/// <summary>
/// Searchs the path.寻路
/// </summary>
/// <returns><c>true</c>, if path was searched,可以到达 <c>false</c> otherwise.不可到过</returns>
/// <param name="from">From.出发点坐标</param>
/// <param name="to">To.目标点坐标</param>
/// <param name="vectorList">Vector list.路径点坐标列表</param>
public bool searchPath(Vector3 from, Vector3 to, ref List <Vector3> vectorList)
{
if (!isIninted)
{
init();
}
if (vectorList == null)
{
vectorList = new List <Vector3>();
}
else
{
vectorList.Clear();
}
int fromIndex = grid.GetCellIndex(from);
int toIndex = grid.GetCellIndex(to);
if (fromIndex < 0 || toIndex < 0)
{
Debug.LogWarning("Can not reach");
return(false);
}
if (fromIndex == toIndex)
{
//就在目标点，直接判断为到达
vectorList.Add(from);
vectorList.Add(to);
return(true);
}
CLAStarNode fromNode = nodesMap[fromIndex];
if (fromNode.isObstruct)
{
fromNode = reviseFromNode(from, fromNode);
if (fromNode == null)
{
Debug.LogWarning("无法到达");
//无法到达
return(false);
}
}
CLAStarNode toNode = nodesMap[toIndex];
// 本次寻路的唯一key，（并发同时处理多个寻路时会用到）
string key = fromNode.index + "_" + toNode.index;
List <CLAStarNode> openList = new List <CLAStarNode>();
Dictionary <int, bool> closedList = new Dictionary <int, bool>();
// F值缓存
Dictionary <int, float> fValueMap = new Dictionary <int, float>();
//先把开始点加入到closedList
closedList[fromIndex] = true;
//计算一次open点列表
calculationOpenList(key, fromNode, toNode, ref fValueMap, ref openList, closedList);
//离目标点最近的节点
CLAStarNode nodeNearest = fromNode;
CLAStarNode node = null;
float dis4Target = -1;
float tmpdis4Target = 0;
int count = openList.Count;
bool canReach = false;
while (count > 0)
{
node = openList[count - 1];
openList.RemoveAt(count - 1); //从openlist中移除
closedList[node.index] = true; //设为closed
if (node.index == toNode.index)
{
//reached
nodeNearest = node;
canReach = true;
break;
}
// 设置离目标点最新的点
tmpdis4Target = distance(node, toNode);
if (dis4Target < 0 || tmpdis4Target < dis4Target)
{
dis4Target = tmpdis4Target;
nodeNearest = node;
}
//重新处理新的open点
calculationOpenList(key, node, toNode, ref fValueMap, ref openList, closedList);
count = openList.Count;
}
//回溯路径＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝
CLAStarNode parentNode = null;
if (canReach)
{
vectorList.Insert(0, to);
parentNode = nodeNearest.getParentNode(key);
}
else
{
parentNode = nodeNearest;
}
while (parentNode != null && parentNode != fromNode)
{
vectorList.Insert(0, parentNode.position);
parentNode = parentNode.getParentNode(key);
}
vectorList.Insert(0, from);
if (isFilterPathByRay)
{
filterPath(ref vectorList);
}
if (isSoftenPath)
{
CLAIPathUtl.softenPath(ref vectorList, softenPathType, softenFactor, cellSize);
}
return(canReach);
}
