public static List <PathNode> Search(HierarchicalMapFactory factory, HierarchicalMap map, int maxLevel, Vector2Int startPos, Vector2Int goalPos, int maxRefineCount = int.MaxValue)
{
//首先插入起点和终点到图中
var startAbsId = factory.InsertAbstractNode(map, startPos);
var goalAbsId = factory.InsertAbstractNode(map, goalPos);
var path = SearchImpl(map, startAbsId, goalAbsId, maxLevel, maxRefineCount);
//可以在这里应用路径平滑
//搜索完毕后就移除起点和终点（如果常用，也可以留着）
factory.RemoveAbstractNode(map, goalAbsId);
factory.RemoveAbstractNode(map, startAbsId);
return(path);
}
private static List <IPathNode> HierarchicalSearch(HierarchicalMap hierarchicalMap, int maxLevel, ConcreteMap concreteMap, Position startPosition, Position endPosition)
{
var factory = new HierarchicalMapFactory();
var startAbsNode = factory.InsertAbstractNode(hierarchicalMap, startPosition);
var targetAbsNode = factory.InsertAbstractNode(hierarchicalMap, endPosition);
var maxPathsToRefine = int.MaxValue;
var hierarchicalSearch = new HierarchicalSearch();
var abstractPath = hierarchicalSearch.DoHierarchicalSearch(hierarchicalMap, startAbsNode, targetAbsNode, maxLevel, maxPathsToRefine);
var path = hierarchicalSearch.AbstractPathToLowLevelPath(hierarchicalMap, abstractPath, hierarchicalMap.Width, maxPathsToRefine);
var smoother = new SmoothWizard(concreteMap, path);
path = smoother.SmoothPath();
factory.RemoveAbstractNode(hierarchicalMap, targetAbsNode);
factory.RemoveAbstractNode(hierarchicalMap, startAbsNode);
return(path);
}
