public void initNodes()
{
nodesMap.Clear();
for (int i = 0; i < grid.NumberOfCells; i++)
{
nodesMap[i] = new CLAStarNode(i, grid.GetCellCenter(i));
}
//设置每个节点的左右上下一周的节点
for (int i = 0; i < grid.NumberOfCells; i++)
{
CLAStarNode left = null;
nodesMap.TryGetValue(grid.LeftIndex(i), out left);
CLAStarNode right = null;
nodesMap.TryGetValue(grid.RightIndex(i), out right);
CLAStarNode up = null;
nodesMap.TryGetValue(grid.UpIndex(i), out up);
CLAStarNode down = null;
nodesMap.TryGetValue(grid.DownIndex(i), out down);
CLAStarNode leftUp = null;
nodesMap.TryGetValue(grid.LeftUpIndex(i), out leftUp);
CLAStarNode leftDown = null;
nodesMap.TryGetValue(grid.LeftDownIndex(i), out leftDown);
CLAStarNode rightUp = null;
nodesMap.TryGetValue(grid.RightUpIndex(i), out rightUp);
CLAStarNode rightDown = null;
nodesMap.TryGetValue(grid.RightDownIndex(i), out rightDown);
if (nodesMap[i] != null)
{
nodesMap[i].init(left, right, up, down, leftUp, leftDown, rightUp, rightDown);
}
}
}