void SearchOpenNode(PathNode toCheck, PathNode fromNode, DirectionType dir = DirectionType.None)
{
if (!mapPath.CheckWalkable(toCheck) || toCheck.status == NodeStatus.Close)
{
return;
}
if (dir == DirectionType.TopRight && (!mapPath.CheckWalkable(fromNode.neighbor.top) || !mapPath.CheckWalkable(fromNode.neighbor.right)))
{
return;
}
if (dir == DirectionType.TopLeft && (!mapPath.CheckWalkable(fromNode.neighbor.top) || !mapPath.CheckWalkable(fromNode.neighbor.left)))
{
return;
}
if (dir == DirectionType.BottomRight && (!mapPath.CheckWalkable(fromNode.neighbor.bottom) || !mapPath.CheckWalkable(fromNode.neighbor.right)))
{
return;
}
if (dir == DirectionType.BottomLeft && (!mapPath.CheckWalkable(fromNode.neighbor.bottom) || !mapPath.CheckWalkable(fromNode.neighbor.left)))
{
return;
}
if (toCheck.status == NodeStatus.Open)
{
var cost = ComputeG(dir);
var gTemp = fromNode.g + cost;
if (gTemp < toCheck.g)
{
toCheck.parent = fromNode;
toCheck.g = gTemp;
toCheck.f = gTemp + toCheck.h;
}
mapPath.OpenHeap.TryUpAdjust(toCheck);
return;
}
toCheck.parent = fromNode;
toCheck.g = fromNode.g + ComputeG(dir);
toCheck.h = PathNode.ComputeH(toCheck, endNode);
toCheck.f = toCheck.g + toCheck.h;
toCheck.status = NodeStatus.Open;
mapPath.OpenHeap.Enqueue(toCheck);
}
private PathNode GetNext(PathNode toCheck, PathNode fromNode, DirectionType dir, JumpType jumpType)
{
if (!mapPath.CheckWalkable(toCheck) || toCheck.status == NodeStatus.Close)
{
return(null);
}
DirectionType jumpNodeDir;
var tempValue = jumpType == JumpType.Line ? IsLineJumpNode(toCheck, dir, out jumpNodeDir) : IsTitleJumpNode(toCheck, dir, out jumpNodeDir);
if (tempValue) // toCheck是跳点
{
if (toCheck.status == NodeStatus.Open) // 已经在openlist里了 判断是否更新G值 更新parent
{
var cost = ComputeG(dir, fromNode, toCheck);
var gTemp = fromNode.g + cost;
if (gTemp < toCheck.g)
{
var oldDir = GetDirection(toCheck.parent, toCheck);
toCheck.dir = (toCheck.dir ^ oldDir) | jumpNodeDir; // 去掉旧的父亲方向 保留自身方向 添加新的方向
toCheck.parent = fromNode;
toCheck.g = gTemp;
toCheck.f = gTemp + toCheck.h;
}
mapPath.OpenHeap.TryUpAdjust(toCheck);
return(null);
}
//加入openlist
toCheck.parent = fromNode;
toCheck.g = fromNode.g + ComputeG(dir, toCheck, fromNode);
toCheck.h = PathNode.ComputeH(toCheck, endNode);
toCheck.f = toCheck.g + toCheck.h;
toCheck.status = NodeStatus.Open;
toCheck.dir = jumpNodeDir;
mapPath.OpenHeap.Enqueue(toCheck);
return(null);
}
return(toCheck);
}