public PathFinderManager(BitTable terr)
{
terrain = terr;
units = new AStarNode[DW][];
for (int i = 0; i < DW; i++)
{
units[i] = new AStarNode[DH];
for (int j = 0; j < DH; j++)
{
units[i][j] = new AStarNode(i, j);
}
}
}
public PathFinderResult FindPath(int sx, int sy, int tx, int ty)
{
if (sx == tx && sy == ty)
{
return(new PathFinderResult(new FastList <Point>(), false));
}
int ofsX = Math.Min(sx, tx);
int ofsY = Math.Min(sy, ty);
FastList <AStarNode> enQueueBuffer = new FastList <AStarNode>(10);
AStarNode startNode = units[sx][sy];
startNode.parent = null;
startNode.h = 0;
startNode.g = 0;
startNode.f = 0;
startNode.depth = 0;
queue.Enqueue(startNode);
inQueueTable.Add(startNode.GetHashCode(), startNode);
bool found = false;
bool rcpf = false;
AStarNode finalNode = null;
while (queue.Count > 0 && !(found || rcpf))
{
AStarNode curPos = queue.Dequeue(); //将open列表中最前面的元素设为当前格
int curHash = curPos.GetHashCode();
if (curPos.depth > MaxStep)
{
rcpf = true;
finalNode = curPos;
break;
}
inQueueTable.Remove(curHash);
passedTable.Add(curHash, curPos);
int cx = curPos.X;
int cy = curPos.Y;
// BFS展开新节点
for (int i = 0; i < 8; i++)
{
int nx = cx + stateEnum[i][0];
int ny = cy + stateEnum[i][1];
// 检查范围
if (nx >= 0 && nx < width && ny >= 0 && ny < height)
{
AStarNode np = units[nx][ny];
int npHash = np.GetHashCode();
if (nx == tx && ny == ty) //如此方格为终点
{
found = true; //找到路径了
finalNode = np;
np.depth = curPos.depth + 1;
np.parent = curPos; //当前格坐标为终点的父方格坐标
break;
}
else
{
if (!terrain.GetBit(ny * width + nx)) //地块能通过
{
bool isNPInQueue = false;
AStarNode temp;
if (inQueueTable.TryGetValue(npHash, out temp) && temp == np)
{
if (np.g > curPos.g + stateEnumCost[i])
{
np.g = curPos.g + stateEnumCost[i];
np.f = np.g + np.h;
}
isNPInQueue = true;
}
if (!isNPInQueue &&
(!passedTable.TryGetValue(npHash, out temp) && temp != np))
//如果此方格不在即将展开的节点表 和 已遍历过的节点表
{
np.parent = curPos; //当前格为此格的父方格
np.g = curPos.g + stateEnumCost[i];
np.h = Math.Abs(tx - nx) + Math.Abs(ty - ny);
np.f = np.g + np.h;
np.depth = curPos.depth + 1;
enQueueBuffer.Add(np);
inQueueTable.Add(npHash, np);
}
}
}
}
}
// A*
//enQueueBuffer.Sort(Comparision);
if (enQueueBuffer.Count > 0)
{
QuickSort(enQueueBuffer, 0, enQueueBuffer.Count - 1);
for (int i = 0; i < enQueueBuffer.Count; i++)
{
queue.Enqueue(enQueueBuffer[i]);
}
enQueueBuffer.Clear();
}
}
if (rcpf)
{
AStarNode curNode = finalNode;
int baseOffset = result.Count;
for (int i = 0; i < curNode.depth; i++)
{
result.Add(Point.Zero);
}
do
{
//result.Add(curNode);
result[baseOffset + curNode.depth - 1] = new Point(curNode.X, curNode.Y);
curNode = curNode.parent;
}while (curNode.parent != null);
return(new PathFinderResult(result, true));
}
if (found)
{
AStarNode curNode = finalNode;
for (int i = 0; i < curNode.depth + 1; i++)
{
result.Add(Point.Zero);
}
do
{
//result.Add(curNode);
result[curNode.depth] = new Point(curNode.X, curNode.Y);
curNode = curNode.parent;
}while (curNode.parent != null);
result[0] = new Point(sx, sy);
return(new PathFinderResult(result, false));
}
return(null);
}
public PathFinder(BitTable terr, AStarNode[][] units)
{
this.terrain = terr;
this.units = units;
this.width = PathFinderManager.DW;
this.height = PathFinderManager.DH;
}