public override bool StartFindWay(Map map, out WayNode path)
{
_openList.Clear();
_closeList.Clear();
_map = map;
var startNode = map.FindWayData.Entrance;
var endNode = map.FindWayData.Destination;
_startPos = startNode.Pos;
_endPos = endNode.Pos;
//起点终点不可达
if (!startNode.Walkable || !endNode.Walkable)
{
return(base.StartFindWay(map, out path));
}
var node = new AStarWayNode(_startPos, new int2(-1, -1));
node.CalcF(map);
_openList.Add(node);
while (_openList.Count > 0)
{
//获得F最小的点
var minFNode = GetMinF();
//从列表中移除
_openList.Remove(minFNode);
//加入关闭列表
_closeList.Add(minFNode);
var surroundPoints = GetSurround(map, minFNode);
foreach (var surroundPoint in surroundPoints)
{
var surround = (AStarWayNode)surroundPoint;
//在关闭列表中 丢弃
if (!_closeList.Contains(surround) && !_openList.Contains(surround))
{
surround.CalcF(map);
surround.Parent = minFNode.Current;
if (surround.Current.Equals(map.FindWayData.Destination.Pos))
{
path = surround;
return(true);
}
else
{
_openList.Add(surround);
}
}
}
}
return(base.StartFindWay(map, out path));
}