//---------------------------------------------------------------------------------------
public void MakeAStarLogic2(E03_TileType[,] maze)
{
int mapSize = maze.GetLength(0);
int goalY = mapSize - 2;
int goalX = mapSize - 2;
bool[,] closed = new bool[mapSize, mapSize];
int[,] open = new int[mapSize, mapSize];
for (int y = 0; y < mapSize; y++)
{
for (int x = 0; x < mapSize; x++)
{
open[y, x] = int.MaxValue;
}
}
E03_Pos[,] from = new E03_Pos[mapSize, mapSize];
from[PosY, PosX] = new E03_Pos(PosY, PosX);
D05_PriorityQueue <E03_PQNode> pq = new D05_PriorityQueue <E03_PQNode>();
open[PosY, PosX] = 10 * (Mathf.Abs(goalY - PosY) + Mathf.Abs(goalX - PosX));
pq.Push(new E03_PQNode()
{
F = open[PosY, PosX], G = 0, X = PosX, Y = PosY
});
while (pq.Count > 0)
{
E03_PQNode node = pq.Pop();
int nowY = node.Y;
int nowX = node.X;
if (closed[nowY, nowX])
{
continue;
}
if (nowY == goalY && nowX == goalX)
{
break;
}
for (int i = 0; i < forwardX2.Length; i++)
{
int nextY = nowY + forwardY2[i];
int nextX = nowX + forwardX2[i];
if (nextX < 0 || nextY < 0 || nextX >= mapSize || nextY >= mapSize)
{
continue;
}
if (maze[nextY, nextX] == E03_TileType.Wall)
{
continue;
}
if (closed[nextY, nextX])
{
continue;
}
int g = node.G + moveCost2[i];
int h = 10 * (Mathf.Abs(goalY - nextY) + Mathf.Abs(goalX - nextX));
if (open[nextY, nextX] < g + h)
{
continue;
}
open[nextY, nextX] = g + h;
pq.Push(new E03_PQNode()
{
F = g + h, G = g, X = nextX, Y = nextY
});
from[nextY, nextX] = new E03_Pos(nowY, nowX);
}
}
AStarRoad = MakeRoad(from, mapSize);
}
//---------------------------------------------------------------------------------------
public void MakeAStarLogic(E03_TileType[,] maze)
{
int mapSize = maze.GetLength(0);
int goalY = mapSize - 2;
int goalX = mapSize - 2;
int startY = PosY;
int startX = PosX;
bool[,] closed = new bool[mapSize, mapSize];
int[,] open = new int[mapSize, mapSize];
E03_Pos[,] from = new E03_Pos[mapSize, mapSize];
from[startY, startX] = new E03_Pos(startY, startX);
for (int y = 0; y < open.GetLength(0); y++)
{
for (int x = 0; x < open.GetLength(1); x++)
{
open[y, x] = int.MaxValue;
}
}
D05_PriorityQueue <E03_PQNode> pq = new D05_PriorityQueue <E03_PQNode>();
open[startY, startY] = Mathf.Abs(goalY - startY) + Math.Abs(goalX - startX) + 0; // 시작점이므로 현재까지 온 거리는 0이다. 사실 더해주지 않아도 무방하다.
pq.Push(new E03_PQNode()
{
F = Mathf.Abs(goalY - startY) + Math.Abs(goalX - startX), G = 0, X = startX, Y = startY
});
while (pq.Count > 0)
{
E03_PQNode node = pq.Pop();
if (closed[node.Y, node.X])
{
continue;
}
closed[node.Y, node.X] = true;
int nowY = node.Y;
int nowX = node.X;
if (nowY == goalY && nowX == goalX)
{
break;
}
for (int i = 0; i < forwardX.Length; i++)
{
int nextY = nowY + forwardY[i];
int nextX = nowX + forwardX[i];
if (nextX < 0 || nextY < 0 || nextX >= mapSize || nextY >= mapSize)
{
continue;
}
if (closed[nextY, nextX])
{
continue;
}
if (maze[nextY, nextX] == E03_TileType.Wall)
{
continue;
}
int g = node.G + moveCost[i];
int h = Mathf.Abs(goalY - nowY) + Math.Abs(goalX - nowX);
int distance = g + h;
if (open[nextY, nextX] < distance)
{
continue;
}
pq.Push(new E03_PQNode()
{
F = distance, G = g, X = nextX, Y = nextY
});
open[nextY, nextX] = distance;
from[nextY, nextX] = new E03_Pos(nowY, nowX);
}
}
AStarRoad = MakeRoad(from, mapSize);
}