private int _OpenGrids_compfunc(GridST g1, GridST g2)
{
bool flag = g1.F < g2.F;
int result;
if (flag)
{
result = -1;
}
else
{
bool flag2 = g1.F == g2.F;
if (flag2)
{
bool flag3 = g1.H < g2.H;
if (flag3)
{
result = -1;
return(result);
}
}
result = 1;
}
return(result);
}
private int _OpenGrids_compfunc(GridST g1, GridST g2)
{
if (g1.F < g2.F)
{
return(-1);
}
else if (g1.F == g2.F)
{
if (g1.H < g2.H)
{
return(-1);
}
}
return(1);
}
public List <GridST> findPath(Vec2 start, Vec2 end)
{
bool flag = !this.IsWalkAble((float)((int)end.x), (float)((int)end.y));
List <GridST> result;
if (flag)
{
end = this._getWalkabelEnd(start, end);
bool flag2 = end == null;
if (flag2)
{
GameTools.PrintNotice("end point not walkable!");
result = null;
return(result);
}
}
bool flag3 = start.x == end.x && start.y == end.y;
if (flag3)
{
result = new List <GridST>();
}
else
{
int num = (int)((long)this._curMapConf["param"]["width"]._int / 32L);
int num2 = (int)((long)this._curMapConf["param"]["height"]._int / 32L);
List <GridST> list = new List <GridST>();
Dictionary <uint, GridST> dictionary = new Dictionary <uint, GridST>();
Dictionary <int, int> dictionary2 = new Dictionary <int, int>();
list.Add(new GridST
{
x = (float)((int)start.x),
y = (float)((int)start.y),
parent = null,
G = 0,
H = 0,
F = 0,
isCorner = false,
tile_idx = 0u
});
GridST gridST = null;
while (list.Count > 0)
{
GridST gridST2 = ArrayUtil.pop_priority_queue <GridST>(list, new ArrayUtil.CompareFunction <GridST>(this._OpenGrids_compfunc));
uint key = (uint)((int)gridST2.y << 9 | ((int)gridST2.x & 511));
dictionary2[(int)key] = 1;
for (int i = 0; i < 3; i++)
{
int num3 = (int)(gridST2.y + (float)i - 1f);
bool flag4 = num3 < 0 || num3 >= num2;
if (!flag4)
{
uint num4 = (uint)((uint)num3 << 9);
for (int j = 0; j < 3; j++)
{
int num5 = (int)(gridST2.x + (float)j - 1f);
bool flag5 = num5 < 0 || num5 >= num;
if (!flag5)
{
uint num6 = num4 | (uint)(num5 & 511);
bool flag6 = dictionary2.ContainsKey((int)num6);
if (!flag6)
{
int key2 = (int)num6;
bool flag7 = this._CollideInfoEx[key2] == 1u || (this._BlockZoneInfo.ContainsKey((int)num6) && this._BlockZoneInfo[(int)num6] > 0u);
if (flag7)
{
dictionary2[(int)num6] = 1;
}
else
{
int num7 = gridST2.G + 1;
bool isCorner = false;
bool flag8 = gridST2.x != (float)num5 && gridST2.y != (float)num3;
if (flag8)
{
num7 = gridST2.G + 2;
isCorner = true;
}
int num8 = (int)(Math.Abs((float)num3 - end.y) + Math.Abs((float)num5 - end.x));
int num9 = num7 + num8;
bool flag9 = dictionary.ContainsKey(num6);
if (flag9)
{
GridST gridST3 = dictionary[num6];
bool flag10 = num9 < gridST3.F || (num9 == gridST3.F && num8 < gridST3.H);
if (flag10)
{
gridST3.F = num9;
gridST3.H = num8;
gridST3.G = num7;
gridST3.parent = gridST2;
gridST3.isCorner = isCorner;
gridST3.tile_idx = num6;
}
}
else
{
dictionary[num6] = new GridST
{
x = (float)num5,
y = (float)num3,
parent = gridST2,
G = num7,
H = num8,
F = num9,
isCorner = isCorner,
tile_idx = num6
};
ArrayUtil.push_priority_queue <GridST>(list, dictionary[num6], new ArrayUtil.CompareFunction <GridST>(this._OpenGrids_compfunc));
bool flag11 = (float)num5 == end.x && (float)num3 == end.y;
if (flag11)
{
gridST = dictionary[num6];
break;
}
}
}
}
}
}
bool flag12 = gridST != null;
if (flag12)
{
break;
}
}
}
bool flag13 = gridST != null;
if (flag13)
{
break;
}
}
bool flag14 = gridST == null;
if (flag14)
{
result = null;
}
else
{
List <GridST> list2 = new List <GridST>();
while (gridST != null)
{
list2.Add(new GridST
{
x = gridST.x,
y = gridST.y,
parent = gridST.parent,
G = gridST.G,
H = gridST.H,
F = gridST.F,
isCorner = gridST.isCorner,
tile_idx = gridST.tile_idx
});
gridST = gridST.parent;
}
result = list2;
}
}
return(result);
}
public List <GridST> findPath(Vec2 start, Vec2 end)
{
if (!this.IsWalkAble((int)end.x, (int)end.y))
{
//如果目标点不能行走，以此取目标点和出发点连线上的点，改目标点为最接近目标点的可行走点，开始寻路
end = this._getWalkabelEnd(start, end);
if (end == null)
{
GameTools.PrintNotice("end point not walkable!");
return(null);
}
}
if (start.x == end.x && start.y == end.y)
{
return(new List <GridST>());
}
int map_width = (int)(_curMapConf["param"]["width"]._int / GameConstant.GEZI);
int map_height = (int)(_curMapConf["param"]["height"]._int / GameConstant.GEZI);
List <GridST> Open_Grids = new List <GridST>();
Dictionary <uint, GridST> Open_Grids_map = new Dictionary <uint, GridST>();
Dictionary <int, int> Grids_hex_mark = new Dictionary <int, int>();
GridST st = new GridST();
st.x = (int)start.x;
st.y = (int)start.y;
st.parent = null;
st.G = 0;
st.H = 0;
st.F = 0;
st.isCorner = false;
st.tile_idx = 0;
Open_Grids.Add(st);
GridST end_tile = null;
int i = 0;
int j = 0;
while (Open_Grids.Count > 0)
{
GridST cur_tile = ArrayUtil.pop_priority_queue(Open_Grids, _OpenGrids_compfunc);
uint tile_idx = (uint)(((int)(cur_tile.y)) << 9 | ((int)(cur_tile.x)) & 0x000001ff);
Grids_hex_mark[(int)tile_idx] = 1; // 标记为已走
//debug.dbginfo("cur node x["+cur_tile.x+"] y["+cur_tile.y+"]");
for (i = 0; i < 3; ++i)
{
int edge_tile_y = (int)(cur_tile.y + i - 1);
if (edge_tile_y < 0 || edge_tile_y >= map_height) // 坐标不合法
{
continue;
}
uint edge_tile_idx_y = (uint)(edge_tile_y << 9);
for (j = 0; j < 3; ++j)
{
int edge_tile_x = (int)(cur_tile.x + j - 1);
if (edge_tile_x < 0 || edge_tile_x >= map_width) // 坐标不合法
{
continue;
}
uint edge_tile_idx = (uint)(edge_tile_idx_y | (uint)(edge_tile_x & 0x000001ff));
if (Grids_hex_mark.ContainsKey((int)edge_tile_idx)) // 不能走，或已判断过
{
continue;
}
int index = (int)edge_tile_idx;
//if( index > _CollideInfoEx.Count -1 )
//{
// //GameTools.PrintError( "CollideInfoEx info err!" );
// continue;
//}
if ((_CollideInfoEx[index] == 1) ||
(this._BlockZoneInfo.ContainsKey((int)edge_tile_idx) &&
this._BlockZoneInfo[(int)edge_tile_idx] > 0))
// 格子不可行走
{
Grids_hex_mark[(int)edge_tile_idx] = 1; // 标记为 已判断过，不能走
continue;
}
// 计算 F, G, H
int G = cur_tile.G + 1; // 上下左右 +1
bool isCorner = false;
if (cur_tile.x != edge_tile_x && cur_tile.y != edge_tile_y)
{
G = cur_tile.G + 2; // 边角 +2
isCorner = true;
}
int H = (int)(Math.Abs(edge_tile_y - end.y) + Math.Abs(edge_tile_x - end.x));
int F = G + H;
if (Open_Grids_map.ContainsKey(edge_tile_idx))
{
// 已在开放格子列表中
//dbg_str += "founded!";
GridST edge_tile = Open_Grids_map[edge_tile_idx];
if (F < edge_tile.F || (F == edge_tile.F && H < edge_tile.H))
{
// 新路径更佳
edge_tile.F = F;
edge_tile.H = H;
edge_tile.G = G;
edge_tile.parent = cur_tile;
edge_tile.isCorner = isCorner;
edge_tile.tile_idx = edge_tile_idx;
}
}
else
{
// 新格子
GridST stt = new GridST();
stt.x = edge_tile_x;
stt.y = edge_tile_y;
stt.parent = cur_tile;
stt.G = G;
stt.H = H;
stt.F = F;
stt.isCorner = isCorner;
stt.tile_idx = edge_tile_idx;
Open_Grids_map[edge_tile_idx] = stt;
ArrayUtil.push_priority_queue(Open_Grids, Open_Grids_map[edge_tile_idx], _OpenGrids_compfunc);
if (edge_tile_x == end.x && edge_tile_y == end.y)
{
end_tile = Open_Grids_map[edge_tile_idx];
break;
}
}
}
if (end_tile != null)
{
// 找到了
break;
}
}
if (end_tile != null)
{
// 找到了
break;
}
}
if (end_tile == null)
{
return(null);
}
List <GridST> path_ary = new List <GridST>();
for (; end_tile != null;)
{
GridST ast = new GridST();
ast.x = end_tile.x;
ast.y = end_tile.y;
ast.parent = end_tile.parent;
ast.G = end_tile.G;
ast.H = end_tile.H;
ast.F = end_tile.F;
ast.isCorner = end_tile.isCorner;
ast.tile_idx = end_tile.tile_idx;
path_ary.Add(ast);
end_tile = end_tile.parent;
}
return(path_ary);
}
