/// <summary>
/// 对比测试用的非启发算法，不要使用
/// </summary>
/// <param name="startX"></param>
/// <param name="startY"></param>
/// <param name="endX"></param>
/// <param name="endY"></param>
/// <param name="eightDirection"></param>
/// <param name="useBinaryHeap"></param>
/// <returns></returns>
public List <MapNode> findPathByXYNoInspire(int startX, int startY, int endX, int endY, bool eightDirection = false)
{
//Debug.Log(startX + " " + startY + " " + endX + " " + endY);
List <MapNode> result = new List <MapNode>();
if (startX == endX && startY == endY)
{
result.Add(_mapdata[startY, startX]);
return(result);
}
MapNode start = _mapdata[startY, startX];
MapNode end = _mapdata[endY, endX];
_open = new ListOpenList <MapNode>();
_open.push(start);
start.parentNode = null;
start.g = start.h = start.f = 0;
end.parentNode = null;
_closed = new List <MapNode>();
while (_open.getCount() > 0 && (_closed.IndexOf(end) == -1))
{
//不去是用启发算法去找一个可能最优的,而是随便找一个来计算
MapNode mn = (_open as ListOpenList <MapNode>).pop();
//检查周围
if (!eightDirection)
{
for (int i = 0; i < 4; i++)
{
int _x = mn.x + _xd[i];
int _y = mn.y + _yd[i];
if (_x < 0 || _y < 0 || (_x >= _width) || (_y >= _height))
{
continue;
}
MapNode testN = _mapdata[_y, _x];
if (_closed.IndexOf(testN) != -1)
{
continue;
}
if (!testN.isPassAble())
{
_closed.Add(testN);
testN.parentNode = mn;
continue;
}
if (_open.indexOf(testN) != -1)
{
if (testN.g > mn.g + testN.weight)
{
testN.g = mn.g + testN.weight;
testN.parentNode = mn;
}
continue;
}
else
{
_open.push(testN);
testN.parentNode = mn;
testN.g = mn.g + testN.weight;
}
}
}
else
{
for (int i = 0; i < 8; i++)
{
int _x = mn.x + _xde[i];
int _y = mn.y + _yde[i];
if (_x < 0 || _y < 0 || (_x >= _width) || (_y >= _height))
{
continue;
}
MapNode testN = _mapdata[_y, _x];
if (_closed.IndexOf(testN) != -1)
{
continue;
}
if (!testN.isPassAble())
{
_closed.Add(testN);
testN.parentNode = mn;
continue;
}
if (_open.indexOf(testN) != -1)
{
if (testN.g > mn.g + testN.weight)
{
testN.g = mn.g + testN.weight;
testN.parentNode = mn;
}
continue;
}
else
{
_open.push(testN);
testN.parentNode = mn;
testN.g = mn.g + testN.weight;
}
}
}
//加入closed
_closed.Add(mn);
}
MapNode c = end;
while (c != null)
{
result.Insert(0, c);
c = c.parentNode;
}
if (result.Count == 1)
{
result.Clear();
result.Add(start);
}
if (result.Count < 2)
{
//找不到路
}
return(result);
}
private void checkAround(MapNode node, MapNode goalNode, bool eightDirection)
{
if (eightDirection)
{
for (int e = 7; e >= 0; e--)
{
int _xe = node.x + _xde[e];
int _ye = node.y + _yde[e];
if ((_xe < 0) || (_ye < 0) || (_xe >= _width) || (_ye >= _height))
{
continue;
}
MapNode testNodee = _mapdata[_ye, _xe];
if (_closed.IndexOf(testNodee) != -1)
{
//已经在关闭列表
continue;
}
if (!testNodee.isPassAble())
{
//如果不可通过
_closed.Add(testNodee);
testNodee.parentNode = node;
continue;
}
if (_open.indexOf(testNodee) != -1)
{
//已经在开放列表，判断f的值是不是更好
if ((node.g + Mathf.Sqrt(_xde[e] * _xde[e] + _yde[e] * _yde[e])) < testNodee.g)
{
testNodee.g = node.g + /* testNodee.weight;*/ Mathf.Sqrt(_xde[e] * _xde[e] + _yde[e] * _yde[e]) * testNodee.weight;
testNodee.parentNode = node;
testNodee.f = testNodee.g + testNodee.h;
////此处是否应该在二项堆里重新排序.
_open.rePostion(testNodee);
}
continue;
}
else
{
testNodee.g = node.g + /*testNodee.weight;*/ Mathf.Sqrt(_xde[e] * _xde[e] + _yde[e] * _yde[e]) * testNodee.weight;
testNodee.h = Mathf.Abs(goalNode.x - testNodee.x) + Mathf.Abs(goalNode.y - testNodee.y);
testNodee.f = testNodee.g + testNodee.h;
testNodee.parentNode = node;
_open.push(testNodee);
continue;
}
}
}
else
{
for (int i = 3; i >= 0; i--)
{
int _x = node.x + _xd[i];
int _y = node.y + _yd[i];
if ((_x < 0) || (_y < 0) || (_x >= _width) || (_y >= _height))
{
continue;
}
MapNode testNode = _mapdata[_y, _x];
if (_closed.IndexOf(testNode) != -1)
{
//已在关闭列表，不处理
continue;
}
if (!testNode.isPassAble())
{
//不可通过，加入关闭列表
_closed.Add(testNode);
testNode.parentNode = node;
continue;
}
if (_open.indexOf(testNode) != -1)
{
//已经在开放列表，判断新的g值是不是更好
if ((node.g + testNode.weight) < testNode.g)
{
testNode.g = node.g + testNode.weight;
testNode.f = testNode.g + testNode.h;
////此处是否应该在二项堆里重新排序.
_open.rePostion(testNode);
testNode.parentNode = node;
}
continue;
}
else
{
//加入开放列表
testNode.g = node.g + testNode.weight;
testNode.h = Mathf.Abs(goalNode.x - testNode.x) + Mathf.Abs(goalNode.y - testNode.y);
testNode.f = testNode.g + testNode.h;
testNode.parentNode = node;
_open.push(testNode);
continue;
}
}
}
}