public void CalNodeData(Dictionary <string, ANode> nodeDict)
{
ANode startNode = null;
nodeDict.TryGetValue(xStart.ToString() + yStart, out startNode);
if (startNode == null || !startNode.CanReached())
{
Debug.Log("起点不可达！");
}
ANode endNode = null;
nodeDict.TryGetValue(xEnd.ToString() + yEnd, out endNode);
if (endNode == null || !endNode.CanReached())
{
Debug.Log("终点不可达！");
}
List <ANode> openList = new List <ANode>();
List <ANode> closedList = new List <ANode>();
HashSet <string> hasOpenSet = new HashSet <string>();
HashSet <string> closedSet = new HashSet <string>();
bool reached = false;
if (startNode.IsMatched(endNode))
{
Debug.Log("已经处于改点!!");
return;
}
closedList.Add(startNode);
closedSet.Add(startNode.x.ToString() + startNode.y);
openList.AddRange(startNode.CalClosedNode(nodeDict, closedList));
if (openList == null || openList.Count <= 0)
{
return;
}
foreach (var node in openList)
{
node.UpdateAllData(startNode, endNode);
hasOpenSet.Add(node.x.ToString() + node.y);
}
ANode nowNode = startNode;
ANode lastNode = null;
List <ANode> tempList = new List <ANode>();
StreamWriter sw = new StreamWriter("F:/path.txt", false, System.Text.Encoding.Default);
while (true)
{
int minFValue = 0;
nowNode = null;
foreach (var node in openList)
{
//Debug.Log("H value: " + node.H);
if (minFValue == 0 || node.F < minFValue)
{
minFValue = node.F;
nowNode = node;
}
else if (node.F == minFValue)
{
if (node.H <= nowNode.H)
{
nowNode = node;
}
}
}
if (nowNode.IsMatched(endNode))
{
lastNode = nowNode;
sw.WriteLine("我终于到达啦！！" + " x: " + nowNode.x + " y: " + nowNode.y);
Debug.Log("我终于到达啦！！" + " x: " + nowNode.x + " y: " + nowNode.y);
break;
}
if (!closedSet.Contains(nowNode.x.ToString() + nowNode.y))
{
closedList.Add(nowNode);
closedSet.Add(nowNode.x.ToString() + nowNode.y);
}
sw.WriteLine("x: " + nowNode.x + " y: " + nowNode.y);
Debug.Log("x: " + nowNode.x + " y: " + nowNode.y);
var nowClosedList = nowNode.CalClosedNode(nodeDict, closedList);
foreach (var nowClosedNode in nowClosedList)
{
string nodeName = nowClosedNode.x.ToString() + nowClosedNode.y;
if (!hasOpenSet.Contains(nodeName) && !closedSet.Contains(nodeName))
{
nowClosedNode.UpdateAllData(startNode, endNode);
hasOpenSet.Add(nodeName);
openList.Add(nowClosedNode);
}
}
openList.Remove(nowNode);
if (openList.Count == 0)
{
Debug.Log("我真的找不到路了！！");
reached = true;
}
}
sw.Close();
List <ANode> trackNodeList = new List <ANode>();
ANode tempNode = null;
while (lastNode != null)
{
trackNodeList.Add(lastNode);
tempNode = lastNode.parentNode;
lastNode = tempNode;
}
for (int i = 0; i < trackNodeList.Count; i++)
{
SetGreenColor("square" + "(" + trackNodeList[i].x + "," + trackNodeList[i].y + ")");
}
}