public AStarUtils(byte[] bytes, bool isFourWay = false)
{
ByteArray.StartRead(bytes);
this.numCols = ByteArray.ReadInt();
this.numRows = ByteArray.ReadInt();
this.isFourWay = isFourWay;
this.iAStarHeuristic = new AStarManhattanHeuristic();
AStarNode node = null;
this.nodes = new Dictionary <int, AStarNode> ();
int i, j;
for (i = 0; i < this.numCols; i++)
{
for (j = 0; j < this.numRows; j++)
{
node = new AStarNode(i, j);
node.walkable = ByteArray.ReadByte() == 0 ? true : false;
node.AddHeuristic(this.RefreshLinksOfAdjacentNodes, node);
this.nodes.Add(this.GetNodeKey(i, j), node);
}
}
this.RefreshLinksOfAllNodes();
this.binaryHeapUtils = new BinaryHeapUtils(numCols * numRows / 2);
}
public AStarUtils(int numCols, int numRows, bool isFourWay = false)
{
this.numCols = numCols;
this.numRows = numRows;
this.isFourWay = isFourWay;
this.iAStarHeuristic = new AStarManhattanHeuristic();
AStarNode node = null;
this.nodes = new Dictionary <int, AStarNode> ();
int i, j;
for (i = 0; i < this.numCols; i++)
{
for (j = 0; j < this.numRows; j++)
{
node = new AStarNode(i, j);
node.AddHeuristic(this.RefreshLinksOfAdjacentNodes, node);
this.nodes.Add(this.GetNodeKey(i, j), node);
}
}
long startTime = GlobalTime.currentTimeMillis;
this.RefreshLinksOfAllNodes();
this.binaryHeapUtils = new BinaryHeapUtils(numCols * numRows / 2);
Debug.Log(GlobalTime.currentTimeMillis - startTime);
}
public AStarUtils(int numCols, int numRows, bool isFourWay = false)
{
Debug.Log("AStarUtils: " + numCols + ", " + numRows);
this.numCols = numCols;
this.numRows = numRows;
this.isFourWay = isFourWay;
this.iAStarHeuristic = new AStarManhattanHeuristic();
//this.iAStarHeuristic = new AStarDiagonalHeuristic ();
AStarNode node = null;
this.nodes = new Dictionary <string, AStarNode>();
for (int i = 0; i < this.numCols; i++)
{
for (int j = 0; j < this.numRows; j++)
{
node = new AStarNode(i, j);
node.AddHeuristic(this.RefreshLinksOfAdjacentNodes, node);
this.nodes.Add(this.GetNodeKey(i, j), node);
}
}
this.RefreshLinksOfAllNodes();
//numCols * numRows / 2 只需要判断节点，不需要叶节点
this.binaryHeapUtils = new BinaryHeapUtils(numCols * numRows / 2);
}
///// <summary>
///// 返回节点在指定的代价内可移动的范围
///// </summary>
///// <returns>The range.</returns>
///// <param name="startNode">Start node.</param>
///// <param name="costLimit">Cost limit.</param>
//public IList<AStarNode> WalkableRange(AStarNode startNode, int costLimit)
//{
// this.walkableRangeCheckNum++;
// int maxStep = (int)(costLimit / STRAIGHT_COST);
// int startX = Mathf.Max(startNode.nodeX - maxStep, 0);
// int endX = Mathf.Min(startNode.nodeX + maxStep, this.numCols - 1);
// int startY = Mathf.Max(startNode.nodeY - maxStep, 0);
// int endY = Mathf.Min(startNode.nodeY + maxStep, this.numRows - 1);
// IList<AStarNode> rangeList = new List<AStarNode>();
// for (int i = startX; i <= endX; i++)
// {
// for (int j = startY; j <= endY; j++)
// {
// AStarNode nodeItem = this.nodes[this.GetNodeKey(i, j)];
// if (nodeItem.walkable && nodeItem.walkableRangeCheckNum != walkableRangeCheckNum)
// {
// IList<AStarNode> pathList = this.FindPath(startNode, nodeItem);
// if (pathList != null && pathList[pathList.Count - 1].f <= costLimit)
// {
// foreach (AStarNode node in pathList)
// {
// if (node.walkableRangeCheckNum != walkableRangeCheckNum)
// {
// node.walkableRangeCheckNum = walkableRangeCheckNum;
// rangeList.Add(node);
// }
// }
// }
// }
// }
// }
// return rangeList;
//}
//public AStarUtils(int numCols, int numRows, bool isFourWay = false)
//{
// this.numCols = numCols;
// this.numRows = numRows;
// this.isFourWay = isFourWay;
// this.iAStarHeuristic = new AStarManhattanHeuristic();
// //this.iAStarHeuristic = new AStarDiagonalHeuristic ();
// AStarNode node = null;
// this.nodes = new Dictionary<int, AStarNode>();
// for (int i = 0; i < this.numCols; i++)
// {
// for (int j = 0; j < this.numRows; j++)
// {
// node = new AStarNode(i, j);
// node.AddHeuristic(this.RefreshLinksOfAdjacentNodes, node);
// this.nodes.Add(this.GetNodeKey(i, j), node);
// }
// }
// this.RefreshLinksOfAllNodes();
// this.binaryHeapUtils = new BinaryHeapUtils(numCols * numRows / 2);
//}
public AStarNode Insert(int _x, int _y)
{
AStarNode node = new AStarNode(_x, _y);
node.AddHeuristic(this.RefreshLinksOfAdjacentNodes, node);
this.nodes.Add(this.GetNodeKey(_x, _y), node);
return(node);
}
public AStarUtils(int numCols, int numRows, bool isFourWay = false)
{
_numCols = numCols;
_numRows = numRows;
_isFourWay = isFourWay;
_iAStarHeuristic = new AStarManhattanHeuristic();
//_iAStarHeuristic = new AStarDiagonalHeuristic ();
_nodes = new Dictionary <string, AStarNode>();
for (var i = 0; i < _numCols; i++)
{
for (var j = 0; j < _numRows; j++)
{
var node = new AStarNode(i, j);
node.AddHeuristic(RefreshLinksOfAdjacentNodes, node);
_nodes.Add(GetNodeKey(i, j), node);
}
}
RefreshLinksOfAllNodes();
_binaryHeapUtils = new BinaryHeapUtils(numCols * numRows / 2);
}
public AStarUtils(byte[] bytes,bool isFourWay = false)
{
ByteArray.StartRead(bytes);
this.numCols = ByteArray.ReadInt ();
this.numRows = ByteArray.ReadInt ();
this.isFourWay = isFourWay;
this.iAStarHeuristic = new AStarManhattanHeuristic ();
AStarNode node = null;
this.nodes = new Dictionary<int, AStarNode> ();
int i, j;
for(i = 0; i < this.numCols; i++)
{
for(j = 0; j < this.numRows; j++)
{
node = new AStarNode(i, j);
node.walkable = ByteArray.ReadByte() == 0 ? true : false;
node.AddHeuristic(this.RefreshLinksOfAdjacentNodes, node);
this.nodes.Add(this.GetNodeKey(i, j), node);
}
}
this.RefreshLinksOfAllNodes();
this.binaryHeapUtils = new BinaryHeapUtils(numCols * numRows / 2);
}
public AStarUtils(int numCols, int numRows, bool isFourWay = false)
{
this.numCols = numCols;
this.numRows = numRows;
this.isFourWay = isFourWay;
this.iAStarHeuristic = new AStarManhattanHeuristic ();
AStarNode node = null;
this.nodes = new Dictionary<int, AStarNode> ();
int i, j;
for(i = 0; i < this.numCols; i++)
{
for(j = 0; j < this.numRows; j++)
{
node = new AStarNode(i, j);
node.AddHeuristic(this.RefreshLinksOfAdjacentNodes, node);
this.nodes.Add(this.GetNodeKey(i, j), node);
}
}
long startTime = GlobalTime.currentTimeMillis;
this.RefreshLinksOfAllNodes();
this.binaryHeapUtils = new BinaryHeapUtils(numCols * numRows / 2);
Debug.Log (GlobalTime.currentTimeMillis-startTime);
}
public AStarUtils(int numCols, int numRows, bool isFourWay = false)
{
this.numCols = numCols;
this.numRows = numRows;
this.isFourWay = isFourWay;
this.iAStarHeuristic = new AStarManhattanHeuristic ();
//this.iAStarHeuristic = new AStarDiagonalHeuristic ();
AStarNode node = null;
this.nodes = new Dictionary<string, AStarNode> ();
for(int i = 0; i < this.numCols; i++)
{
for(int j = 0; j < this.numRows; j++)
{
node = new AStarNode(i, j);
node.AddHeuristic(this.RefreshLinksOfAdjacentNodes, node);
this.nodes.Add(this.GetNodeKey(i, j), node);
}
}
this.RefreshLinksOfAllNodes();
this.binaryHeapUtils = new BinaryHeapUtils(numCols * numRows / 2);
}