public static void run(String[] args)
{
Logger log = new Logger();
Stopwatch s = new Stopwatch();
log.addToLog("Map initializing...");
AStarMap map = new AStarMap(mapData.getMapWidth(), mapData.getMapHeight(), mapData.getObstacleMap());
log.addToLog("Heuristic initializing...");
//AStarHeuristic heuristic = new ClosestHeuristic();
AStarHeuristic heuristic = new DiagonalHeuristic();
log.addToLog("AStar initializing...");
AStar aStar = new AStar(map, heuristic);
log.addToLog("Calculating shortest path...");
s.Start();
List<Point> shortestPath = aStar.calcShortestPath(startX, startY, goalX, goalY);
s.Stop();
log.addToLog("Time to calculate path in milliseconds: " + s.ElapsedMilliseconds);
log.addToLog("Printing map of shortest path...");
new PrintMap(map, shortestPath);
}
public static void run(String[] args)
{
Logger log = new Logger();
Stopwatch s = new Stopwatch();
log.addToLog("Map initializing...");
AStarMap map = new AStarMap(mapData.getMapWidth(), mapData.getMapHeight(), mapData.getObstacleMap());
log.addToLog("Heuristic initializing...");
//AStarHeuristic heuristic = new ClosestHeuristic();
AStarHeuristic heuristic = new DiagonalHeuristic();
log.addToLog("AStar initializing...");
AStar aStar = new AStar(map, heuristic);
log.addToLog("Calculating shortest path...");
s.Start();
List <Point> shortestPath = aStar.calcShortestPath(startX, startY, goalX, goalY);
s.Stop();
log.addToLog("Time to calculate path in milliseconds: " + s.ElapsedMilliseconds);
log.addToLog("Printing map of shortest path...");
new PrintMap(map, shortestPath);
}
public List<Point> findStraightPath(Point start, Point goal)
{
log.addToLog("AStar Heuristic initializing...");
AStarHeuristic heuristic = new DiagonalHeuristic();
log.addToLog("AStar initializing...");
AStar aStar = new AStar(map, heuristic);
log.addToLog("Calculating shortest path with AStar...");
List<Point> shortestPath = aStar.calcShortestPath(start.x, start.y, goal.x, goal.y);
//log.addToLog("Printing map of shortest path...");
//new PrintMap(map, shortestPath);
log.addToLog("Calculating optimized waypoints...");
s.Start();
List<Point> waypoints = calcStraightPath(shortestPath);
s.Stop();
log.addToLog("Time to calculate waypoints: " + s.ElapsedMilliseconds + " ms");
return waypoints;
}
public List <Point> findStraightPath(Point start, Point goal)
{
log.addToLog("AStar Heuristic initializing...");
AStarHeuristic heuristic = new DiagonalHeuristic();
log.addToLog("AStar initializing...");
AStar aStar = new AStar(map, heuristic);
log.addToLog("Calculating shortest path with AStar...");
List <Point> shortestPath = aStar.calcShortestPath(start.x, start.y, goal.x, goal.y);
//log.addToLog("Printing map of shortest path...");
//new PrintMap(map, shortestPath);
log.addToLog("Calculating optimized waypoints...");
s.Start();
List <Point> waypoints = calcStraightPath(shortestPath);
s.Stop();
log.addToLog("Time to calculate waypoints: " + s.ElapsedMilliseconds + " ms");
return(waypoints);
}
public List <Vector2> findStraightPath(Vector2 start, Vector2 goal, float cellSize)
{
Point startCell = getCellWithErrorTolerate(start.x, start.y);
// 起点不可达
if (startCell == null)
{
return(null);
}
Point goalCell = posToCell(goal, cellSize);
// optimized, check can straight pass
Point hitPoint = raycast(start, goal, cellSize);
if (hitPoint.Equals(goalCell))
{
List <Vector2> waypoints = new List <Vector2>();
waypoints.Add(start);
waypoints.Add(goal);
return(waypoints);
}
log.addToLog("AStar Heuristic initializing...");
AStarHeuristic heuristic = new DiagonalHeuristic();
log.addToLog("AStar initializing...");
AStar aStar = new AStar(map, heuristic);
log.addToLog("Calculating shortest path with AStar...");
List <Point> shortestPath = aStar.calcShortestPath(startCell.x, startCell.y, goalCell.x, goalCell.y);
// 终点不可达
if (shortestPath == null || shortestPath.Count == 0)
{
return(null);
}
List <Vector2> posPath = new List <Vector2>();
posPath.Add(start);
// 起点和终点在同一个cell
if (shortestPath.Count == 1)
{
posPath.Add(goal);
return(posPath);
}
else
{
float fixSize = map.getErrorTolerate();
Vector2 pos1 = cellToPos(shortestPath[0], cellSize);
for (int i = 1; i < shortestPath.Count; ++i)
{
Vector2 pos2 = cellToPos(shortestPath[i], cellSize);
Vector2 dir = (pos2 - pos1).normalized;
float midx = (pos1.x + pos2.x) / 2;
float midy = (pos1.y + pos2.y) / 2;
posPath.Add(new Vector2(midx - fixSize * dir.x, midy - fixSize * dir.y));
posPath.Add(new Vector2(midx + fixSize * dir.x, midy + fixSize * dir.y));
pos1 = pos2;
}
posPath.Add(goal);
}
log.addToLog("Calculating optimized waypoints...");
s.Start();
posPath = calcStraightPath(posPath, cellSize);
s.Stop();
log.addToLog("Time to calculate waypoints: " + s.ElapsedMilliseconds + " ms");
return(posPath);
}
