public AStarNode2D(AStarCost aStarCost, float cost, int x, int y, AStarNode goalNode = null, AStarNode parent = null )
: base(parent, goalNode, cost)
{
_x = x;
_y = y;
_aStarCost = aStarCost;
}
public AStar(AStarCost aStarCost, int fromX, int fromY, int toX, int toY)
{
openList = new Heap();
closedList = new Heap();
_solution = new List<AStarNode>();
AStarNode2D goalNode = new AStarNode2D(aStarCost, 0, toX, toY);
startNode = new AStarNode2D(aStarCost, 0, fromX, fromY, goalNode);
}
public AStar(AStarCost aStarCost, int fromX, int fromY, int toX, int toY)
{
openList = new Heap();
closedList = new Heap();
_solution = new List <AStarNode>();
AStarNode2D goalNode = new AStarNode2D(aStarCost, 0, toX, toY);
startNode = new AStarNode2D(aStarCost, 0, fromX, fromY, goalNode);
}
private bool GetPositionAStar(AStarCost aStar, Vector2Int to, ref List <AStarCost> routeAStarList, ref List <AStarCost> cacheAStarCostList, MapPresenter mapPresenter, CharacterPresenter characterPresenter)
{
List <AStarCost> aroundAStarList = new List <AStarCost>();
foreach (Vector2Int direction in _directions)
{
var p = aStar.position + direction;
//cacheにあればOpenしない
if (cacheAStarCostList.Any(aster => aster.position == p) || !mapPresenter.IsCanMoveAStar(direction, aStar.position, characterPresenter.status.type))
{
continue;
}
AStarCost nowNode = new AStarCost
{
position = p,
cost = aStar.cost + 1
};
nowNode.estimateCost = EstimateCost(nowNode.position, to);
nowNode.distance = DistanceCost(nowNode.position, to);
nowNode.score = nowNode.cost + nowNode.estimateCost;
cacheAStarCostList.Add(nowNode);
aroundAStarList.Add(nowNode);
//目的地についたら
if (nowNode.position == to)
{
routeAStarList.Add(nowNode);
return(true);
}
}
if (aroundAStarList.Count < 1)
{
return(false);
}
cacheAStarCostList.First(_ => _.position == aStar.position).status = 2;
var nextAroundAStar = aroundAStarList.OrderBy(a => a.score).ThenBy(a => a.distance);
foreach (var nextAStar in nextAroundAStar)
{
if (GetPositionAStar(nextAStar, to, ref routeAStarList, ref cacheAStarCostList, mapPresenter,
characterPresenter))
{
routeAStarList.Add(nextAStar);
return(true);
}
}
return(false);
}
private Vector2Int[] GetDestinationWayList(Vector2Int from, Vector2Int to, MapPresenter mapPresenter, CharacterPresenter characterPresenter)
{
AStarCost nowNode = new AStarCost();
nowNode.position = from;
nowNode.cost = 0;
nowNode.estimateCost = EstimateCost(nowNode.position, to);
nowNode.score = nowNode.cost + nowNode.estimateCost;
var cacheAStarCostList = new List <AStarCost>()
{
nowNode
};
var routeAStarList = new List <AStarCost>();
GetPositionAStar(nowNode, to, ref routeAStarList, ref cacheAStarCostList, mapPresenter, characterPresenter);
if (routeAStarList.Count > 0)
{
routeAStarList.Reverse();
return(routeAStarList.Select(_ => _.position).ToArray());
}
return(new Vector2Int[] { });
}
public AStarNode2D(AStarCost aStarCost, float cost, int x, int y, AStarNode goalNode = null, AStarNode parent = null) : base(parent, goalNode, cost)
{
_x = x;
_y = y;
_aStarCost = aStarCost;
}