private void stepSearch(Point start, Point end)
{
//找出F值最小的点
var tempPoint = OpenList.PopMinPoint();
CloseList.Add(tempPoint);
var neighbors = GetNeighbors(tempPoint);
int count = neighbors.Count;
for (int i = 0; i < count; i++)
{
Point neighbor = neighbors[i];
var neighborPoint = GetNeighborNode(tempPoint, neighbor, end);
if (neighborPoint != null)
{
if (CloseList.Contains(neighborPoint))
{
continue;
}
neighborPoint.ParentPoint = tempPoint;
neighborPoint.G = CalcG(tempPoint, neighborPoint);
neighborPoint.H = CalcH(end, neighborPoint);
neighborPoint.CalcF();
OpenList.Add(neighborPoint);
var G = CalcG(tempPoint, neighborPoint);
if (G < neighborPoint.G)
{
neighborPoint.ParentPoint = tempPoint;
neighborPoint.F = neighborPoint.H + G;
}
PointCallBack?.Invoke(neighborPoint);
}
}
}
protected void NotFoundPoint(Point tempStart, Point end, Point point)
{
point.ParentPoint = tempStart;
point.G = CalcG(tempStart, point);
point.H = CalcH(end, point);
point.CalcF();
OpenList.Add(point);
SearchCallBack?.Invoke(point);
PointCallBack?.Invoke(point);
}
protected void FoundPoint(Point tempStart, Point point)
{
var G = CalcG(tempStart, point);
if (G < point.G)
{
point.ParentPoint = tempStart;
//point.G = G;
point.F = point.H + G;
PointCallBack?.Invoke(point);
}
}