private void IdentifySuccessors(JpsPathNode node)
{
int endX = m_EndNode.cell.row;
int endY = m_EndNode.cell.col;
int x = node.cell.row;
int y = node.cell.col;
FindNeighbors(node);
int ct = m_Neighbors.Count;
for (int i = 0; i < ct; ++i)
{
CellPos pos = m_Neighbors[i];
CellPos jumpPoint = DoJump(pos.row, pos.col, x, y);
if (jumpPoint.row >= 0 && jumpPoint.col >= 0)
{
int jx = jumpPoint.row;
int jy = jumpPoint.col;
if (m_CloseSet.ContainsKey(jumpPoint))
{
continue;
}
Vector2 pos1 = new Vector2(jx, jy);
Vector2 pos2 = new Vector2(x, y);
float d = (pos1 - pos2).magnitude;
float ng = node.from_start_cost + d;
bool isOpened = true;
JpsPathNode jumpNode;
if (!m_OpenNodes.TryGetValue(jumpPoint, out jumpNode))
{
jumpNode = new JpsPathNode(jumpPoint);
isOpened = false;
}
if (!isOpened || ng < jumpNode.from_start_cost)
{
jumpNode.from_start_cost = ng;
jumpNode.cost = jumpNode.from_start_cost + CalcHeuristic(jumpPoint);
jumpNode.prev = node;
if (!isOpened)
{
m_OpenQueue.Push(jumpNode);
m_OpenNodes.Add(jumpPoint, jumpNode);
}
else
{
int index = IndexOpenQueue(jumpNode);
m_OpenQueue.Update(index, jumpNode);
}
}
}
}
}
private int IndexOpenQueue(JpsPathNode node)
{
int ct = m_OpenQueue.Count;
for (int i = 0; i < ct; ++i)
{
JpsPathNode n = m_OpenQueue[i];
if (n.cell.row == node.cell.row && n.cell.col == node.cell.col)
{
return(i);
}
}
return(-1);
}
private bool isEndNode(JpsPathNode node)
{
return(isEndNode(node.cell));
}
private void FindNeighbors(JpsPathNode node)
{
int x = node.cell.row;
int y = node.cell.col;
m_Neighbors.Clear();
JpsPathNode parent = node.prev;
if (null != parent)
{
int px = parent.cell.row;
int py = parent.cell.col;
int dx = (x == px ? 0 : (x - px) / Math.Abs(x - px));
int dy = (y == py ? 0 : (y - py) / Math.Abs(y - py));
if (dx != 0 && dy != 0)
{
if (IsWalkable(x, y + dy))
{
m_Neighbors.Add(new CellPos(x, y + dy));
}
if (IsWalkable(x + dx, y))
{
m_Neighbors.Add(new CellPos(x + dx, y));
}
if (IsWalkable(x, y + dy) || IsWalkable(x + dx, y))
{
m_Neighbors.Add(new CellPos(x + dx, y + dy));
}
if (!IsWalkable(x - dx, y) && IsWalkable(x, y + dy))
{
m_Neighbors.Add(new CellPos(x - dx, y + dy));
}
if (!IsWalkable(x, y - dy) && IsWalkable(x + dx, y))
{
m_Neighbors.Add(new CellPos(x + dx, y - dy));
}
}
else
{
if (dx == 0)
{
if (IsWalkable(x, y + dy))
{
if (IsWalkable(x, y + dy))
{
m_Neighbors.Add(new CellPos(x, y + dy));
}
if (!IsWalkable(x + 1, y))
{
m_Neighbors.Add(new CellPos(x + 1, y + dy));
}
if (!IsWalkable(x - 1, y))
{
m_Neighbors.Add(new CellPos(x - 1, y + dy));
}
}
}
else
{
if (IsWalkable(x + dx, y))
{
if (IsWalkable(x + dx, y))
{
m_Neighbors.Add(new CellPos(x + dx, y));
}
if (!IsWalkable(x, y + 1))
{
m_Neighbors.Add(new CellPos(x + dx, y + 1));
}
if (!IsWalkable(x, y - 1))
{
m_Neighbors.Add(new CellPos(x + dx, y - 1));
}
}
}
}
}
else
{
m_Neighbors = CellManager.GetCellAdjacent(node.cell, m_MinCell.row, m_MinCell.col, m_MaxCell.row, m_MaxCell.col);
}
}
private List <Vector3> FindPathImpl(CellPos start, CellPos target, Vector3[] addToFirst, Vector3[] addToLast)
{
m_OpenQueue.Clear();
m_OpenNodes.Clear();
m_CloseSet.Clear();
m_VisitedCells.Clear();
m_StartNode = new JpsPathNode(start);
m_EndNode = new JpsPathNode(target);
m_StartNode.cost = 0;
m_StartNode.from_start_cost = 0;
m_OpenQueue.Push(m_StartNode);
m_OpenNodes.Add(m_StartNode.cell, m_StartNode);
JpsPathNode curNode = null;
while (m_OpenQueue.Count > 0)
{
curNode = m_OpenQueue.Pop();
if (m_RecordVisitedCells)
{
m_VisitedCells.Add(curNode.cell);
//LogSystem.Debug("row:{0} col:{1} cost:{2} from_start_cost:{3}", curNode.cell.row, curNode.cell.col, curNode.cost, curNode.from_start_cost);
}
m_OpenNodes.Remove(curNode.cell);
m_CloseSet.Add(curNode.cell, true);
if (isEndNode(curNode))
{
break;
}
IdentifySuccessors(curNode);
}
List <Vector3> path = new List <Vector3>();
if (isEndNode(curNode))
{
while (curNode != null)
{
JpsPathNode prev = curNode.prev;
if (null != prev)
{
prev.next = curNode;
}
curNode = prev;
}
if (null != addToFirst && addToFirst.Length > 0)
{
path.AddRange(addToFirst);
}
curNode = m_StartNode;
while (curNode != null)
{
Vector3 pt = m_CellMgr.GetCellCenter(curNode.cell.row, curNode.cell.col);
path.Add(pt);
curNode = curNode.next;
}
if (null != addToLast && addToLast.Length > 0)
{
path.AddRange(addToLast);
}
}
return(path);
}
