public bool LineTest2(CMap map, CCreature cc, int x1, int y1, int x2, int y2, ref Vector2 lastPos)
{
//Profiler.BeginSample("LineTest2");
int dx = x2 - x1;
int dy = y2 - y1;
int ux = (dx > 0) ? 1 : -1; //x的增量方向，取或-1
int uy = (dy > 0) ? 1 : -1; //y的增量方向，取或-1
int x = x1, y = y1, eps; //eps为累加误差
//算法问题需要向增量方向在+1
x2 += ux; y2 += uy;
eps = 0; dx = Mathf.Abs(dx); dy = Mathf.Abs(dy);
if (dx > dy)
{
for (x = x1; x != x2; x += ux)
{
if (!map.CanArrive(cc, x, y))
{
//Profiler.EndSample();
return(false);
}
lastPos.x = x;
lastPos.y = y;
//mpaths.Add(new Vector2(x, y));
eps += dy;
if ((eps << 1) >= dx)
{
y += uy; eps -= dx;
}
}
}
else
{
for (y = y1; y != y2; y += uy)
{
if (!map.CanArrive(cc, x, y))
{
//Profiler.EndSample();
return(false);
}
lastPos.x = x;
lastPos.y = y;
eps += dx;
if ((eps << 1) >= dy)
{
x += ux; eps -= dy;
}
}
}
//Profiler.EndSample();
return(true);
}
// 开始寻路 开始点、结束点、结果路径列表、最大搜索节点数
public bool FindPath(CMap map, CCreature cc, Vector2 startPt, Vector2 endPos, ref List <Vector2> paths, int maxRoute)
{
// 如果检测到是能走的直线，就取最后一个点为目的地
// 如果检测到不是能走的直线，取靠近目标点最近的并且能走的点，作为寻路的目标点
Vector2 vLastPos = Vector2.zero;
if (LineTest2(map, cc, (int)startPt.x, (int)startPt.y, (int)endPos.x, (int)endPos.y, ref vLastPos))
{
paths.Add(vLastPos);
return(true);
}
// 如果目标点不能走，取检测直线时得出的，靠近目标点最近的并且能走的点
//if (null == map || !map.CanArriveDoubleInt(ref startPt) || !map.CanArriveDoubleInt(ref endPos))
if (null == map || !map.CanArrive(cc, (int)endPos.x, (int)endPos.y))
{
m_nErrorType = ErrorCode.eErrParam;
if (vLastPos != Vector2.zero)
{
paths.Add(vLastPos);
//直线走到最近能走到的那个点需要缩放回去
//Profiler.EndSample();
return(true);
}
//Profiler.EndSample();
return(false);
}
// sPaths.Clear();
InitLists(0, 0);
openNote((int)startPt.x, (int)startPt.y, 0, 0, 0);
int currTry = 0;
int currId = 0;
int currNoteX = 0;
int currNoteY = 0;
int checkingId = 0;
int cost = 0;
int score = 0;
Vector2[] aroundNodes = new Vector2[8];
int aroundCount = 0;
while (m_nOpenCount > 0)
{
// 超时返回
if (++currTry > maxRoute)
{
m_nErrorType = ErrorCode.eErrMaxTry;
//Profiler.EndSample();
//Debug.Log("超过最大遍历次数");
return(false);
}
// 每次取出开放列表最前面的ID
currId = m_vOpenList[0];
//将编码为此ID的元素列入关闭列表
closeNote(currId);
currNoteX = m_vXList[currId];
currNoteY = m_vYList[currId];
//如果终点被放入关闭列表寻路结束，返回路径
if (currNoteX == (int)endPos.x && currNoteY == (int)endPos.y)
{
bool bRef = getPath(ref startPt, ref endPos, currId, paths);
//Profiler.EndSample();
return(bRef);
}
//获取周围节点，排除不可通过和已在关闭列表中的
getArounds(map, cc, currNoteX, currNoteY, ref aroundNodes, ref aroundCount);
for (int index = 0; index < aroundCount; index++)
{
// 计算F和G值
cost = m_vMovementCostList[currId] +
((aroundNodes[index].x == currNoteX || aroundNodes[index].y == currNoteY) ? (int)CostSave.CostStraight : (int)CostSave.CostDiagonal);
score = cost + (int)((Mathf.Abs(endPos.x - aroundNodes[index].x) + Mathf.Abs(endPos.y - aroundNodes[index].y)) * (float)CostSave.CostStraight);
if (isOpen(map, (int)aroundNodes[index].x, (int)aroundNodes[index].y))//如果节点已在播放列表中
{
checkingId = m_GlobleintAStar[(int)aroundNodes[index].y, (int)aroundNodes[index].x];
if (checkingId >= m_vMovementCostList.Count)
{
//Debug.LogWarning(string.Format("寻路出现问题场景{0}起始坐标[{1},{2}]， 目标坐标[{3}, {4}]", map.GetMapID(), startPt.x, startPt.y, endPos.x, endPos.y));
return(false);
}
//如果新的G值比节点原来的G值小,修改F,G值，换父节点
if (cost < m_vMovementCostList[checkingId])
{
m_vMovementCostList[checkingId] = cost;
m_vPathScoreList[checkingId] = score;
m_vFatherList[checkingId] = currId;
aheadNote(getIndex(checkingId));
}
}
else//如果节点不在开放列表中
{
//将节点放入开放列表
openNote((int)aroundNodes[index].x, (int)aroundNodes[index].y, score, cost, currId);
}
}
}
//如果找不到。那么走到可以走到的那个点上
if (vLastPos.x > 0 && paths.Count == 0)
{
//直线走到最近能走到的那个点需要缩放回去
//Profiler.EndSample();
return(true);
}
// 开放列表已空，找不到路径
m_nErrorType = ErrorCode.eErrCannotFind;
//Profiler.EndSample();
return(false);
}
// 获取某节点的周围节点，排除不能通过和已在关闭列表中的
bool getArounds(CMap map, CCreature cc, int p_x, int p_y, ref Vector2[] aroundNodes, ref int aroundCount)
{
//Vector2 pt = Vector2.zero;
int checkX = 0;
int checkY = 0;
bool canDiagonal = false;
bool canRight = false;
bool canDown = false;
bool canLeft = false;
bool canUp = false;
aroundCount = 0;
// 右
checkX = p_x + 1;
checkY = p_y;
canRight = map.CanArrive(cc, checkX, checkY);
if (canRight && !isClosed(checkX, checkY))
{
aroundNodes[aroundCount++] = new Vector2(checkX, checkY);
}
// 下
checkX = p_x;
checkY = p_y + 1;
canDown = map.CanArrive(cc, checkX, checkY);
if (canDown && !isClosed(checkX, checkY))
{
aroundNodes[aroundCount++] = new Vector2(checkX, checkY);
}
// 左
checkX = p_x - 1;
checkY = p_y;
canLeft = map.CanArrive(cc, checkX, checkY);
if (canLeft && !isClosed(checkX, checkY))
{
aroundNodes[aroundCount++] = new Vector2(checkX, checkY);
}
// 上
checkX = p_x;
checkY = p_y - 1;
canUp = map.CanArrive(cc, checkX, checkY);
if (canUp && !isClosed(checkX, checkY))
{
aroundNodes[aroundCount++] = new Vector2(checkX, checkY);
}
// 右下
checkX = p_x + 1;
checkY = p_y + 1;
canDiagonal = map.CanArrive(cc, checkX, checkY);
if (canDiagonal && canRight && canDown && !isClosed(checkX, checkY))
{
aroundNodes[aroundCount++] = new Vector2(checkX, checkY);
}
// 左下
checkX = p_x - 1;
checkY = p_y + 1;
canDiagonal = map.CanArrive(cc, checkX, checkY);
if (canDiagonal && canLeft && canDown && !isClosed(checkX, checkY))
{
aroundNodes[aroundCount++] = new Vector2(checkX, checkY);
}
// 左上
checkX = p_x - 1;
checkY = p_y - 1;
canDiagonal = map.CanArrive(cc, checkX, checkY);
if (canDiagonal && canLeft && canUp && !isClosed(checkX, checkY))
{
aroundNodes[aroundCount++] = new Vector2(checkX, checkY);
}
// 右上
checkX = p_x + 1;
checkY = p_y - 1;
canDiagonal = map.CanArrive(cc, checkX, checkY);
if (canDiagonal && canRight && canUp && !isClosed(checkX, checkY))
{
aroundNodes[aroundCount++] = new Vector2(checkX, checkY);
}
return(true);
}