public virtual float CalG()
{
BaseCell parentCell = CellManager.Instance.GetCellByID(parentID);
//if (parentCell == null)
//{
// // 无父节点
// return 0;
//}
//gVal = parentCell.gVal + 1;
//return gVal;
if (parentCell == null)
{
// 无父节点
return(PassableDifficulty);
}
return(parentCell.CalG() + PassableDifficulty);
}
private int CalF(int targetCellID, int presentCellID)
{
BaseCell presentCell = CellManager.Instance.GetCellByID(presentCellID);
if (presentCell == null)
{
Debug.LogError("当前网格ID不合法");
return(-1);
}
int g = presentCell.CalG();
int h = CalH(targetCellID, presentCellID);
if (h == -1)
{
return(-1);
}
return(g + h);
}
private List <int> AStarSearch(int startCellId, int endCellId)
{
if (!CheckCanSearch(startCellId, endCellId))
{
return(null);
}
BaseCell searchingCell = OnSearchStart(startCellId);
if (searchingCell == null)
{
return(null);
}
bool keepSearching = true;
while (keepSearching)
{
if (searchingCell.ID == endCellId)
{
keepSearching = false;
}
m_CellsToSearch.Remove(searchingCell);
m_CellsSearched.Add(searchingCell);
foreach (BaseCell neighbor in searchingCell.neighbors)
{
if (neighbor == null || neighbor.block)
{
continue;
}
if (m_CellsToSearch.Contains(neighbor))
{
continue;
}
if (m_CellsSearched.Contains(neighbor))
{
if (neighbor.CalG() > neighbor.PassableDifficulty + searchingCell.CalG())
{
neighbor.SetParent(searchingCell.ID);
}
continue;
}
m_CellsToSearch.Add(neighbor);
neighbor.SetParent(searchingCell.ID);
if (neighbor.ID == endCellId)
{
// 走到了
m_Path.Add(neighbor.ID);
if (needDemonstration)
{
neighbor.GetComponent <SpriteRenderer>().color = Color.blue;
}
BaseCell traceNeighbor = neighbor;
int i = 0;
while (CellManager.Instance.GetCellByID(traceNeighbor.parentID) != null && i < 100)
{
traceNeighbor = CellManager.Instance.GetCellByID(traceNeighbor.parentID);
if (needDemonstration)
{
traceNeighbor.GetComponent <SpriteRenderer>().color = Color.blue;
}
m_Path.Add(traceNeighbor.ID);
i++;
}
m_Path.Reverse();
return(m_Path);
}
}
BaseCell newSearchingCell = null;
float minF = -1;
foreach (var cell in m_CellsToSearch)
{
float f = CalF(endCellId, cell.ID);
if (f < 0)
{
Debug.Log("这货距离小于零啊，有问题");
continue;
}
else if (f <= minF || minF < 0)
{
minF = f;
newSearchingCell = cell;
}
}
if (m_CellsToSearch.Count == 0)
{
Debug.Log("Open列表为空，搜索结束");
break;
}
if (newSearchingCell == null)
{
Debug.Log("找不到下一个搜索节点，搜索结束");
break;
}
if (needDemonstration)
{
newSearchingCell.GetComponent <SpriteRenderer>().color = Color.yellow;
}
searchingCell = newSearchingCell;
}
return(null);
}
