/* 递归可行，但效率太低
* public void ReachableTilesInRange(T t, int range, ref List<T> ret)
* {
* ret.Clear();
* if (range <= 0)
* {
* return;
* }
* HashSet<T> _exists = new HashSet<T>();
* _exists.Add(t);
* DSF(t, 1, range, ref ret, ref _exists);
* }
*
* void DSF(T t, int depth, int maxDepth, ref List<T> ret, ref HashSet<T> exists)
* {
* List<T> neighbors = new List<T>();
* Neighbors(t, ref neighbors, true);
* foreach (var item in neighbors)
* {
* if (depth < maxDepth)
* {
* // 递归调用
* DSF(item, depth+1, maxDepth, ref ret, ref exists);
* }
*
* if (exists.Contains(item))
* {
* continue;
* }
*
* ret.Add(item);
* exists.Add(item);
* }
* }*/
public bool FindPath(T src, T dst, ref List <T> path)
{
AStarResultCode ret = _astar.FindPath(src, dst, ref path, 0);
Debug.Log(string.Format("寻路结果：{0}", ret));
return(ret == AStarResultCode.SUCCESS);
}
// 可以A*搜索生成plan，也可以手动配置plan
void BuildPlan(GOAPGoal goal)
{
int maxOverLoad = 100;
AStarResultCode ret = _astar.FindPath(goal, CurWorldState, ref _path, maxOverLoad);
switch (ret)
{
case AStarResultCode.SUCCESS:
foreach (var action in _path)
{
steps.Enqueue(action);
}
break;
case AStarResultCode.FAIL_NO_WAY:
Debug.Log(string.Format("寻路失败！无法获得goalType = {0}的路径。", goal.GetType()));
break;
case AStarResultCode.FAIL_OVERLOAD:
Debug.Log(string.Format("寻路失败！在寻找goalType = {0}的路径时open列表元素个数超过上限{1}。",
goal.GetType(), maxOverLoad));
break;
default:
break;
}
}
public AStarResultCode FindPath(GOAPGoal goal, WorldState curWorldState,
ref List <GOAPAction> path, int maxOverload = 0)
{
path.Clear();
_goal = goal;
_nodes.Shuffle();
curWorldState.CopyTo(ref _start.nodeWS);
AStarResultCode ret = FindPath(_start, null, ref _nodePath, maxOverload);
if (AStarResultCode.SUCCESS == ret)
{
foreach (var node in _nodePath)
{
path.Add(node.goapAction);
}
}
return(ret);
}
