Ejemplo n.º 1
0
    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);
            }
        }
    }