public bool Equals(AScore a)
{
if (a.F == F)
{
return(true);
}
return(false);
}
public int CompareTo(AScore a2)
{
if (F == a2.F)
{
return(0);
}
if (F > a2.F)
{
return(1);
}
return(-1);
}
IEnumerator AStar()
{
astar_search = new AScore[map.GetLength(0), map.GetLength(1)];
List <Pos> list = new List <Pos>();
astar_search[startPos.y, startPos.x] = new AScore(0, 0);
list.Add(startPos);
// 每一个点的处理函数
Func func = (Pos cur, int ox, int oy) =>
{
var o_score = astar_search[cur.y + oy, cur.x + ox];
if (o_score != null && o_score.closed)
{
return(false);
}
var cur_score = astar_search[cur.y, cur.x];
Pos o_pos = new Pos(cur.x + ox, cur.y + oy);
if (map[cur.y + oy, cur.x + ox] == END)
{
var a = new AScore(cur_score.G + 1, 0);
a.parent = cur;
astar_search[cur.y + oy, cur.x + ox] = a;
Debug.Log("寻路完成");
return(true);
}
if (map[cur.y + oy, cur.x + ox] == 0)
{
if (o_score == null)
{
var a = new AScore(cur_score.G + 1, Pos.AStarDistance(o_pos, endPos));
a.parent = cur;
astar_search[cur.y + oy, cur.x + ox] = a;
list.Add(o_pos);
}
else if (o_score.G > cur_score.G + 1)
{
o_score.G = cur_score.G + 1;
o_score.parent = cur;
if (!list.Contains(o_pos))
{
list.Add(o_pos);
}
}
}
return(false);
};
while (list.Count > 0)
{
list.Sort((Pos p1, Pos p2) =>
{
AScore a1 = astar_search[p1.y, p1.x];
AScore a2 = astar_search[p2.y, p2.x];
//return a1.H.CompareTo(a2.H);
return(a1.CompareTo(a2));
});
Pos cur = list[0];
list.RemoveAt(0);
astar_search[cur.y, cur.x].closed = true;
// 上
if (cur.y > 0)
{
if (func(cur, 0, -1))
{
break;
}
}
// 下
if (cur.y < H - 1)
{
if (func(cur, 0, 1))
{
break;
}
}
// 左
if (cur.x > 0)
{
if (func(cur, -1, 0))
{
break;
}
}
// 右
if (cur.x < W - 1)
{
if (func(cur, 1, 0))
{
break;
}
}
short[,] temp_map = new short[map.GetLength(0), map.GetLength(1)];
for (int i = 0; i < H; ++i)
{
for (int j = 0; j < W; ++j)
{
temp_map[i, j] = short.MaxValue;
//if (map_search[i,j] != null && map_search[i,j].closed)
if (astar_search[i, j] != null)
{
temp_map[i, j] = (short)astar_search[i, j].F;
}
}
}
RefreshPath(temp_map);
yield return(0);
}
gameState = GameState.ShowPath;
yield return(null);
}
