/// <summary>
/// 通过性测试
/// </summary>
/// <param name="args"></param>
/// <param name="neighborTerrain"></param>
/// <returns></returns>
private static bool PassabilityTest(RolePassabilityArgs args, Terrain neighborTerrain)
{
return((args.CanPassMountain == false && neighborTerrain == Terrain.Mountain) ||
(args.CanPassWater == false && neighborTerrain == Terrain.Ocean));
}
/// <summary>
/// 获取最短路径
/// </summary>
/// <param name="map">游戏地图</param>
/// <param name="start">起始点</param>
/// <param name="end">终点</param>
/// <param name="passabilityArgs">角色通过性参数</param>
/// <returns>路径数组</returns>
public List <Vector2Int> GetPath(GameMap map, Vector2Int start, Vector2Int end, RolePassabilityArgs passabilityArgs)
{
IComparer <NavigatePointArgs> NavigatePointArgsComparer = new NavigatePointArgs();
var openSet = new NavigatePointList();
var closeSet = new HashSet <Vector2Int>();
var result = new List <Vector2Int>();
var navigateCount = 0; // 寻路使用次数计数器
var navigateStartTime = DateTime.Now; // // 寻路用时计时器
openSet.Add(new NavigatePointArgs()
{
ActualCost = 0,
ExpectCoset = 0,
Position = start,
Parent = null,
});
while (openSet.IsEmpty())
{
navigateCount++;
var point = openSet.Min;
openSet.Remove(point);
if (point.Position != end)
{
closeSet.Add(point.Position);
List <NavigatePointArgs> neighbors = map[point.Position.x, point.Position.y]
.neighbors
.Where(x => x != null && closeSet.Contains(x.Value) == false)
.Select(x =>
{
var args = this.GetNavigatePointArgs(map, point.ActualCost, x.Value, end, passabilityArgs);
args.Parent = point;
return(args);
}).ToList();
openSet.AddRang(neighbors);
}
else
{
result = this.GetPath(point);
break;
}
}
var navigateTime = DateTime.Now - navigateStartTime;
Debug.Log($"寻路完成!\n路径{string.Join("=>", result)}\n" +
$"共计遍历{navigateCount}次,总耗时{navigateTime.TotalMilliseconds}ms");
return(result);
}
/// <summary>
/// 异步获取最短路径
/// </summary>
/// <param name="map">游戏地图</param>
/// <param name="start">起始点</param>
/// <param name="end">终点</param>
/// <param name="passabilityArgs">角色通过性参数</param>
/// <returns>路径数组</returns>
/// <returns></returns>
public async Task <List <Vector2Int> > GetPathAsync(GameMap map, Vector2Int start, Vector2Int end, RolePassabilityArgs passabilityArgs)
{
return(await Task.Run(() => this.GetPath(map, start, end, passabilityArgs)));
}
/// <summary>
/// 获取起始点至终点的导航点参数
/// </summary>
/// <param name="map">游戏地图</param>
/// <param name="startCost">其实费用</param>
/// <param name="start">起始点</param>
/// <param name="end">终点</param>
/// <param name="args">角色通过性参数</param>
/// <returns></returns>
private NavigatePointArgs GetNavigatePointArgs(GameMap map, int startCost, Vector2Int start, Vector2Int end, RolePassabilityArgs args)
{
Terrain neighborTerrain = map[start.x, start.y].Terrain;
int cost = PassabilityTest(args, neighborTerrain) == true ? int.MaxValue : neighborTerrain.GetCost();
return(new NavigatePointArgs()
{
ActualCost = cost + startCost,
ExpectCoset = this.GetExpectCoset(start, end),
Position = start,
});
}
