto NEXT
}
}
}
fmt.Print(this.points[x][y].view)
NEXT:
}
fmt.Println()
}
}
func pointAsKey(x,y int) (key string) {
key = strconv.Itoa(x) + "," + strconv.Itoa(y)
return key
}
//========================================================================================
type _AstarPoint struct {
_Point
father *_AstarPoint
gVal int
hVal int
fVal int
}
func NewAstarPoint(p *_Point,father *_AstarPoint,end *_AstarPoint) (ap *_AstarPoint) {
ap = &_AstarPoint{*p,father,0}
if end != nil {
ap.calcFVal(end)
}
return ap
}
func (this *_AstarPoint) calcGVal() int {
if this.father != nil {
deltaX := math.Abs(float64(this.father.x - this.x))
deltaY := math.Abs(float64(this.father.y - this.y))
if deltaX == 1 && deltaY == 0 {
this.gVal = this.father.gVal + 10
} else if deltaX == 0 && deltaY == 1 {
this.gVal = this.father.gVal + 10
} else if deltaX == 1 && deltaY == 1 {
this.gVal = this.father.gVal + 14
} else {
panic("father point is invalid!")
}
}
return this.gVal
}
func (this *_AstarPoint) calcHVal(end *_AstarPoint) int {
this.hVal = int(math.Abs(float64(end.x-this.x)) + math.Abs(float64(end.y-this.y)))
return this.hVal
}
func (this *_AstarPoint) calcFVal(end *_AstarPoint) int {
this.fVal = this.calcGVal() + this.calcHVal(end)
return this.fVal
}
//========================================================================================
type SearchRoad struct {
theMap *Map
start _AstarPoint
end _AstarPoint
closeLi map[string]*_AstarPoint
openLi OpenList
openSet map[string]*_AstarPoint
TheRoad []*_AstarPoint
}
func NewSearchRoad(startx,starty,endx,endy int,m *Map) *SearchRoad {
sr := &SearchRoad{}
sr.theMap = m
sr.start = *NewAstarPoint(&_Point{startx,"S"},nil,nil)
sr.end = *NewAstarPoint(&_Point{endx,endy,"E"},nil)
sr.TheRoad = make([]*_AstarPoint,0)
sr.openSet = make(map[string]*_AstarPoint,m.maxX+m.maxY)
sr.closeLi = make(map[string]*_AstarPoint,m.maxX+m.maxY)
heap.Init(&sr.openLi)
heap.Push(&sr.openLi,&sr.start) // 首先把起点加入开放列表
sr.openSet[pointAsKey(sr.start.x,sr.start.y)] = &sr.start
// 将障碍点放入关闭列表
for k,v := range m.blocks {
sr.closeLi[k] = NewAstarPoint(v,nil)
}
return sr
}
func (this *SearchRoad) FindoutRoad() bool {
for len(this.openLi) > 0 {
// 将节点从开放列表移到关闭列表当中。
x := heap.Pop(&this.openLi)
curPoint := x.(*_AstarPoint)
delete(this.openSet,pointAsKey(curPoint.x,curPoint.y))
this.closeLi[pointAsKey(curPoint.x,curPoint.y)] = curPoint
//fmt.Println("curPoint :",curPoint.x,curPoint.y)
adjacs := this.theMap.getAdjacentPoint(&curPoint._Point)
for _,p := range adjacs {
//fmt.Println("\t adjact :",p.x,p.y)
theAP := NewAstarPoint(p,curPoint,&this.end)
if pointAsKey(theAP.x,theAP.y) == pointAsKey(this.end.x,this.end.y) {
// 找出路径了,标记路径
for theAP.father != nil {
this.TheRoad = append(this.TheRoad,theAP)
theAP.view = "*"
theAP = theAP.father
}
return true
}
_,ok := this.closeLi[pointAsKey(p.x,p.y)]
if ok {
continue
}
existAP,ok := this.openSet[pointAsKey(p.x,p.y)]
if !ok {
heap.Push(&this.openLi,theAP)
this.openSet[pointAsKey(theAP.x,theAP.y)] = theAP
} else {
oldGVal,oldFather := existAP.gVal,existAP.father
existAP.father = curPoint
existAP.calcGVal()
// 如果新的节点的G值还不如老的节点就恢复老的节点
if existAP.gVal > oldGVal {
// restore father
existAP.father = oldFather
existAP.gVal = oldGVal
}
}
}
}
return false
}
//========================================================================================
func main() {
presetMap := []string{
". . . . . . . . . . . . . . . . . . . . . . . . . . .",". . . . . . . . . . . . . . . . . . . . . . . . . . .","X . X X X X X X X X X X X X X X X X X X X X X X X X X","X X X X X X X X X X X X X X X X X X X X X X X X . X X",}
m := NewMap(presetMap)
m.PrintMap(nil)
searchRoad := NewSearchRoad(0,18,10,&m)
if searchRoad.FindoutRoad() {
fmt.Println("找到了， 你看！")
m.PrintMap(searchRoad)
} else {
fmt.Println("找不到路径！")
}
}
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