/// <summary>
/// 点是否可行走或者是否已关闭或者已经在待检测点集中
/// </summary>
/// 地图外部或者障碍物或者不可到达点或者是已经关闭或者已经在待检测点集中返回true，其余返回false
/// <param name="p">P.</param>
private bool UnwalkableOrClosedOrExistInOpen(PointIn2D p)
{
if (mapWalkableInfoArray [p.x, p.y] <= 0)
{
return(true);
}
foreach (PointIn2D closedPoint in closedList)
{
if (closedPoint.Equals(p))
{
return(true);
}
}
foreach (PointIn2D openPoint in openList)
{
if (openPoint.Equals(p))
{
return(true);
}
}
return(false);
}
public bool Equals(PointIn2D p)
{
if (this.x == p.x && this.y == p.y)
{
return(true);
}
return(false);
}
public void CaculateFGH(PointIn2D fatherPoint, PointIn2D endPoint, int GofNewPoint)
{
this.G = fatherPoint.G + GofNewPoint;
this.H = Mathf.Abs(x - endPoint.x) + Mathf.Abs(y - endPoint.y);
this.F = this.H + this.G;
}
/// <summary>
/// 获得当前点的周围所有点（上下左右）
/// </summary>
/// <returns>The surrounded optimize point.</returns>
/// <param name="currentPoint">Current point.</param>
public List <PointIn2D> GetSurroundedPoints()
{
List <PointIn2D> surroundedPoints = new List <PointIn2D> ();
PointIn2D upPoint = new PointIn2D(x, y + 1);
PointIn2D downPoint = new PointIn2D(x, y - 1);
PointIn2D leftPoint = new PointIn2D(x - 1, y);
PointIn2D rightPoint = new PointIn2D(x + 1, y);
surroundedPoints.Add(upPoint);
surroundedPoints.Add(downPoint);
surroundedPoints.Add(leftPoint);
surroundedPoints.Add(rightPoint);
return(surroundedPoints);
}
/// <summary>
/// 计算一条最小消耗的可行路径
/// </summary>
/// <returns>The path.</returns>
/// <param name="startPoint">Start point.</param>
/// <param name="endPoint">End point.</param>
/// <param name="mapWalkableInfoArray">Map walkable info array.</param>
public List <Vector3> FindPath(Vector3 startPos, Vector3 endPos, int[,] mapWalkableInfoArray)
{
PointIn2D startPoint = new PointIn2D(startPos);
PointIn2D endPoint = new PointIn2D(endPos);
pathPos = new List <Vector3> ();
// 每次自动探测路径前将待检测点集和已关闭点集和路径点集清空
openList.Clear();
closedList.Clear();
// 拿到全地图信息（包括是否可行走和每个点上的行走消耗）
this.mapWalkableInfoArray = mapWalkableInfoArray;
this.mapHeight = mapWalkableInfoArray.GetLength(1);
this.mapWidth = mapWalkableInfoArray.GetLength(0);
// 起点和终点重合，则将该点加入到路径点集中并直接返回
if (startPoint.Equals(endPoint))
{
pathPos.Add(endPos);
return(pathPos);
}
// 如果终点是不可行走点
if (mapWalkableInfoArray [endPoint.x, endPoint.y] < 0)
{
Debug.Log("点击在不可到达区域");
return(pathPos);
}
// 记录起始点
PointIn2D currentPoint = startPoint;
// 将起始点加入待检测点集
openList.Add(startPoint);
// 待检测点集内如果有待检测点，就遍历下去
while (openList.Count != 0)
{
// 移除当前点
openList.Remove(currentPoint);
// 当前点加入到关闭点集中
closedList.Add(currentPoint);
// 拿到当前点的周围点集（上下左右）
List <PointIn2D> surroundedPoints = currentPoint.GetSurroundedPoints();
// 遍历周围点集
for (int i = 0; i < surroundedPoints.Count; i++)
{
PointIn2D p = surroundedPoints[i];
if (p.x >= mapWidth || p.y >= mapHeight || p.x < 0 || p.y < 0)
{
continue;
}
// 如果周围点集中有终点，则停止检测，并利用fatherPoint属性逐级获取路径中的上级点
if (p.Equals(endPoint))
{
// Debug.LogFormat ("{0}监测到终点", p);
p.fatherPoint = currentPoint;
while (p.fatherPoint != null)
{
pathPos.Add(new Vector3(p.x, p.y, 0));
p = p.fatherPoint;
}
pathPos.Add(startPos);
pathPos.Reverse();
// pathPos.RemoveAt (0);
return(pathPos);
}
// 如果周围点集中有不可行走点或者是已关闭点或者已经在待检测点集中，则这个点什么都不做
if (UnwalkableOrClosedOrExistInOpen(p))
{
// Debug.LogFormat ("{0}不可行走或已关闭或在待检测点集,可行走信息：{1}", p,mapWalkableInfoArray[p.x,p.y]);
continue;
}
// 从地图信息中获取当前周围点集中可行走待检测点的行走耗费
int G = mapWalkableInfoArray [p.x, p.y];
// 计算F，G，H
p.CaculateFGH(currentPoint, endPoint, G);
// 设置父级节点
p.fatherPoint = currentPoint;
// 将可行走待检测点加入到待检测点集中
openList.Add(p);
// Debug.LogFormat ("将点{0}放入待检测点集中", p);
}
// 获取待检测点集中F值做小的点
PointIn2D minFPoint = GetMinFPoint(openList);
// Debug.LogFormat ("点{0}是F最小的点", minFPoint);
if (minFPoint != null)
{
// 将F值最小的点设置为当前点（基点，周围点是由基点找出来的）
currentPoint = minFPoint;
}
}
// 走到这里说明没有有效路径，返回的pathPos内部节点数量为0
return(pathPos);
}