방향성 지정 오류 수정

AstarPathFinder.cs

@@ -225,6 +225,9 @@ namespace AStarPathFinding
         {
             for (int i = 0; i < 8; i++)
             {
+                // 방향성 초기 값
+                Form1.Direction = "Up";
+
                 AstarNode openNode;
 
                 //예비 자식이 될 노드들의 좌표 계산
@@ -287,32 +290,32 @@ namespace AStarPathFinding
                 //    continue;
                 //}
 
-                if (dicOpenList.ContainsKey(focusNode.axis) & tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.RRoad)
-                {
-                    openNode = tableNodeData[tempChildAxis.X, tempChildAxis.Y];
-                    openNode.SetParent(focusNode);
-                    openNode.SetGCost(gCost + openNode.parent.R);
-                    openNode.SetHCost(openNode.parent.R - 1000);
-                    openNode.ParentDirection = neerAxis[i];
+                //if (dicOpenList.ContainsKey(focusNode.axis) & tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.RRoad)
+                //{
+                //    openNode = tableNodeData[tempChildAxis.X, tempChildAxis.Y];
+                //    openNode.SetParent(focusNode);
+                //    openNode.SetGCost(gCost + openNode.parent.R);
+                //    openNode.SetHCost(openNode.parent.R - 1000);
+                //    openNode.ParentDirection = neerAxis[i];
 
-                    dicOpenList.Add(tempChildAxis, openNode);
-                    tableStateData[tempChildAxis.X, tempChildAxis.Y] = eTileState.Open;
+                //    dicOpenList.Add(tempChildAxis, openNode);
+                //    tableStateData[tempChildAxis.X, tempChildAxis.Y] = eTileState.Open;
 
-                    Form1.Direction = false;
+                //    //Form1.Direction = false;
 
-                    //dicCloseList.Remove(focusNode.axis);
-                    //dicOpenList.Add(focusNode.axis, focusNode);
-                    //tableStateData[focusNode.axis.X, focusNode.axis.Y] = eTileState.Close;
+                //    //dicCloseList.Remove(focusNode.axis);
+                //    //dicOpenList.Add(focusNode.axis, focusNode);
+                //    //tableStateData[focusNode.axis.X, focusNode.axis.Y] = eTileState.Close;
 
-                    continue;
-                }
+                //    continue;
+                //}
 
                 //만일 클로즈 리스트에 있어도 무시한다.
                 if (dicCloseList.ContainsKey(tempChildAxis))
                     continue;
 
                 // !!!길일 때 오픈리스트에 넣어준다.
-                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.RRoad & Form1.Direction == true)
+                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.RRoad & Form1.Direction == "Right")
                 {    
                     openNode = tableNodeData[tempChildAxis.X, tempChildAxis.Y];
                     openNode.SetParent(focusNode);
@@ -326,7 +329,7 @@ namespace AStarPathFinding
                     continue;
                 }
                 
-                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.RRoad & Form1.Direction == false)
+                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.RRoad & Form1.Direction == "Left")
                 {
                     openNode = tableNodeData[tempChildAxis.X, tempChildAxis.Y];
                     openNode.SetParent(focusNode);
@@ -340,7 +343,7 @@ namespace AStarPathFinding
                     continue;
                 }
 
-                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.LRoad & Form1.Direction == true)
+                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.LRoad & Form1.Direction == "Right")
                 {
                     openNode = tableNodeData[tempChildAxis.X, tempChildAxis.Y];
                     openNode.SetParent(focusNode);
@@ -354,7 +357,7 @@ namespace AStarPathFinding
                     continue;
                 }
 
-                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.LRoad & Form1.Direction == false)
+                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.LRoad & Form1.Direction == "Left")
                 {
                     openNode = tableNodeData[tempChildAxis.X, tempChildAxis.Y];
                     openNode.SetParent(focusNode);
@@ -368,6 +371,21 @@ namespace AStarPathFinding
                     continue;
                 }
 
+                if (tableStateData[tempChildAxis.X, tempChildAxis.Y] == eTileState.URoad & Form1.Direction == "Up")
+                {
+                    openNode = tableNodeData[tempChildAxis.X, tempChildAxis.Y];
+                    openNode.SetParent(focusNode);
+                    openNode.SetGCost(gCost + openNode.parent.U);
+                    openNode.SetHCost(openNode.parent.U - 1000);   // 휴리스틱 값 수정해서 길 따라갈 수 있게 점수를 낮춰줌 수정
+
+                    openNode.ParentDirection = neerAxis[i];
+
+                    dicOpenList.Add(tempChildAxis, openNode);
+                    tableStateData[tempChildAxis.X, tempChildAxis.Y] = eTileState.Open;
+
+                    continue;
+                }
+
                 ////대각선일시 자신의 주변을 체크 후 벽이있다면 무시한다(벽끼고 대각선이동 불가)
                 //if (gCost == 14)
                 //{

Form1.cs

@@ -17,7 +17,7 @@ namespace AStarPathFinding
 
     public partial class Form1 : Form
     {
-        public static bool Direction { get; set; } // 방향 설정!!!
+        public static string Direction { get; set; } // 방향 설정!!!
 
         //구조체=====================
         struct stCurrentAction//사용자의 세팅(타일배치)종류 확인용 구조체
@@ -417,14 +417,14 @@ namespace AStarPathFinding
                     SetCurrentAction(null, eTileState.None);
                     pathFinder.PathFind(pn_Table, startPoint, goalPoint);
                     clickState = false;
-                    Direction = false;
+                    Direction = "Up";
                 }
                 else
                 {
                     SetCurrentAction(null, eTileState.None);
                     pathFinder.PathFind(pn_Table, goalPoint, startPoint);
                     clickState = true;
-                    Direction = true;
+                    Direction = "Up";
                 }
             }
         }