/// <summary>
/// 方法：寻路算法
/// </summary>
///<param name="sg">起点</param>
///<param name="eg">终点</param>
///<param name="map">Map类的实例</param>
///<returns>PacGrid：返回路径起点</returns>
internal PacGrid Find(PacGrid sg, PacGrid eg, PacMap map)
{
openList.Clear();
closeList.Clear();
openList.Add(sg);
PacGrid g;
int i = 0;
while (!IsInList(eg.X, eg.Y, openList) || openList.Count == 0)
{
g = GetMinFFromList(openList);
if (g != null)
{
openList.Remove(g);
closeList.Add(g);
CheckAround(g, eg, map);
}
else
{
return(g);
}
i++;
}
PacGrid tmpg = GetGridFromList(eg, openList);
return(Save(tmpg));
}
/// <summary>
/// 方法：追击寻路
/// </summary>
private void Chase()
{
CurrentGrid = nextGrid;
nextGrid = LookAt(CurrentGrid, PacmanGrid);
//if (nextGrid.sunGrid != null)
// nextGrid = nextGrid.sunGrid;
}
/// <summary>
/// 方法：逃跑寻路
/// </summary>
private void Flee()
{
CurrentGrid = nextGrid;
PacGrid gg = DodgePoint(CurrentGrid, PacmanGrid, SensingRange);
nextGrid = LookAt(CurrentGrid, gg);
//if (nextGrid.sunGrid != null)
// nextGrid = nextGrid.sunGrid;
}
/// <summary>
/// 方法：怪物初始化
/// </summary>
private void EnemyReset()
{
dest = BeginPoint.transform.position;
dX = (int)dest.x;
dY = (int)dest.y;
nextGrid = new PacGrid()
{
X = dX, Y = dY
};
}
/// <summary>
/// 方法：寻找路径
/// </summary>
/// <param name="sg">寻路起点</param>
/// <param name="eg">寻路终点</param>
/// <returns>PacGrid：返回路径的起点</returns>
private PacGrid LookAt(PacGrid sg, PacGrid eg)
{
ClearPath();
sg.LandAttribute = 1;
mapSample.StartGrid = sg;
eg.LandAttribute = 1;
mapSample.EndGrid = eg;
//寻路
return(path.Find(mapSample.StartGrid, mapSample.EndGrid, mapSample));
}
/// <summary>
/// 方法：对所有网格的地形属性进行初始化设置从而生成一张地图
/// </summary>
///<param name="grid">当前节点</param>
///<param name="landform">地形选项</param>
internal void MapGridSet(PacGrid grid, byte landform)
{
if (landform > landTypes)
{
return;
}
else
{
grid.LandAttribute = landform;
}
}
/// <summary>
/// 方法：从指定列表里获取指定节点
/// </summary>
///<param name="grid">节点</param>
///<param name="list">列表</param>
/// <returns>Grid：返回指定节点</returns>
protected PacGrid GetGridFromList(PacGrid grid, List <PacGrid> list)
{
foreach (PacGrid g in list)
{
if (g.X == grid.X && g.Y == grid.Y)
{
return(g);
}
}
return(null);
}
/// <summary>
/// 方法：巡逻寻路
/// </summary>
private void Patrol()
{
CurrentGrid = nextGrid;
//if (nextGrid.sunGrid != null)
// nextGrid = nextGrid.sunGrid;
//else
//{
PacGrid gg = PatrolTarget(CurrentGrid, PatrolRange);
nextGrid = LookAt(CurrentGrid, gg);
//}
}
/// <summary>
/// 方法：寻找巡逻范围内所有路径点
/// </summary>
/// <param name="sg">当前位置</param>
/// <param name="gripMap">网格路径图</param>
/// <param name="range">范围</param>
/// <returns>List PacGrid ：路径点集合</returns>
private List <PacGrid> isInRange(PacGrid sg, PacGrid[,] gripMap, int range)
{
List <PacGrid> gripPath = new List <PacGrid>();
foreach (PacGrid g in gripMap)
{
if (g.LandAttribute == 1 && GetDistance(sg, g) < range)
{
gripPath.Add(g);
}
}
return(gripPath);
}
/// <summary>
/// 方法：保存路径
/// </summary>
///<param name="g">节点</param>
internal PacGrid Save(PacGrid g)
{
PacGrid TransGrid;
while (g.fatherGrid != null)
{
g.PathAttribute = true;
TransGrid = g;
g = g.fatherGrid;
g.sunGrid = TransGrid;
}
return(g);
}
/// <summary>
/// 方法：巡逻范围内寻找躲避点
/// </summary>
/// <param name="sg">当前位置</param>
/// <param name="Target">目标位置</param>
/// <param name="range">巡逻范围</param>
/// <returns>PacGrid：躲避点</returns>
private PacGrid DodgePoint(PacGrid sg, PacGrid Target, int range)
{
List <PacGrid> gripPath = isInRange(sg, gripMap, range);
PacGrid rg = gripPath[0];
foreach (PacGrid g in gripPath)
{
if (GetDistance(Target, g) > GetDistance(Target, rg))
{
rg = g;
}
}
return(rg);
}
/// <summary>
/// 方法：计算G耗费
/// </summary>
///<param name="x">坐标x</param>
///<param name="y">坐标y</param>
///<param name="sg">起点</param>
/// <returns>Int：G值</returns>
protected int GetGridCostG(PacGrid CurrentGrid, PacGrid sg)
{
//if (CurrentGrid.fatherGrid != null)
// return (sg.X == CurrentGrid.X || sg.Y == CurrentGrid.Y) ? CurrentGrid.fatherGrid.GCostAttribute + 10 : CurrentGrid.fatherGrid.GCostAttribute + 21;
//else
// return 0;
if (CurrentGrid.fatherGrid != null)
{
return((sg.X == CurrentGrid.X || sg.Y == CurrentGrid.Y) ? sg.GCostAttribute + 10 : sg.GCostAttribute + 14);
}
else
{
return(0);
}
}
/// <summary>
/// 构造方法：初始化地图
/// </summary>
///<param name="x">地图长</param>
///<param name="y">地图宽</param>
public PacMap(int x, int y)
{
LenX = x;
LenY = y;
simpleMap = new PacGrid[LenX, LenY];
for (int i = 0; i < LenX; i++)
{
for (int j = 0; j < LenY; j++)
{
simpleMap[i, j] = new PacGrid()
{
X = i, Y = j
};
}
}
}
/// <summary>
/// 方法：从指定列表中获取F值最小的节点
/// </summary>
///<param name="list">列表</param>
/// <returns>Grid：F值最小的节点</returns>
protected PacGrid GetMinFFromList(List <PacGrid> list)
{
PacGrid rg = new PacGrid();
if (list.Count == 0)
{
return(null);
}
rg = list[0];
//int tmpF = list[0].GCostAttribute + list[0].HCostAttribute;
foreach (PacGrid g in list)
{
if (g.GCostAttribute + g.HCostAttribute < rg.GCostAttribute + rg.HCostAttribute)
{
rg = g;
}
}
return(rg);
}
/// <summary>
/// 方法：路径记忆清除
/// </summary>
private void ClearPath()
{
PacGrid bg;
while (nextGrid.sunGrid != null)
{
nextGrid = nextGrid.sunGrid;
}
while (nextGrid.fatherGrid != null)
{
bg = nextGrid;
nextGrid = nextGrid.fatherGrid;
bg.fatherGrid = null;
}
while (nextGrid.sunGrid != null)
{
bg = nextGrid;
nextGrid = nextGrid.sunGrid;
bg.sunGrid = null;
}
}
/// <summary>
/// 方法：检查当前节点周边的节点
/// </summary>
///<param name="sg">当前节点</param>
///<param name="eg">终点</param>
///<param name="map">Map类的实例</param>
protected void CheckAround(PacGrid sg, PacGrid eg, PacMap map) //
{
int gridmapRow = map.LenY; //获取地图的行数
int gridmapCol = map.LenX; //获取地图的列数
PacGrid[,] gridmap = map.simpleMap;
for (int i = sg.X - 1; i < sg.X + 2; i++)
{
for (int j = sg.Y - 1; j < sg.Y + 2; j++) //筛选出相邻点
{
if (i < 0 || i > gridmapCol - 1 || j < 0 || j > gridmapRow - 1) //若超出地图，pass
{
continue;
}
if (gridmap[i, j].LandAttribute == 0 || IsInList(i, j, closeList) || (i == sg.X && j == sg.Y))//若为障碍点/已考虑节点/当前点，pass
{
continue;
}
gridmap[i, j].HCostAttribute = GetGridCostH(i, j, eg); //计算H值(此节点到目标节点的移动损耗)
if (!IsInList(i, j, openList)) //不在open列表，则加入
{
openList.Add(gridmap[i, j]); //加入open列表
gridmap[i, j].fatherGrid = sg; //将此节点的父节点设为当前节点
gridmap[i, j].GCostAttribute = GetGridCostG(gridmap[i, j], sg); //计算G值(从起点到此节点的移动损耗)
}
else
{
int k = GetGridCostG(gridmap[i, j], sg);
if (gridmap[i, j].GCostAttribute > k) //如果此节点经由当前节点离起点更近，则指向当前节点
{
gridmap[i, j].GCostAttribute = k; //更新G值
gridmap[i, j].fatherGrid = sg; //更新父节点
}
}
}
}
}
/// <summary>
/// 方法：计算H耗费
/// </summary>
///<param name="x">坐标x</param>
///<param name="y">坐标y</param>
///<param name="eg">终点</param>
/// <returns>Int：H值</returns>
protected int GetGridCostH(int x, int y, PacGrid eg)
{
return(Math.Abs(x - eg.X) + Math.Abs(y - eg.Y));
}
/// <summary>
/// 方法：计算两个格子的路程
/// </summary>
/// <param name="sg">起点</param>
/// <param name="eg">终点</param>
/// <returns>int：距离</returns>
protected int GetDistance(PacGrid sg, PacGrid eg)
{
return((int)Math.Abs(sg.X - eg.X) + (int)Math.Abs(sg.Y - eg.Y));
}
/// <summary>
/// 方法：固定频率执行
/// </summary>
private void FixedUpdate()
{
if (transform.position != PacMan.transform.position && enemyStatus != EnemyStatus.Still)
{
if (isReset == false)
{
Vector2 temp = Vector2.MoveTowards(transform.position, dest, PacManSpeed);
enemyRigidbody2d.MovePosition(temp);
if ((Vector2)transform.position == dest)
{
if (dest.x == dX && dest.y == dY)
{
if (nextGrid.sunGrid != null)
{
nextGrid = nextGrid.sunGrid;
}
else
{
//PacGrid gg = PatrolTarget(nextGrid, PatrolRange);
//nextGrid = LookAt(nextGrid, gg);
CarryOut(enemyStatus);
}
dX = nextGrid.X;
dY = nextGrid.Y;
if (gripMap[dX, dY].LandAttribute != 0)
{
dest = new Vector2(dX, dY);
}
}
if (isChase == true)
{
if (GetDistance(nextGrid, PacmanGrid) <= SensingRange)
{
enemyStatus = EnemyStatus.Chase;
}
else
{
enemyStatus = EnemyStatus.Patrol;
}
}
}
Vector2 dir = dest - (Vector2)transform.position;
GetComponent <Animator>().SetFloat("DirX", dir.x);
GetComponent <Animator>().SetFloat("DirY", dir.y);
}
else
{//归元
isReset = false;
EnemyReset();
}
}
PacmanGrid = new PacGrid()
{
X = (int)PacMan.transform.position.x, Y = (int)PacMan.transform.position.y
};
if (LastEnemyStatus != enemyStatus)
{
CarryOut(enemyStatus);
}
LastEnemyStatus = enemyStatus;
}
/// <summary>
/// 方法：巡逻范围内随机寻点
/// </summary>
/// <param name="sg">当前位置</param>
/// <param name="range">巡逻范围</param>
/// <returns>PacGrid：寻找到的随机点</returns>
private PacGrid PatrolTarget(PacGrid sg, int range)
{
List <PacGrid> gripPath = isInRange(sg, gripMap, range);
return(gripPath[UnityEngine.Random.Range(0, gripPath.Count) - 1]);
}
