public static List <TilePosition> CalculateAStarPahtTile(IGCalculator characterCalculator, TilePosition startTile, TilePosition endTile)
{
List <AStarPathNode> rawPath = CalculatePath(characterCalculator, startTile.ConvertToAStarPathNode(), endTile.ConvertToAStarPathNode());
List <TilePosition> result = new List <TilePosition>();
for (int i = 0; i < rawPath.Count; i++)
{
result.Add(rawPath[i].ConvertToTilePosition());
}
return(result);
}
public static List <TilePosition> CalculatePathTile(IGCalculator calculator, bool[,] obstacleMap,
TilePosition startTile, TilePosition endTile, out List <TilePosition> aStarPath)
{
aStarPath = CalculateAStarPahtTile(calculator, startTile, endTile);
return(CalculateLinePath(aStarPath, obstacleMap));
}
private static List <AStarPathNode> CalculatePath(IGCalculator calculator, AStarPathNode startPathNode, AStarPathNode endPathNode)
{
bool existPath = false;
/*
* Debug.Log("$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$");
* Debug.Log(startPathNode.Row + "," + startPathNode.Column);
*/
startPathNode.GCalculator = calculator;
s_OpenList.Add(startPathNode.ValueF, new List <AStarPathNode>()
{
startPathNode
});
s_OpenDictionary.Add(startPathNode.Column + (startPathNode.Row << 16), startPathNode);
RecycleAllNode();
while (s_OpenList.Count != 0)
{
SortedDictionary <int, List <AStarPathNode> > .Enumerator enumerator = s_OpenList.GetEnumerator();
enumerator.MoveNext();
AStarPathNode currentPathNode = enumerator.Current.Value[0];
enumerator.Current.Value.RemoveAt(0);
if (enumerator.Current.Value.Count == 0)
{
s_OpenList.Remove(enumerator.Current.Key);
}
s_OpenDictionary.Remove(currentPathNode.Column + (currentPathNode.Row << 16));
if (endPathNode.Column == currentPathNode.Column && endPathNode.Row == currentPathNode.Row)
{
existPath = true;
endPathNode = currentPathNode;
break;
}
s_CloseList.Add(currentPathNode);
s_CloseDictionary.Add(currentPathNode.Column + (currentPathNode.Row << 16), currentPathNode);
//leftbottom
AStarPathNode leftBottomPathNode = GetNewNodeFromPool(); //new AStarPathNode();
leftBottomPathNode.Row = currentPathNode.Row + 1;
leftBottomPathNode.Column = currentPathNode.Column - 1;
leftBottomPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, leftBottomPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//lefttop
AStarPathNode leftTopPathNode = GetNewNodeFromPool();//new AStarPathNode();
leftTopPathNode.Row = currentPathNode.Row - 1;
leftTopPathNode.Column = currentPathNode.Column - 1;
leftTopPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, leftTopPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//rightbottom
AStarPathNode rightBottomPathNode = GetNewNodeFromPool();//new AStarPathNode();
rightBottomPathNode.Row = currentPathNode.Row + 1;
rightBottomPathNode.Column = currentPathNode.Column + 1;
rightBottomPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, rightBottomPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//righttop
AStarPathNode rightTopPathNode = GetNewNodeFromPool();//new AStarPathNode();
rightTopPathNode.Row = currentPathNode.Row - 1;
rightTopPathNode.Column = currentPathNode.Column + 1;
rightTopPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, rightTopPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//bottom
AStarPathNode bottomPathNode = GetNewNodeFromPool();//new AStarPathNode();
bottomPathNode.Row = currentPathNode.Row + 1;
bottomPathNode.Column = currentPathNode.Column;
bottomPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, bottomPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//left
AStarPathNode leftPathNode = GetNewNodeFromPool();//new AStarPathNode();
leftPathNode.Row = currentPathNode.Row;
leftPathNode.Column = currentPathNode.Column - 1;
leftPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, leftPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//right
AStarPathNode rightPathNode = GetNewNodeFromPool();//new AStarPathNode();
rightPathNode.Row = currentPathNode.Row;
rightPathNode.Column = currentPathNode.Column + 1;
rightPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, rightPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//top
AStarPathNode topPathNode = GetNewNodeFromPool();//new AStarPathNode();
topPathNode.Row = currentPathNode.Row - 1;
topPathNode.Column = currentPathNode.Column;
topPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, topPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
}
s_OpenList.Clear();
s_CloseList.Clear();
s_OpenDictionary.Clear();
s_CloseDictionary.Clear();
if (existPath)
{
List <AStarPathNode> path = new List <AStarPathNode>();
AStarPathNode pathNode = endPathNode;
while (pathNode.Column != startPathNode.Column || pathNode.Row != startPathNode.Row)
{
path.Add(pathNode);
pathNode = pathNode.ParentPathNode;
}
path.Add(startPathNode);
path.Reverse();
return(path);
}
return(null);
}
private static List <AStarPathNode> CalculatePath(IGCalculator calculator, AStarPathNode startPathNode, AStarPathNode endPathNode)
{
bool existPath = false;
startPathNode.GCalculator = calculator;
s_OpenList.Add(startPathNode);
s_OpenDictionary.Add(startPathNode.Column + (startPathNode.Row << 16), startPathNode);
//int p = 0;
RecycleAllNode();
while (s_OpenList.Count != 0)
{
s_OpenList.Sort();
AStarPathNode currentPathNode = s_OpenList[0];
s_OpenList.RemoveAt(0);
s_OpenDictionary.Remove(currentPathNode.Column + (currentPathNode.Row << 16));
if (endPathNode.Column == currentPathNode.Column && endPathNode.Row == currentPathNode.Row)
{
existPath = true;
endPathNode = currentPathNode;
break;
}
s_CloseList.Add(currentPathNode);
s_CloseDictionary.Add(currentPathNode.Column + (currentPathNode.Row << 16), currentPathNode);
//leftbottom
AStarPathNode leftBottomPathNode = GetNewNodeFromPool(); //new AStarPathNode();
leftBottomPathNode.Row = currentPathNode.Row + 1;
leftBottomPathNode.Column = currentPathNode.Column - 1;
leftBottomPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, leftBottomPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//lefttop
AStarPathNode leftTopPathNode = GetNewNodeFromPool();//new AStarPathNode();
leftTopPathNode.Row = currentPathNode.Row - 1;
leftTopPathNode.Column = currentPathNode.Column - 1;
leftTopPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, leftTopPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//rightbottom
AStarPathNode rightBottomPathNode = GetNewNodeFromPool();//new AStarPathNode();
rightBottomPathNode.Row = currentPathNode.Row + 1;
rightBottomPathNode.Column = currentPathNode.Column + 1;
rightBottomPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, rightBottomPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//righttop
AStarPathNode rightTopPathNode = GetNewNodeFromPool();//new AStarPathNode();
rightTopPathNode.Row = currentPathNode.Row - 1;
rightTopPathNode.Column = currentPathNode.Column + 1;
rightTopPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, rightTopPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//bottom
AStarPathNode bottomPathNode = GetNewNodeFromPool();//new AStarPathNode();
bottomPathNode.Row = currentPathNode.Row + 1;
bottomPathNode.Column = currentPathNode.Column;
bottomPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, bottomPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//left
AStarPathNode leftPathNode = GetNewNodeFromPool();//new AStarPathNode();
leftPathNode.Row = currentPathNode.Row;
leftPathNode.Column = currentPathNode.Column - 1;
leftPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, leftPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//right
AStarPathNode rightPathNode = GetNewNodeFromPool();//new AStarPathNode();
rightPathNode.Row = currentPathNode.Row;
rightPathNode.Column = currentPathNode.Column + 1;
rightPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, rightPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//top
AStarPathNode topPathNode = GetNewNodeFromPool();//new AStarPathNode();
topPathNode.Row = currentPathNode.Row - 1;
topPathNode.Column = currentPathNode.Column;
topPathNode.GCalculator = calculator;
DealNeighbourPathNode(currentPathNode, topPathNode, endPathNode, s_OpenList, s_CloseList, s_OpenDictionary, s_CloseDictionary);
//p += 8;
}
//Debug.Log(p);
s_OpenList.Clear();
s_CloseList.Clear();
s_OpenDictionary.Clear();
s_CloseDictionary.Clear();
if (existPath)
{
List <AStarPathNode> path = new List <AStarPathNode>();
AStarPathNode pathNode = endPathNode;
while (pathNode.Column != startPathNode.Column || pathNode.Row != startPathNode.Row)
{
path.Add(pathNode);
pathNode = pathNode.ParentPathNode;
}
path.Add(startPathNode);
path.Reverse();
return(path);
}
return(null);
}
