private void swapAt(int pos1, int pos2)
{
AsGrid c = gridlist[(pos1)];
gridlist[pos1] = gridlist[(pos2)];
gridlist[pos2] = c;
}
public List <AstarPosVo> find(byte[][] mapdata, int row, int col,
int start_x, int start_y, int end_x, int end_y, int limitR)
{
mapdt = mapdata;
this.limitR = limitR;
if (start_x == end_x && start_y == end_y)
{
return(null);
}
ROW = row;
COL = col;
EndX = end_x;
EndY = end_y;
if (isBlock(start_x, start_y))
{
return(null);
}
if (isBlock(end_x, end_y))
{
return(null);
}
List <AstarPosVo> rst = null;
open(start_x, start_y, 0, null, true);
while (true)
{
int len = openList.length;
if (len == 0)
{
break;
}
AsGrid c_grid = openList.popMix();
if (c_grid.x == end_x && c_grid.y == end_y)
{
rst = getRst(c_grid);
break;
}
c_grid.closed = true;
int x = c_grid.x;
int y = c_grid.y;
check(x, y - 1, c_grid, 10);
check(x - 1, y, c_grid, 10);
check(x + 1, y, c_grid, 10);
check(x, y + 1, c_grid, 10);
check(x - 1, y - 1, c_grid, 14);
check(x + 1, y - 1, c_grid, 14);
check(x - 1, y + 1, c_grid, 14);
check(x + 1, y + 1, c_grid, 14);
}
gridMap.Clear();
openList.clear();
return(rst);
}
public AsGrid popMix()
{
AsGrid val = gridlist[0];
swapAt(0, length - 1);
gridlist.RemoveAt(gridlist.Count - 1);
length = gridlist.Count;
tryDownAt(0);
return(val);
}
List <AstarPosVo> getRst(AsGrid grid)
{
List <AstarPosVo> return_dt = new List <AstarPosVo>();
do
{
AstarPosVo pos = new AstarPosVo();
pos.x = grid.x;
pos.y = grid.y;
grid = grid.parent;
return_dt.Insert(0, pos);
} while (grid != null);
return(return_dt.Count > 2 ? return_dt : null);
}
void open(int x, int y, int cost, AsGrid parent, bool create)
{
AsGrid grid;
if (create)
{
grid = new AsGrid();
grid.x = x;
grid.y = y;
grid.cost = cost;
grid.parent = parent;
grid.closed = false;
grid.score = 10000;
gridMap[(y << 16) + x] = grid;
int dx = Mathf.Abs(x - EndX);
int dy = Mathf.Abs(y - EndY);
if (dx > 0 && dy > 0)
{
grid.last = 14;
}
else
{
grid.last = 10;
}
grid.score = grid.cost + grid.last;
openList.push(grid);
}
else
{
grid = gridMap[((y << 16) + x)];
grid.parent = parent;
;
grid.cost = cost;
openList.updata(grid, grid.cost + grid.last);
}
mycount++;
}
void check(int new_x, int new_y, AsGrid grid, int cost)
{
if (Mathf.Abs(new_x - EndX) > limitR || Mathf.Abs(new_y - EndY) > limitR)
{
return;
}
if (isBlock(new_x, new_y))
{
return;
}
AsGrid newGrid = null;
if (!gridMap.TryGetValue((new_y << 16) + new_x, out newGrid))
{
open(new_x, new_y, grid.cost + cost, grid, true);
}
else if (!newGrid.closed && newGrid.cost > grid.cost + cost)
{
open(new_x, new_y, grid.cost + cost, grid, false);
}
}
public void updata(AsGrid grid, int newScore)
{
int index = -1;
for (int i = 0; i < length; i++)
{
if (gridlist[(i)] == grid)
{
index = i;
break;
}
}
if (grid.score > newScore)
{
grid.score = newScore;
tryDownAt(index);
}
else if (grid.score < newScore)
{
grid.score = newScore;
tryUpAt(index);
}
}
public void push(AsGrid val)
{
gridlist.Add(val);
length = gridlist.Count;
tryUpAt(length - 1);
}