/// <summary>
/// 导航
/// </summary>
/// <param name="battleMap">地图信息</param>
/// <param name="from">从哪出发</param>
/// <param name="to">到哪里去</param>
/// <param name="path">路径</param>
/// <param name="searched">探索过但没采用的</param>
/// <returns>是否导航成功</returns>
public bool Navigate(
BattleMapData battleMap,
GridUnitData from,
GridUnitData to,
List <GridUnitData> path,
List <GridUnitData> searched)
{
//没有设置地图
if (battleMap == null)
{
return(false);
}
if (path != null)
{
path.Clear();
}
if (searched != null)
{
searched.Clear();
}
int tryTimes = battleMap.GridCount;
List <NavigationData> opening = new List <NavigationData>();
opening.Add(GetEmptyNavigationData(from, null, 0, from.Distance(to)));
int retry = 0;
bool catched = false;
//当前探索方向
int curDir = 0;
//上次探索方向
int lastDir = 0;
//每次检测方向的次数
int checkTimes = 0;
//判断是否需要遍历open列表
NavigationData gift = null;
//距离最近的格子(接下来要移动的)
NavigationData next_0 = null;
//距离次近的格子
NavigationData next_1 = null;
int minStep = EGameConstL.Infinity;
while (retry <= tryTimes && !catched)
{
++retry;
//从open中查找最近的节点
if (gift != null)
{
next_0 = gift;
gift = null;
}
else if (next_1 != null)
{
next_0 = next_1;
next_1 = null;
}
else
{
minStep = EGameConstL.Infinity;
for (int i = opening.Count - 1; i >= 0; --i)
{
if (!opening[i].open)
{
opening.RemoveAt(i);
}
else if (opening[i].F < minStep)
{
next_0 = opening[i];
minStep = next_0.F;
}
else if (next_1 == null && next_0 != null && opening[i].F == next_0.F)
{
next_1 = opening[i];
}
}
}
//标志为已关闭
next_0.open = false;
//放入已搜索中
if (searched != null)
{
searched.Add(next_0.thisGrid);
}
checkTimes = 6;
curDir = lastDir;
//遍历最近节点的周围6个节点，依次放入close中
int roads = next_0.thisGrid.passes;
while (checkTimes > 0)
{
//沿着当前探索方向继续探索
if ((roads & (1 << curDir)) != 0)
{
//获取该路通向的下一个item
GridUnitData sibling = battleMap.GetGridDataByDir(next_0.thisGrid.row, next_0.thisGrid.column, curDir);
if (sibling == null)
{
//没路
++curDir;
curDir = (curDir > 5) ? 0 : curDir;
--checkTimes;
continue;
}
//如果这个不能移动
else if (sibling.GridType == GridType.Obstacle)
{
//没路
++curDir;
curDir = (curDir > 5) ? 0 : curDir;
--checkTimes;
continue;
}
else
{
//如果这个item就是目标
if (sibling.Equals(to))
{
catched = true;
if (path != null)
{
NavigationData current = next_0;
while (current != null)
{
if (current.thisGrid != from)
{
path.Add(current.thisGrid);
}
current = current.preGrid;
}
}
break;
}
else
{
//尝试判断这个是否为closed
NavigationData nd = sibling.tempRef == null ? null : (NavigationData)(sibling.tempRef);
if (nd == null)
{
//这个格子没有探索过，新建并添加
nd = GetEmptyNavigationData(sibling, next_0, next_0.G + 1, sibling.Distance(to));
//这个格子不错哦
if (nd.F <= next_0.F && gift == null)
{
//保存礼物
gift = nd;
//记录下次起始的更新方向
lastDir = curDir;
}
//比第二目标好
else if (next_1 != null && nd.F < next_1.F)
{
//替换第二目标
next_1 = nd;
opening.Add(nd);
}
else
{
//已经设置了礼物，因此只能放入opening列表中，以后再更新了呢
opening.Add(nd);
}
}
else
{
//只处理没有被探索过的格子
if (nd.open)
{
//已经在Open列表中了
if ((next_0.G + 1) < nd.G)
{
//比原来的近，应该不可能
nd.G = next_0.G + 1;
nd.H = sibling.Distance(to);
nd.F = nd.G + nd.H;
nd.preGrid = next_0;
nd.thisGrid = sibling;
}
//这个格子不错哦
if (nd.F <= next_0.F && gift == null)
{
gift = nd;
//保存当前探索方向
lastDir = curDir;
}
else if (next_1 != null && nd.F < next_1.F)
{
//替换第二目标
next_1 = nd;
}
}
}
}
}
}
++curDir;
curDir = (curDir > 5) ? 0 : curDir;
--checkTimes;
}
}
opening.Clear();
//重置池子
ResetPool();
return(catched);
}
//生成地图
private void GenerateMap(int width, int height, int obstacleCount, int gap)
{
//创建地图
mapData = BattleMapManager.Instance.CreateMap(width, height, obstacleCount, gap);
}