/// <summary>
/// 请求获取指定条件的路径
/// </summary>
/// <param name="startPoint">起点</param>
/// <param name="endPoint">终点</param>
/// <param name="collisionSize">(移动体)碰撞尺寸</param>
/// <param name="pathFindEndBack">路径搜索结束事件回调</param>
/// <param name="maxComputeCount">最大的搜索计算次数计数上限</param>
public void RequestPaths(Vector3 startPoint, Vector3 endPoint, int collisionSize, MapPath.PathFindEndBack pathFindEndBack = null, int maxComputeCount = 8000)
{
try
{
this.pfStartPoint = startPoint;
this.pfEndPoint = endPoint;
this.pfCollisionSize = collisionSize;
this.pathFindEnd = false;
this.pathFindResult = true;
this.pathFindEndBack = pathFindEndBack;
this.paths.Clear();
this.computeTick = 0;
this.heapX = new int[2];
this.heapY = new int[2];
//起点网格坐标
this.heapX[0] = Mathf.FloorToInt(startPoint.x / this.gridSize) + this.halfWidth;
this.heapY[0] = Mathf.FloorToInt(startPoint.z / this.gridSize) + this.halfHeight;
//终点网格坐标
this.heapX[1] = Mathf.FloorToInt(endPoint.x / this.gridSize) + this.halfWidth;
this.heapY[1] = Mathf.FloorToInt(endPoint.z / this.gridSize) + this.halfHeight;
if (this.heapX[0] == this.heapX[1] && this.heapY[0] == this.heapY[1]) //原地，直接完成
{
this.paths.Add(endPoint);
this.pathFindEnd = true;
if (pathFindEndBack != null)
{
pathFindEndBack(this.paths);
}
}
else
{
//初始化heap列表
for (int i = 0; i < 2; i++)
{
if (this.heap[i] == null)
{
this.heap[i] = new Heap();
}
this.heap[i].Clear();
}
//重置HValeCache
for (int i = 0; i < this.HValueCache.Count; i++)
{
this.HValueCache[i].Reset();
}
//path列表重置
for (int i = 0; i < this.width; i++)
{
for (int j = 0; j < this.height; j++)
{
this.path[i, j] = -1;
}
}
this.cacheIndex = 0;
for (int k = 0; k < 2; k++)
{
int num = this.heapX[k];
int num2 = this.heapY[k];
for (int i = -1; i <= 1; i++) //将起点和终点的9宫格信息加入heap表
{
for (int j = -1; j <= 1; j++)
{
int num3 = num + i;
int num4 = num2 + j;
Vector3 vector = new Vector3((float)(this.heapX[0] - this.halfWidth) * this.gridSize, 0f, (float)(this.heapY[0] - this.halfHeight) * this.gridSize);
Vector3 vector2 = new Vector3((float)(this.heapX[1] - this.halfWidth) * this.gridSize, 0f, (float)(this.heapY[1] - this.halfHeight) * this.gridSize);
Vector3 vector3 = (k != 0) ? vector2 : vector;
Vector3 vector4 = new Vector3((float)(num3 - this.halfWidth) * this.gridSize, 0f, (float)(num4 - this.halfHeight) * this.gridSize);
vector3.y = (vector4.y = 0f);
float num5 = Vector3.Distance(vector3, vector4);
float num6 = this.TryWalkDistance(vector3, vector4, collisionSize);
if (Math.Abs(num6 - num5) < 0.01f)
{
HValue hValue = this.getHValue(num3, num4);
hValue.Set((short)num3, (short)num4, num5, 0f);
hValue.Mark = (short)(1 + k * this.markBase);
hValue.PreX = -1;
hValue.PreY = -1;
this.heap[k].Push(hValue);
}
}
}
}
this.nearestTarget = this.heap[0].Peek();
int num7 = 8;
this.dx = new int[num7];
this.dy = new int[num7];
for (int i = 0; i < num7; i++)
{
float num8 = (float)i * 2f * 3.14159274f / (float)num7;
this.dx[i] = this.Sign(Math.Cos((double)num8));
this.dy[i] = this.Sign(Math.Sin((double)num8));
}
this.pathHValues.Clear();
this.RequestPathsImmed(this.pfStartPoint, this.pfEndPoint, this.pfCollisionSize, maxComputeCount);
}
}
catch (Exception ex) //路径搜索失败
{
this.paths = new List <Vector3>();
if (GameScene.isEditor)
{
LogSystem.Log(new object[]
{
string.Concat(new object[]
{
"寻路失败: 起始点 ",
startPoint,
" 目标点 : ",
endPoint,
" 错误消息 : ",
ex.Message
})
});
}
}
}
public void Clear()
{
this.pathFindEnd = true;
this.pathFindEndBack = null;
}
