public BallPathFinderManager(City[] terr)
{
this.cityList = terr;
units = new AStarNodeBall[terr.Length];
for (int i = 0; i < terr.Length; i++)
{
units[i] = new AStarNodeBall(terr[i]);
nodeTable.Add(terr[i], units[i]);
}
}
public BallPathFinderManager(City[] terr)
{
this.cityList = terr;
units = new AStarNodeBall[terr.Length];
for (int i = 0; i < terr.Length; i++)
{
units[i] = new AStarNodeBall(terr[i]);
nodeTable.Add(terr[i], units[i]);
}
}
//int Comparision(AStarNode a, AStarNode b)
//{
// return a.f.CompareTo(b.f);
//}
void QuickSort(FastList <AStarNodeBall> list, int l, int r)
{
int i;
int j;
do
{
i = l;
j = r;
AStarNodeBall p = list[(l + r) >> 1];
do
{
while (list[i].f < p.f)
{
i++;
}
while (list[j].f > p.f)
{
j--;
}
if (i <= j)
{
AStarNodeBall t = list.Elements[i];
list.Elements[i] = list.Elements[j];
list.Elements[j] = t;
i++;
j--;
}
}while (i <= j);
if (l < j)
{
QuickSort(list, l, j);
}
l = i;
}while (i < r);
}
public BallPathFinderResult FindPath(City start, City target)
{
if (start == target)
{
return(new BallPathFinderResult(new FastList <City>()));
}
//int ofsX = Math.Min(sx, tx);
//int ofsY = Math.Min(sy, ty);
FastList <AStarNodeBall> enQueueBuffer = new FastList <AStarNodeBall>(10);
AStarNodeBall startNode = nodeTable[start];
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;
AStarNodeBall finalNode = null;
// this is just a ordinary BFS with a sorting
while (queue.Count > 0 && !(found))
{
AStarNodeBall curPos = queue.Dequeue();
int curHash = curPos.GetHashCode();
inQueueTable.Remove(curHash);
passedTable.Add(curHash, curPos);
City cc = curPos.City;
// BFS展开新节点
// expand sub nodes in the searching
for (int i = 0; i < cc.LinkableCityCount; i++)
{
City nc = cc.GetLinkableCity(i);
AStarNodeBall np = nodeTable[nc];
if (np.City == target)
{
// found the way to the destination
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 (np.City.Owner == start.Owner)
{
int npHash = np.GetHashCode();
float cost = Vector3.Distance(cc.Position, nc.Position) / 1000.0f;
bool isNPInQueue = false;
AStarNodeBall temp;
if (inQueueTable.TryGetValue(npHash, out temp) && temp == np)
{
if (np.g > curPos.g + cost)
{
np.g = curPos.g + cost;
np.f = np.g + np.h;
}
isNPInQueue = true;
}
// check if the expanded node is allowable
// Is the grid node is node in passedTable and inQueueTable?
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 + cost;
np.h = Vector3.Distance(target.Position, nc.Position);
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 (found)
{
AStarNodeBall curNode = finalNode;
for (int i = 0; i < curNode.depth; i++)
{
result.Add((City)null);
}
do
{
//result.Add(curNode);
result[curNode.depth - 1] = curNode.City;
curNode = curNode.parent;
}while (curNode.parent != null);
return(new BallPathFinderResult(result));
}
return(null);
}
//readonly static int[][] stateEnum = new int[8][]
//{
// new int[2] { 0, -1 }, new int[2] { 0, 1 },
// new int[2] { -1, 0 }, new int[2] { 1, 0 },
// new int[2] { -1, -1 }, new int[2] { 1, 1 },
// new int[2] { -1, 1 }, new int[2] { 1, -1 },
//};
//readonly static float[] stateEnumCost = new float[8]
//{
// 1, 1,
// 1, 1,
// MathEx.Root2, MathEx.Root2,
// MathEx.Root2, MathEx.Root2,
//};
public BallPathFinder(City[] terr, AStarNodeBall[] units, Dictionary<City, AStarNodeBall> nodeTable)
{
this.terrain = terr;
this.units = units;
this.nodeTable = nodeTable;
}
