public long SquareDistance(PFPoint point)
{
long dx = x - point.x;
long dy = y - point.y;
return(dx * dx + dy * dy);
}
public PFAStarNode(PFPoint point, byte mask)
{
this.point = point;
this.mask = mask;
parent = null;
parentLinkedNode = null;
}
public void UpdatePosition(PFPoint point)
{
nearQuadNodes.Clear();
parent.FindNearQuadNodes(this, nearQuadNodes);
if (nearQuadNodes.Count > 0)
{
PFPoint movePoint = new PFPoint(0, 0);
foreach (var quadNode in nearQuadNodes)
{
if (quadNode == this)
{
continue;
}
long distanceSquare = point.SquareDistance(quadNode.point);
long dr = radius + quadNode.radius;
if (distanceSquare < dr * dr)
{
int distance = (int)Math.Sqrt(distanceSquare);
PFPoint tempMovePoint = point - quadNode.point;
movePoint = movePoint + tempMovePoint.normalized(radius + quadNode.radius - distance);
}
}
point += movePoint;
}
this.point = point;
Update();
}
/// <summary>
/// 圆和圆相交
/// </summary>
/// <param name="point1">圆心1</param>
/// <param name="radius1">半径1</param>
/// <param name="point2">圆心2</param>
/// <param name="radius2">半径2</param>
/// <returns></returns>
public static bool CircleCircleIntersect(PFPoint point1, int radius1, PFPoint point2, int radius2)
{
long distanceSquare = point1.SquareDistance(point2);
long dr = (long)(radius1 + radius2);
return(distanceSquare < dr * dr);
}
public int Distance(PFPoint point)
{
long dx = x - point.x;
long dy = y - point.y;
double lenS = (double)(dx * dx + dy * dy);
int len = (int)Math.Sqrt(lenS);
return(len);
}
public PFQuadCircle(PFPoint point, int radius)
{
shape = PFQuadShape.Circle;
nodeState = PFQuadNodeState.Out;
this.parent = null;
this.parentLinkNode = null;
this.point = point;
this.radius = radius;
nearQuadNodes = new List <PFQuadCircle>();
}
public void ResetRuntime(PFAStarPoint parent, PFPoint tiledPoint)
{
this.parent = parent;
this.tiledPoint = tiledPoint;
F = 0;
G = 0;
H = 0;
state = PFAStarPointState.Open;
step = 0;
}
public void AddMask(PFPoint point, PFAStarMask astarMask)
{
#if DEBUG
if (point.x < 0 || point.x >= width || point.y < 0 || point.y >= height)
{
Debug.Log(string.Format("ResetMaskRuntime 移除：坐标超出边界"));
return;
}
#endif
tiledMasks[point.x, point.y] |= (byte)astarMask;
}
public void ResetMaskRuntime(PFPoint point, byte astarMask)
{
#if DEBUG
if (point.x < 0 || point.x >= width || point.y < 0 || point.y >= height)
{
Debug.Log(string.Format("ResetMaskRuntime 移除：坐标超出边界"));
return;
}
#endif
astarMask |= tiledMasks[point.x, point.y];
tiledMasksRuntime[point.x, point.y] = astarMask;
}
/// <summary>
/// AABB于圆相交
/// </summary>
/// <param name="rect">AABB</param>
/// <param name="point">圆心</param>
/// <param name="radius">半径</param>
/// <returns></returns>
public static bool RectCircleIntersect(PFRect rect, PFPoint point, int radius)
{
long cx = (rect.x + rect.x1) / 2;
long cy = (rect.y + rect.y1) / 2;
long vx = Math.Abs(point.x - cx);
long vy = Math.Abs(point.y - cy);
long hx = rect.x1 - cx;
long hy = rect.y1 - cy;
long ux = Math.Max(vx - hx, 0);
long uy = Math.Max(vy - hy, 0);
return(ux * ux + uy * uy <= (long)radius * (long)radius);
}
public void UpdatePosition(PFPoint point)
{
int lastTiledX = this.point.x / parent.tiledWidth;
int lastTiledY = this.point.y / parent.tiledHeight;
int tiledX = point.x / parent.tiledWidth;
int tiledY = point.y / parent.tiledHeight;
if ((lastTiledX == tiledX) && (lastTiledY == tiledY))
{
this.point = point;
return;
}
parent.RemoveAStarNode(this);
this.point = point;
parent.AddAStarNode(this);
}
public PFAStarPoint CreatAStartPoint(PFAStarPoint parent, PFPoint tiledPoint)
{
PFAStarPoint aStartPoint = MctCacheManager.GetInstantiateFromCache <PFAStarPoint>();
if (aStartPoint == null)
{
aStartPoint = new PFAStarPoint(parent, tiledPoint);
}
else
{
aStartPoint.ResetRuntime(parent, tiledPoint);
}
int key = tiledPoint.x * height + tiledPoint.y;
starPointMap.Add(key, aStartPoint);
return(aStartPoint);
}
public static PFPoint MoveTo(PFPoint startPoint, PFPoint endPoint, int stepLen)
{
long dx = endPoint.x - startPoint.x;
long dy = endPoint.y - startPoint.y;
long len = endPoint.Distance(startPoint);
if (stepLen > len)
{
return(endPoint);
}
else
{
long moveDistanceX = (int)(stepLen * dx / len);
long moveDistanceY = (int)(stepLen * dy / len);
long nextX = startPoint.x + moveDistanceX;
long nextY = startPoint.y + moveDistanceY;
return(new PFPoint((int)nextX, (int)nextY));
}
}
public void InitRuntime(PFPoint point, int radius)
{
this.point = point;
this.radius = radius;
}
public void CalculatePath(PFPoint startPoint, PFPoint endPoint, byte limitMask, List <PFAStarPoint> resultList, int maxStep = -1)
{
if (maxStep < 0)
{
maxStep = width * height;
}
ClearOpenAndCloseList();
starPointMap.Clear();
PFAStarPoint aStarPoint = CreatAStartPoint(null, startPoint);
aStarPoint.G = 0;
aStarPoint.H = (Math.Abs(startPoint.x - endPoint.x) + Math.Abs(startPoint.y - endPoint.y)) * BASE_G_VALUE;
aStarPoint.F = aStarPoint.G + aStarPoint.H;
openLinkedList.AddLast(aStarPoint);
PFAStarResult flag = PFAStarResult.None;
PFAStarPoint currentAStarPoint;
LinkedListNode <PFAStarPoint> tempNode;
LinkedListNode <PFAStarPoint> tempNodeNext;
LinkedListNode <PFAStarPoint> tempNodeCurrent;
PFAStarPoint tempAStarPoint;
while (true)
{
if (openLinkedList.Count == 0)
{
flag = PFAStarResult.Failure;
break;
}
//获取最小F值的节点
tempNodeCurrent = openLinkedList.First;
tempNode = tempNodeCurrent.Next;
while (tempNode != null)
{
tempNodeNext = tempNode.Next;
if (tempNode.Value.F < tempNodeCurrent.Value.F)
{
tempNodeCurrent = tempNode;
}
tempNode = tempNodeNext;
}
currentAStarPoint = tempNodeCurrent.Value;
//把该节点移动到closeList
openLinkedList.Remove(tempNodeCurrent);
currentAStarPoint.state = PFAStarPointState.Close;
closeLinkedList.AddLast(currentAStarPoint);
//打开该节点的周围节点
if (currentAStarPoint.step > maxStep)
{
flag = PFAStarResult.OutOfStep;
break;
}
bool isFind = false;
PFPoint currentPoint = currentAStarPoint.tiledPoint;
int cTiledX = currentAStarPoint.tiledPoint.x;
int cTiledY = currentAStarPoint.tiledPoint.y;
for (int index = 0; index < AROUND_POINT_POS.Length; index += 2)
{
int dx = AROUND_POINT_POS[index];
int dy = AROUND_POINT_POS[index + 1];
int openTiledX = cTiledX + dx;
int openTiledY = cTiledY + dy;
if (openTiledX < 0 || openTiledX >= width || openTiledY < 0 || openTiledY >= height)
{
continue;
}
//如果阻挡掩码匹配，则视为不可移动
int openMask = tiledMasksRuntime[openTiledX, openTiledY];
if ((openMask & limitMask) > 0)
{
continue;
}
int gValue = 0;
bool isCanTurnAround = false;
if (index == 0 || index == 4 || index == 10 || index == 14)
{
gValue = SQRT2_G_VALUE;
int walkX1 = cTiledX + dx;
int walkY1 = cTiledY;
if ((walkX1 >= 0) && (walkX1 < width) && (walkY1 >= 0) && (walkY1 < height) && ((tiledMasksRuntime[walkX1, walkY1] & limitMask) == 0))
{
walkX1 = cTiledX;
walkY1 = cTiledY + dy;
if ((walkX1 >= 0) && (walkX1 < width) && (walkY1 >= 0) && (walkY1 < height) && ((tiledMasksRuntime[walkX1, walkY1] & limitMask) == 0))
{
isCanTurnAround = true;
}
}
}
else
{
gValue = BASE_G_VALUE;
isCanTurnAround = true;
}
if (!isCanTurnAround)
{
continue;
}
int key = openTiledX * height + openTiledY;
if (starPointMap.TryGetValue(key, out tempAStarPoint))
{
if (tempAStarPoint.state == PFAStarPointState.Open)
{
int pointG = currentAStarPoint.G + gValue;
if (pointG < tempAStarPoint.G)
{
tempAStarPoint.G = pointG;
tempAStarPoint.F = pointG + tempAStarPoint.H;
tempAStarPoint.parent = currentAStarPoint;
}
}
}
else
{
PFAStarPoint newAStarPoint = CreatAStartPoint(currentAStarPoint, new PFPoint(openTiledX, openTiledY));
newAStarPoint.G = currentAStarPoint.G + gValue;
newAStarPoint.H = (Math.Abs(openTiledX - endPoint.x) + Math.Abs(openTiledY - endPoint.y)) * BASE_G_VALUE;
newAStarPoint.F = newAStarPoint.G + newAStarPoint.H;
newAStarPoint.step = currentAStarPoint.step + 1;
openLinkedList.AddLast(newAStarPoint);
}
if ((openTiledX == endPoint.x) && (openTiledY == endPoint.y))
{
isFind = true;
break;
}
}
if (isFind)
{
flag = PFAStarResult.Success;
break;
}
}
if (flag != PFAStarResult.Success)
{
return;
}
currentAStarPoint = starPointMap[endPoint.x * height + endPoint.y];
while (currentAStarPoint != null)
{
resultList.Add(currentAStarPoint);
currentAStarPoint = currentAStarPoint.parent;
}
}
public void InitRuntime(PFPoint point, byte mask)
{
this.point = point;
this.mask = mask;
}
public PFAStarPoint(PFAStarPoint parent, PFPoint tiledPoint)
{
ResetRuntime(parent, tiledPoint);
}
