/ 结束点在关闭结点,说明已找到,完成

时间：2014-04-10 05:46:05 阅读：490 评论：0 收藏：0 [点我收藏+]

webrtc安装

using System;
using System.Collections.Generic;
using System.Linq;
namespace Jls.Lib.AStar
{
publicclass AStarClassic
{
publicconstint OBLIQUE = 14;
publicconstint STEP = 10;
publicint[][] MapData { get; privateset; }
public List<AStarNode> CloseList;
public List<AStarNode> OpenList;
private List<List<AStarNode>> _nodes = new List<List<AStarNode>>();
privateint maxMapX;
privateint maxMapY;
publicint CurrentSerialNumber = 0;
public AStarClassic(int[][] mapData)
{
MapData = mapData;
maxMapX = mapData[0].Length - 1;
maxMapY = mapData.Length - 1;
var length = mapData.Length * mapData[0].Length;
OpenList = new List<AStarNode>(length);
CloseList = new List<AStarNode>(length);
for (var i = 0; i < mapData.Length; i++)
{
var row = new List<AStarNode>();
for (var j = 0; j < mapData[0].Length; j++)
{
var node = new AStarNode(j, i);
node.Walkable = mapData[i][j] == 1;
row.Add(node);
}
_nodes.Add(row);
}
}
/// <summary>
/// 寻路
/// </summary>
/// <param name="startNode"></param>
/// <param name="endNode"></param>
/// <param name="isIgnoreCorner"></param>
/// <returns></returns>
public AStarNode FindPath(AStarNode startNode, AStarNode endNode, bool isIgnoreCorner)
{
startNode = GetPoint(startNode.X, startNode.Y);
endNode = GetPoint(endNode.X, endNode.Y);
//if (!endNode.Walkable)
//{
// endNode = GetWalkableEndNode(startNode, endNode);
//}
OpenList.Add(startNode);
startNode.IsClose = true;
while (OpenList.Count != 0)
{
var currentPoint = GetLowestFScore();
AddCloseList(currentPoint);
currentPoint.IsClose = true;
RemoveOpenList(currentPoint);
if (endNode.IsClose )
{
break;
}
var adjacentPoints = getArounds(currentPoint, isIgnoreCorner);
foreach (AStarNode aPoint in adjacentPoints)
{
if (aPoint.IsClose )
{
continue;
}
if (! aPoint.IsOpen )
{
aPoint.CalcG(currentPoint);
aPoint.CalcH(endNode);
aPoint.CalcF();
aPoint.Parent = currentPoint;
aPoint.IsOpen = true;
AddOpenList(aPoint);
}
else
{
//var aPointInOpen = OpenList.GetNode(aPoint);
var aPointInOpen = aPoint;
aPointInOpen.Count++;//
var newG = aPointInOpen.CalcNewG(currentPoint);
if (newG < aPointInOpen.G)
{
aPointInOpen.G = newG;
aPointInOpen.CalcF();
aPointInOpen.Parent = currentPoint;
}
}
}
}
return GetEndPointInCloseList(endNode);
}
/// <summary>
/// 如果结束结点不可用,查找结束节点离开始节点最近的可用节点
/// </summary>
/// <param name="startNode"> </param>
/// <param name="endNode"></param>
/// <returns></returns>
private AStarNode GetWalkableEndNode(AStarNode startNode, AStarNode endNode)
{
if (endNode.Walkable) return endNode;
//1.找出周围有可用点的方形圈
var aroundCount = 1;
var foudedNodes = new List<AStarNode>();
while (true)
{
//上下两行
for (var i = -aroundCount; i <= aroundCount; i++)
{
var node = GetPoint(endNode.X + i, endNode.Y - aroundCount);
if (node != null && node.Walkable)
{
foudedNodes.Add(node);
}
node = GetPoint(endNode.X + i, endNode.Y + aroundCount);
if (node != null && node.Walkable)
{
foudedNodes.Add(node);
}
}
//左右两列
for (var i = -aroundCount + 1; i < aroundCount; i++)
{
var node = GetPoint(endNode.X - aroundCount, endNode.Y + i);
if (node != null && node.Walkable)
{
foudedNodes.Add(node);
}
node = GetPoint(endNode.X + aroundCount, endNode.Y + i);
if (node != null && node.Walkable)
{
foudedNodes.Add(node);
}
}
if (foudedNodes.Count > 0)
{
break;
}
else
{
aroundCount += 1;
}
}
//2.没找到,说明没有可用点
if (foudedNodes.Count == 0) returnnull;
//找出该圈中离开始点最近的点
var foundIncex = 0;
var shortDistance = GetDistance(startNode, foudedNodes[0]);
for (var i = 0; i < foudedNodes.Count; i++)
{
var node = foudedNodes[i];
var distance = GetDistance(startNode, node);
if (distance < shortDistance)
{
shortDistance = distance;
foundIncex = i;
}
}
return foudedNodes[foundIncex];
}
/// <summary>
/// 计算两点直线距离
/// </summary>
/// <param name="startNode"></param>
/// <param name="endNode"></param>
/// <returns></returns>
privatedouble GetDistance(AStarNode startNode, AStarNode endNode)
{
return Math.Sqrt((endNode.X - startNode.X) * (endNode.X - startNode.X) +
(endNode.Y - startNode.Y) * (endNode.Y - startNode.Y));
}
private AStarNode GetPoint(int x, int y)
{
return !ValidPoint(x, y) ? null : _nodes[y][x];
}
/// <summary>
/// 查找开放节点中最低H值的节点
/// </summary>
/// <returns></returns>
private AStarNode GetLowestFScore()
{
return OpenList.OrderBy(t => t.F).FirstOrDefault();
}
/// <summary>
/// 节点加入关闭列表
/// </summary>
/// <param name="aNode"></param>
privatevoid AddCloseList(AStarNode aNode)
{
CloseList.Add(aNode);
}
/// <summary>
/// 从开放节点中移去节点
/// </summary>
/// <param name="aNode"></param>
privatevoid RemoveOpenList(AStarNode aNode)
{
OpenList.Remove(aNode);
}
/// <summary>
/// 结束点在关闭结点,说明已找到,完成
/// </summary>
/// <param name="endNode"></param>
/// <returns></returns>
privatebool IsEndInCloseList(AStarNode endNode)
{
//return CloseList.Exists(endNode);
return CloseList.Contains(endNode);
}
/// <summary>
/// 获取当前点的周边有效点
/// </summary>
/// <param name="currentNode"></param>
/// <param name="isIgnoreCorner">能否穿墙角</param>
/// <returns></returns>
private List<AStarNode> getArounds(AStarNode currentNode, bool isIgnoreCorner)
{
var arounds = new List<AStarNode>();
for (int x = currentNode.X - 1; x <= currentNode.X + 1; x++)
for (int y = currentNode.Y - 1; y <= currentNode.Y + 1; y++)
{
if (!(x == currentNode.X && y == currentNode.Y))
{
if (x < 0 || x > maxMapX || y < 0 || y > maxMapY) continue;
var aPoint = _nodes[y][x];
if (CanReachTo(currentNode, aPoint, isIgnoreCorner))
{
arounds.Add(aPoint);
}
}
}
return arounds;
}
/// <summary>
/// 判断斜线方向能否到达
/// </summary>
/// <param name="currentNode"></param>
/// <param name="aNode"></param>
/// <param name="isIgnoreCorner">是否允许穿墙</param>
/// <returns></returns>
privatebool CanReachTo(AStarNode currentNode, AStarNode aNode, bool isIgnoreCorner)
{
if (!ValidPoint(aNode.X, aNode.Y)) returnfalse;
if (!aNode.Walkable) returnfalse;
if (Math.Abs(aNode.X - currentNode.X) + Math.Abs(aNode.Y - currentNode.Y) == 1) returntrue; //横竖方向
//如果是斜方向移动, 判断是否 "拌脚"
var leftPoint = GetPoint(currentNode.X, aNode.Y);
var rightPoint = GetPoint(aNode.X, currentNode.Y);
if (leftPoint.Walkable && rightPoint.Walkable) //无墙角
{
returntrue;
}
elseif (leftPoint.Walkable || leftPoint.Walkable) //有一个
{
return isIgnoreCorner; //有墙角
}
else
{
returnfalse;
}
}
/// <summary>
/// 是不是有效的点
/// </summary>
/// <param name="node"></param>
/// <returns></returns>
privatebool ValidPoint(int x, int y)
{
if (x < 0 || x > maxMapX || y < 0 || y > maxMapY) returnfalse;
returntrue;
}
/// <summary>
/// 关闭列表中是否存在该点
/// </summary>
/// <param name="aNode"></param>
/// <returns></returns>
privatebool IsInCloseList(AStarNode aNode)
{
//return CloseList.Exists(aNode);
//return CloseList.Contains(aNode);
return CloseList.IndexOf(aNode) != -1;
}
/// <summary>
/// 开放列表中是否存在该点
/// </summary>
/// <param name="aNode"></param>
/// <returns></returns>
privatebool IsInOpenList(AStarNode aNode)
{
//return OpenList.Exists(aNode);
return OpenList.Contains(aNode);
}
/// <summary>
/// 加入开放列表
/// </summary>
/// <param name="aNode"></param>
privatevoid AddOpenList(AStarNode aNode)
{
aNode.SerialNumber = CurrentSerialNumber++;
OpenList.Add(aNode);
}
/// <summary>
/// 如果endPoint在关闭列表中,则返回它,否则返回null
/// </summary>
/// <param name="endNode"></param>
/// <returns></returns>
private AStarNode GetEndPointInCloseList(AStarNode endNode)
{
if (CloseList.IndexOf(endNode) != -1)
{
return CloseList[CloseList.IndexOf(endNode)];
}
else
{
returnnull;
}
}
}
}

从老的机器拷贝两个目录 d:\depot_tools;d:\webrtc

在path 中加入d:\depot_tools;

dos中运行gclient,自动下载git;

1.https://sites.google.com/a/chromium.org/dev/developers/how-tos/install-depot-tools

下载安装depot_tools

2.depot_tools目录加入Path

3.运行gclient，自动下载很多工具，并下载git,当下载安装完时，运行gclient，显示gclient的用法帮助。

4.原来的all.sln生成，出现60+错误。

5.下载安装SDK7.1 win7_GRMSDKX_EN_DVD，带X的是64位的。报错，把原来已经安装的visual studio 2010 Redistributable x86/x64都卸载了，就可以安装了，再安装补丁VC-Compiler-KB2519277.exe

6.安装Directx SDK 安装DirectXSDK时提示Error Code s1023，Microsoft Visual C++ 2010 x86/x64 Redistributable 的版本大于10.0.30319 就会提示失败！将这个卸载掉就可以安装成功！！(中间有可能需重启)，安装完后，再装VC-Compiler-KB2519277.exe

7.gclient config http://webrtc.googlecode.com/svn/trunk

gclient sync --force 运行最后，会去下载win8 SDK.

中间中断，运行

set GYP_GENERATORS=msvs

call python trunk/webrtc/build/gyp_webrtc -G msvs_version=2012

会继续下载，如下：(下载不需要vpn，速度快些。)

/ 结束点在关闭结点,说明已找到,完成,布布扣,bubuko.com

/ 结束点在关闭结点,说明已找到,完成

原文：http://www.cnblogs.com/tp3cd/p/3654318.html

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