private List <AStarNode> Pathfinding(AStarNode startNode, AStarNode endNode)
{
//重置起点的估价
startNode.GCost = 0;
startNode.HCost = 0;
_openList.Clear();
_openSet.Clear();
_closeSet.Clear();
//将开始节点加入到开启列表中
_openList.Add(startNode);
_openSet.Add(startNode);
while (_openList.Count > 0)
{
//从开启列表中找到总估价最低，且距离终点最近的点
AStarNode currentNode = _openList[0];
for (int i = 1; i < _openList.Count; i++)
{
if (_openList[i].TotalCost <= currentNode.TotalCost && _openList[i].HCost < currentNode.HCost)
{
currentNode = _openList[i];
}
}
_openList.Remove(currentNode);
_openSet.Remove(currentNode);
_closeSet.Add(currentNode);
//如果当前为终点节点，则创建最终路径
if (currentNode == endNode)
{
return(GeneratePath(startNode, endNode));
}
//遍历当前节点的相邻节点，更新估价并加入开启列表
GetNeighbor(currentNode);
for (int i = 0; i < _neighbors.Count; i++)
{
if (!_neighbors[i].IsCanWalk || _closeSet.Contains(_neighbors[i]))
{
continue;
}
int gCost = currentNode.GCost + _evaluation.Evaluation(currentNode, _neighbors[i]) + _neighbors[i].OCost;
if (gCost < _neighbors[i].GCost || !_openSet.Contains(_neighbors[i]))
{
_neighbors[i].GCost = gCost;
_neighbors[i].HCost = _evaluation.Evaluation(_neighbors[i], endNode);
_neighbors[i].Parent = currentNode;
if (!_openSet.Contains(_neighbors[i]))
{
_openList.Add(_neighbors[i]);
_openSet.Add(_neighbors[i]);
}
}
}
}
GlobalTools.LogWarning("A*：寻路失败，未找到合适的路径！");
return(null);
}
private List <AStarNode> WalkableNodefinding(AStarNode startNode, int cost)
{
//重置起点的估价
startNode.GCost = 0;
startNode.HCost = 0;
_openList.Clear();
_openSet.Clear();
_closeSet.Clear();
//将开始节点加入到开启列表中
_openList.Add(startNode);
_openSet.Add(startNode);
while (_openList.Count > 0)
{
//从开启列表中任意取出一个节点
AStarNode currentNode = _openList[0];
_openList.Remove(currentNode);
_openSet.Remove(currentNode);
_closeSet.Add(currentNode);
//遍历当前节点的相邻节点，更新估价，估价低于限制估价的加入开启列表，否则加入关闭列表
GetNeighbor(currentNode);
for (int i = 0; i < _neighbors.Count; i++)
{
if (!_neighbors[i].IsCanWalk || _closeSet.Contains(_neighbors[i]))
{
continue;
}
int gCost = currentNode.GCost + _evaluation.Evaluation(currentNode, _neighbors[i]) + _neighbors[i].OCost;
if (gCost <= cost)
{
if (gCost < _neighbors[i].GCost || !_openSet.Contains(_neighbors[i]))
{
_neighbors[i].GCost = gCost;
_neighbors[i].Parent = currentNode;
if (!_openSet.Contains(_neighbors[i]))
{
_openList.Add(_neighbors[i]);
_openSet.Add(_neighbors[i]);
}
}
}
else
{
_neighbors[i].GCost = gCost;
_neighbors[i].Parent = currentNode;
if (_openSet.Contains(_neighbors[i]))
{
_openList.Remove(_neighbors[i]);
_openSet.Remove(_neighbors[i]);
}
_closeSet.Add(_neighbors[i]);
}
}
}
//找到所有估价合格的节点
_resultNodes.Clear();
foreach (AStarNode node in _closeSet)
{
if (node.GCost <= cost)
{
_resultNodes.Add(node);
}
}
return(_resultNodes);
}
public override int Evaluation(AStarNode nodea, AStarNode nodeb)
{
return(Mathf.Abs(nodea.XIndex - nodeb.XIndex) + Mathf.Abs(nodea.YIndex - nodeb.YIndex));
}
