public void Init(int startGridX, int startGridY, int endGridX, int endGridY, List <string> block, bool isCalcDiagonal)
{
this.startGridX = startGridX;
this.startGridY = startGridY;
this.endGridX = endGridX;
this.endGridY = endGridY;
this.blockList = block;
this.isCalcDiagonal = isCalcDiagonal;
closeNodeList = new CloseNodeList();
openNodeList = new OpenNodeList();
resultList.Clear();
//创建startNode
startNode = CreateNode(startGridX, startGridY);
//把第一个node 放入开放表
openNodeList.AddNode(startNode);
}
public void CreateNodeByDirection(DirectionRelativeParent direction, NodeInfo parentNode)
{
Point offset = GetOffsetValueByDirection(direction);
int girdX = parentNode.gridX + offset.x;
int gridY = parentNode.gridY + offset.y;
//如果是障碍物，则不创建
if (IsBlock(girdX, gridY))
{
return;
}
//如果已经在closelist 则不创建
if (closeNodeList.IsAlreadyInCloseList(girdX, gridY))
{
return;
}
//创建并加入Open列表
openNodeList.AddNode(CreateNode(girdX, gridY, parentNode));
}
