bool checkPos(Pos cur, int dx, int dy)
{
var o_score = astar_search[cur.y + dy, cur.x + dx];
if (o_score != null && o_score.closed)
{
return(false);
}
var cur_score = astar_search[cur.y, cur.x];
Pos o_pos = new Pos(cur.x + dx, cur.y + dy);
if (mapInstance.map[cur.y + dy, cur.x + dx] == 8)
{
var a = new AScore(cur_score.G + 1, 0);
a.parent = cur;
astar_search[cur.y + dy, cur.x + dx] = a;
Debug.Log("寻路完成。");
return(true);
}
if (mapInstance.map[cur.y + dy, cur.x + dx] == 0)
{
if (o_score == null)
{// 在open表中没有该节点，计算该节点的h与g值，并把
var a = new AScore(cur_score.G + 1, Pos.AStarDistance(o_pos, mapInstance.endPos));
a.parent = cur;
astar_search[cur.y + dy, cur.x + dx] = a;
list.Add(o_pos);
}
else if (o_score.G > cur_score.G + 1)
{// 在Open表中有该节点，比较两个x的G值，更新目标节点的G值。
o_score.G = cur_score.G + 1;
o_score.parent = cur;
if (!list.Contains(o_pos))
{// 如果检查列表中没有该节点，加入
list.Add(o_pos);
}
}
}
return(false);
}
IEnumerator Astar_search()
{
astar_search = new AScore[map.GetLength(0), map.GetLength(1)];
List <Pos> list = new List <Pos>();
astar_search[StartPosition.y, StartPosition.x] = new AScore(0, 0);
list.Add(StartPosition);
// 每一个点的处理函数
Func func = (Pos cur, int ox, int oy) =>
{
var o_score = astar_search[cur.y + oy, cur.x + ox];
if (o_score != null && o_score.closed)
{
return(false);
}
var cur_score = astar_search[cur.y, cur.x];
Pos o_pos = new Pos(cur.x + ox, cur.y + oy);
if (map[cur.y + oy, cur.x + ox] == EndPoint)
{
var a = new AScore(cur_score.G + 1, 0);
a.parent = cur;
astar_search[cur.y + oy, cur.x + ox] = a;
Debug.Log("寻路完成");
return(true);
}
if (map[cur.y + oy, cur.x + ox] == 0)
{
if (o_score == null)
{
var a = new AScore(cur_score.G + 1, Pos.AStarDistance(o_pos, EndPosition));
a.parent = cur;
astar_search[cur.y + oy, cur.x + ox] = a;
list.Add(o_pos);
}
else if (o_score.G > cur_score.G + 1)
{
o_score.G = cur_score.G + 1;
o_score.parent = cur;
if (!list.Contains(o_pos))
{
list.Add(o_pos);
}
}
}
return(false);
};
while (list.Count > 0)
{
list.Sort((Pos p1, Pos p2) =>
{
AScore a1 = astar_search[p1.y, p1.x];
AScore a2 = astar_search[p2.y, p2.x];
//return a1.H.CompareTo(a2.H);
return(a1.CompareTo(a2));
});
Pos cur = list[0];
list.RemoveAt(0);
astar_search[cur.y, cur.x].closed = true;
if (cur.y > 0)
{
if (func(cur, 0, -1))
{
break;
}
}
if (cur.y < Height - 1)
{
if (func(cur, 0, 1))
{
break;
}
}
if (cur.x > 0)
{
if (func(cur, -1, 0))
{
break;
}
}
if (cur.x < Width - 1)
{
if (func(cur, 1, 0))
{
break;
}
}
short[,] temp_map = new short[map.GetLength(0), map.GetLength(1)];
for (int i = 0; i < Height; ++i)
{
for (int j = 0; j < Width; ++j)
{
temp_map[i, j] = short.MaxValue;
//if (map_search[i,j] != null && map_search[i,j].closed)
if (astar_search[i, j] != null)
{
temp_map[i, j] = (short)astar_search[i, j].F;
}
}
}
Show_Search(temp_map);
yield return(new WaitForSeconds(0.01f));
}
yield return(null);
}
//===============-BFS-================================================================================
#endregion
#region DFS
//===============-DFS-================================================================================
IEnumerator DFS()
{
bfs_search = new short[map.GetLength(0), map.GetLength(1)];
// map_search和map一样大小，每个元素的值：32767(short.MaxValue)代表不可通过或者未探索，其他值代表移动的步数
for (int i = 0; i < H; ++i)
{
for (int j = 0; j < W; ++j)
{
bfs_search[i, j] = short.MaxValue; //先初始化一个标记数组。
}
}
List <Pos> queue = new List <Pos>();
Func func = (Pos cur, int ox, int oy) =>
{
//END=9/START=8
if (map[cur.y + oy, cur.x + ox] == END) //到达END=9
{
bfs_search[cur.y + oy, cur.x + ox] = (short)(bfs_search[cur.y, cur.x] + 1); //==-32768
Debug.Log("Done");
return(true);
}
//起始点的下一个点不为墙并且在地图内
if (map[cur.y + oy, cur.x + ox] == 0) //bfs_search[startpos,startpos]=[0,0]下面设置，这里判断是否在地图内和不是墙
{
if (bfs_search[cur.y + oy, cur.x + ox] > bfs_search[cur.y, cur.x] + 1) //最初始的bfs_search[cur.y,cur.x]=0；
{
bfs_search[cur.y + oy, cur.x + ox] = (short)(bfs_search[cur.y, cur.x] + 1); //搜索过的地方变成1,标记将去的点为已走过
queue.Add(new Pos(cur.x + ox, cur.y + oy)); //第二个点入队列表示为current了
}
}
return(false);
};
bfs_search[startPos.y, startPos.x] = 0; //设置起始点的步数为0
queue.Add(startPos);
while (queue.Count > 0)
{
int min_i = 0;
Pos cur = queue[min_i];
float min_dist = Pos.AStarDistance(cur, endPos);
for (int i = 0; i < queue.Count; i++)
{
float d = Pos.AStarDistance(queue[i], endPos);
if (d < min_dist)
{
min_i = i;
cur = queue[i];
min_dist = 0;
}
}
queue.RemoveAt(min_i);
//上
if (cur.y > 0)
{
//000
//000
//000 ->2 往上移动为2-1=1 变成第一行
if (func(cur, 0, -1))
{
break;
}
}
//下
if (cur.y < H - 1)
{
if (func(cur, 0, 1))
{
break;
}
}
//左
if (cur.x > 0)
{
if (func(cur, -1, 0))
{
break;
}
}
//右
if (cur.x < W - 1)
{
if (func(cur, 1, 0))
{
break;
}
}
if (bfs_search[cur.y, cur.x] > cur_depth) //最初cur_depth=0 第一次后变成1
{
cur_depth = bfs_search[cur.y, cur.x];
RefreshPath(bfs_search);
yield return(new WaitForSeconds(0.1f));
}
}
gameState = GameState.ShowPath;
yield return(null);
}
private AScore[,] astar_search; //是一个而为的点的信息，点里包含权重，F = G + H ; G为点要走过自身的格子距离，H为到目标点的距离
IEnumerator AStar()
{
astar_search = new AScore[map.GetLength(0), map.GetLength(1)]; //确保星可以遍布在地图每个点
List <Pos> MapTargetPoslist = new List <Pos>(); //只用来保存要涉及到的点的坐标
astar_search[startPos.y, startPos.x] = new AScore(0, 0); //让第一个起始点的G和H为0
MapTargetPoslist.Add(startPos); //将起始点记录进我们路线 ，因为是从此出发
Func func = (Pos curPos, int ox, int oy) =>
{
var tar_Score = astar_search[curPos.y + oy, curPos.x + ox]; //表示下一个去的点；
if (tar_Score != null && tar_Score.closed)
{
return(false);
}
var cur_Score = astar_search[curPos.y, curPos.x]; //表示当前所在的点
Pos nextPos = new Pos(curPos.x + ox, curPos.y + oy);
if (map[curPos.y + oy, curPos.x + ox] == END)
{
var end_Score = new AScore(cur_Score.G + 1, 0);
end_Score.parent = curPos;
astar_search[curPos.y + oy, curPos.x + ox] = end_Score;
Debug.Log("Done");
return(true);
}
if (map[curPos.y + oy, curPos.x + ox] == 0) //表示下一个点我们还没走过
{
if (tar_Score == null)
{
var a = new AScore(cur_Score.G + 1, Pos.AStarDistance(nextPos, endPos)); //AStarDistance计算了下一个点 中点到endPos的距离放在H里，然后创建下个点
a.parent = curPos;
astar_search[curPos.y + oy, curPos.x + ox] = a;
MapTargetPoslist.Add(nextPos);
//Debug.Log("next "+curPos.x+" "+curPos.y);
}
}
return(false);
};
while (MapTargetPoslist.Count > 0)
{
MapTargetPoslist.Sort((Pos p1, Pos p2) =>
{
AScore a1 = astar_search[p1.y, p1.x];
AScore a2 = astar_search[p2.y, p2.x];
return(a1.CompareTo(a2));
}); //得到F最小的点放在list[0]
Pos cur = MapTargetPoslist[0];
MapTargetPoslist.RemoveAt(0);
astar_search[cur.y, cur.x].closed = true; //标记当前点为 以访问;
// 上
if (cur.y > 0)
{
if (func(cur, 0, -1))
{
break;
}
}
// 下
if (cur.y < H - 1)
{
if (func(cur, 0, 1))
{
break;
}
}
// 左
if (cur.x > 0)
{
if (func(cur, -1, 0))
{
break;
}
}
// 右
if (cur.x < W - 1)
{
if (func(cur, 1, 0))
{
break;
}
}
short[,] temp_map = new short[map.GetLength(0), map.GetLength(1)];
for (int i = 0; i < H; ++i)
{
for (int j = 0; j < W; ++j)
{
temp_map[i, j] = short.MaxValue;
//if (map_search[i,j] != null && map_search[i,j].closed)
if (astar_search[i, j] != null)
{
temp_map[i, j] = (short)astar_search[i, j].F;
}
}
}
RefreshPath(temp_map);
yield return(0);
}
Debug.Log("开始显示路线");
gameState = GameState.ShowPath;
yield return(null);
}
IEnumerator DFS()
{
bfs_search = new short[map.GetLength(0), map.GetLength(1)];
// map_search和map一样大小，每个元素的值：32767(short.MaxValue)代表不可通过或者未探索，其他值代表移动的步数
for (int i = 0; i < H; ++i)
{
for (int j = 0; j < W; ++j)
{
bfs_search[i, j] = short.MaxValue;
}
}
List <Pos> queue = new List <Pos>();
Func func = (Pos cur, int ox, int oy) =>
{
if (map[cur.y + oy, cur.x + ox] == END)
{
bfs_search[cur.y + oy, cur.x + ox] = (short)(bfs_search[cur.y, cur.x] + 1);
Debug.Log("寻路完成");
return(true);
}
if (map[cur.y + oy, cur.x + ox] == 0)
{
if (bfs_search[cur.y + oy, cur.x + ox] > bfs_search[cur.y, cur.x] + 1)
{
bfs_search[cur.y + oy, cur.x + ox] = (short)(bfs_search[cur.y, cur.x] + 1);
queue.Add(new Pos(cur.x + ox, cur.y + oy));
}
}
return(false);
};
bfs_search[startPos.y, startPos.x] = 0;
queue.Add(startPos);
while (queue.Count > 0)
{
int min_i = 0;
Pos cur = queue[min_i];
float min_dist = Pos.AStarDistance(cur, endPos);
for (int i = 0; i < queue.Count; ++i)
{
float d = Pos.AStarDistance(queue[i], endPos);
if (d < min_dist)
{
min_i = i;
cur = queue[i];
min_dist = d;
}
}
queue.RemoveAt(min_i);
int last_count = queue.Count;
// 上
bool flag = false;
if (cur.y > 0)
{
if (func(cur, 0, -1))
{
break;
}
}
// 下
if (cur.y < H - 1)
{
if (func(cur, 0, 1))
{
break;
}
}
// 左
if (cur.x > 0)
{
if (func(cur, -1, 0))
{
break;
}
}
// 右
if (cur.x < W - 1)
{
if (func(cur, 1, 0))
{
break;
}
}
RefreshPath(bfs_search);
yield return(new WaitForSeconds(0.05f));
}
gameState = GameState.ShowPath;
yield return(null);
}
IEnumerator initDFS()
{
for (int i = 0; i < Height; i++)
{
for (int j = 0; j < Width; j++)
{
dfs[i, j] = short.MaxValue;
}
}
dfs[mapInstance.startPos.y, mapInstance.startPos.x] = 0;
quene.Add(mapInstance.startPos);
while (quene.Count > 0)
{
int min_i = 0;
Pos cur = quene[min_i];
float min_dist = Pos.AStarDistance(cur, mapInstance.endPos);
for (int i = 0; i < quene.Count; i++)
{
float d = Pos.AStarDistance(quene[i], mapInstance.endPos);
if (d < min_dist)
{
min_i = i;
cur = quene[i];
min_dist = d;
}
}
quene.RemoveAt(min_i);
int last_Count = quene.Count;
if (cur.y > 0)
{
if (checkPos(cur, 0, -1, 0))
{
break;
}
}
if (cur.y < Height - 1)
{
if (checkPos(cur, 0, 1, 1))
{
break;
}
}
if (cur.x > 0)
{
if (checkPos(cur, -1, 0, 2))
{
break;
}
}
if (cur.x < Width - 1)
{
if (checkPos(cur, 1, 0, 3))
{
break;
}
}
Refresh();
yield return(new WaitForSeconds(0.05f));
}
yield return(null);
for (int i = 0; i < Height; i++)
{
for (int j = 0; j < Width; j++)
{
allbfs += dfs[i, j].ToString() + ' ';
}
allbfs += '\n';
}
// Refresh();
System.IO.File.WriteAllText(Application.dataPath + "//" + "dfsMap.txt", allbfs, Encoding.UTF8);
StartCoroutine(visualPath());
}