void Astar()
{
searchingList = new List <MapPosition>();
astarSearch = new AStarScore[map.GetLength(0), map.GetLength(1)];
astarSearch[startPoint.PosX, startPoint.PosY] = new AStarScore(0, 0);
searchingList.Add(startPoint);
MapPosition checkingPos = searchingList[0];
searchingList.RemoveAt(0);
while (!checkingPos.Equals(endPoint))
{
if (CheckPos(-1, 0))
{
return;
}
if (CheckPos(1, 0))
{
return;
}
if (CheckPos(0, -1))
{
return;
}
if (CheckPos(0, 1))
{
return;
}
searchingList.Sort((MapPosition pos1, MapPosition pos2) =>
{
AStarScore a1 = astarSearch[pos1.PosX, pos1.PosY];
AStarScore a2 = astarSearch[pos2.PosX, pos2.PosY];
return(a1.CompareTo(a2));
});
checkingPos = searchingList[0];
searchingList.RemoveAt(0);
}
bool CheckPos(int offsetX, int offsetY)
{
int x = checkingPos.PosX + offsetX;
int y = checkingPos.PosY + offsetY;
if (x >= 0 && x < H && y >= 0 && y < W)
{
AStarScore tempScore = astarSearch[x, y];
AStarScore checkingScore = astarSearch[checkingPos.PosX, checkingPos.PosY];
MapPosition tempPos = new MapPosition(x, y);
//////////////////if (map[x, y] == END)
//////////////////{
////////////////// AScore a = new AScore(checkingScore._gScore + 1, 0);
////////////////// a.Parent = checkingPos;
////////////////// astarSearch[x, y] = a;
////////////////// searchBlocks[x, y].transform.GetChild(0).GetChild(0).GetComponent<Text>().text = astarSearch[x, y].g.ToString();
////////////////// searchBlocks[x, y].transform.GetChild(0).GetChild(1).GetComponent<Text>().text = astarSearch[x, y].h.ToString();
////////////////// searchBlocks[x, y].transform.GetChild(0).GetChild(2).GetComponent<Text>().text = astarSearch[x, y].F.ToString();
////////////////// searchBlocks[x, y].GetComponent<Renderer>().material = searchMat;
////////////////// searchBlocks[x, y].SetActive(true);
////////////////// isFound = true;
////////////////// searchingList.Clear();
////////////////// return true;
//////////////////}
//////////////////if (map[x, y] == EMPTY)
//////////////////{
////////////////// if (tempScore == null)
////////////////// {
////////////////// AScore a = new AScore(checkingScore._gScore + 1, MapPosition.AStarDistance(tempPos, endPoint));
////////////////// a.Parent = checkingPos;
////////////////// astarSearch[x, y] = a;
////////////////// searchingList.Add(tempPos);
////////////////// }
////////////////// else if (tempScore._gScore > checkingScore._gScore + 1)
////////////////// {
////////////////// tempScore._gScore = checkingScore._gScore + 1;
////////////////// tempScore.Parent = checkingPos;
////////////////// if (!searchingList.Contains(tempPos))
////////////////// {
////////////////// searchingList.Add(tempPos);
////////////////// }
////////////////// }
////////////////// searchBlocks[x, y].transform.GetChild(0).GetChild(0).GetComponent<Text>().text = astarSearch[x, y].g.ToString();
////////////////// searchBlocks[x, y].transform.GetChild(0).GetChild(1).GetComponent<Text>().text = astarSearch[x, y].h.ToString();
////////////////// searchBlocks[x, y].transform.GetChild(0).GetChild(2).GetComponent<Text>().text = astarSearch[x, y].F.ToString();
////////////////// searchBlocks[x, y].GetComponent<Renderer>().material = searchMat;
////////////////// searchBlocks[x, y].SetActive(true);
//////////////////}
}
return(false);
}
}
public int CompareTo(AStarScore aScore) => F.CompareTo(aScore.F);
public bool Equals(AStarScore aScore) => F.Equals(aScore.F);
public IEnumerator StartFinding(PathFinding pathFinding)
{
_searchingList = new List <MapPosition>();
_searchingMap = new AStarScore[pathFinding.OriginMap.GetLength(0), pathFinding.OriginMap.GetLength(1)];
_searchingMap[pathFinding.StartPoint.PosX, pathFinding.StartPoint.PosY] = new AStarScore(0, 0);
_searchingList.Add(pathFinding.StartPoint);
var checkingPos = _searchingList[0];
_searchingList.RemoveAt(0);
while (!checkingPos.Equals(pathFinding.EndPoint))
{
if (CheckPos(-1, 0))
{
yield break;
}
if (CheckPos(1, 0))
{
yield break;
}
if (CheckPos(0, -1))
{
yield break;
}
if (CheckPos(0, 1))
{
yield break;
}
_searchingList.Sort((MapPosition posA, MapPosition posB) =>
{
var aStarA = _searchingMap[posA.PosX, posA.PosY];
var aStarB = _searchingMap[posB.PosX, posB.PosY];
return(aStarA.CompareTo(aStarB));
});
checkingPos = _searchingList[0];
_searchingList.RemoveAt(0);
yield return(null);
}
bool CheckPos(int offsetX, int offsetY)
{
int nextX = checkingPos.PosX + offsetX;
int nextY = checkingPos.PosY + offsetY;
if (nextX < 0 || nextX >= PathFinding.MAP_HEIGHT)
{
return(false);
}
if (nextY < 0 || nextY >= PathFinding.MAP_WIDTH)
{
return(false);
}
var tempScore = _searchingMap[nextX, nextY];
//if (tempScore != null) { return false; }
var checkingScore = _searchingMap[checkingPos.PosX, checkingPos.PosY];
var tempPos = new MapPosition(nextX, nextY);
if (pathFinding.OriginMap[nextX, nextY] == PathFinding.POINT_END)
{
var a = new AStarScore(checkingScore.G + 1, 0);
a.SetParent(checkingPos);
_searchingMap[nextX, nextY] = a;
UpdateSearchBlock(pathFinding, nextX, nextY);
pathFinding.SetIsFound(true);
_searchingList.Clear();
return(true);
}
if (pathFinding.OriginMap[nextX, nextY] == PathFinding.POINT_EMPTY)
{
if (tempScore == null)
{
var a = new AStarScore(checkingScore.G + 1, MapPosition.AStarDistance(tempPos, pathFinding.EndPoint));
a.SetParent(checkingPos);
_searchingMap[nextX, nextY] = a;
_searchingList.Add(tempPos);
}
else if (tempScore.G > checkingScore.G + 1)
{
tempScore.SetGScore(checkingScore.G + 1);
tempScore.SetParent(checkingPos);
if (!_searchingList.Contains(tempPos))
{
_searchingList.Add(tempPos);
}
}
UpdateSearchBlock(pathFinding, nextX, nextY);
}
return(false);
}
}