/// <summary>
/// 使用二叉堆加速型的find
/// </summary>
public void findPath(Wrapper start, Wrapper end, TezBinaryHeap <Wrapper> openSet)
{
// Stopwatch stopwatch = new Stopwatch();
// stopwatch.Start();
this.saveWrapper(start);
this.saveWrapper(end);
if (end.isBlocked())
{
this.onPathFindComplete();
onPathNotFound.Invoke();
return;
}
HashSet <Wrapper> close_set = createHashSet_Wrapper();
openSet.push(start);
while (openSet.count > 0)
{
var current_node = openSet.pop();
if (current_node.Equals(end))
{
// stopwatch.Stop();
// UnityEngine.Debug.Log(stopwatch.ElapsedMilliseconds + "ms");
this.retracePath(start, current_node);
this.onPathFindComplete(openSet, close_set);
return;
}
close_set.Add(current_node);
var neighbours = this.calculateNeighbours(current_node);
foreach (var neighbour in neighbours)
{
if (neighbour.isBlocked() || close_set.Contains(neighbour))
{
continue;
}
var not_in_open = !openSet.contains(neighbour);
int new_cost = current_node.gCost + this.calculateGPreCost(current_node, neighbour);
if (new_cost < neighbour.gCost || not_in_open)
{
neighbour.gCost = new_cost;
neighbour.hCost = this.calculateHCost(neighbour, end);
neighbour.parent = current_node;
if (not_in_open)
{
openSet.push(neighbour);
}
}
}
this.recycleNeighbourList(neighbours);
}
onPathNotFound.Invoke();
this.onPathFindComplete(openSet, close_set);
}
protected virtual void onPathFindComplete(TezBinaryHeap <Wrapper> openSet, HashSet <Wrapper> closeSet)
{
this.onPathFindComplete();
openSet.clear();
closeSet.Clear();
recycleHashSet_Wrapper(closeSet);
}