/// <summary>
/// 搜索路径
/// </summary>
private bool SearchBaseBinaryHeap(SimpleAStarNode startNode, SimpleAStarNode endNode, int nowCheckNum)
{
/**已进入关闭列表(从openList中移除即进入关闭列表)*/
int STATUS_CLOSED = nowCheckNum + 1;
mBinaryHeapUtils.Reset();
startNode.g = 0;
startNode.f = startNode.g + mAStarHeuristic.Heuristic(startNode.mNodeX, startNode.mNodeY, endNode.mNodeX, endNode.mNodeY);
startNode.mSearchPathCheckNum = STATUS_CLOSED;
int g = 0;
SimpleAStarNode node = startNode;
SimpleAStarNode tmpNode = null;
while (node != endNode)
{
IList <SimpleAStarLinkNode> linkNodes = node.mLinks;
for (int i = 0; i < linkNodes.Count; ++i)
{
tmpNode = linkNodes[i].mNode;
if (tmpNode == null)
{
continue;
}
g = node.g + linkNodes[i].mCost;
// 如果已被检查过
if (tmpNode.mSearchPathCheckNum >= nowCheckNum)
{
if (tmpNode.g > g)
{
tmpNode.f = g + mAStarHeuristic.Heuristic(tmpNode.mNodeX, tmpNode.mNodeY, endNode.mNodeX, endNode.mNodeY);
tmpNode.g = g;
tmpNode.mParentNode = node;
if (tmpNode.mSearchPathCheckNum == nowCheckNum)
{
mBinaryHeapUtils.ModifyNode(tmpNode.mBinaryHeapNode);
}
}
}
else
{
tmpNode.f = g + mAStarHeuristic.Heuristic(tmpNode.mNodeX, tmpNode.mNodeY, endNode.mNodeX, endNode.mNodeY);
tmpNode.g = g;
tmpNode.mParentNode = node;
tmpNode.mBinaryHeapNode = mBinaryHeapUtils.InsertNode(tmpNode);
tmpNode.mSearchPathCheckNum = nowCheckNum;
}
}
if (mBinaryHeapUtils.headNode != null)
{
node = mBinaryHeapUtils.PopNode();
node.mSearchPathCheckNum = STATUS_CLOSED;
}
else
{
return(false);
}
}
return(true);
}
