void ExtendEdgeWaypoint(EdgeWaypoint w) //扩展边中点
{
int p1 = (w.border == null) ? -1 : w.border.belong_poly;
int p2 = (w.border == null) ? -1 : w.border.neighbor_poly;
if (p1 != -1 && polys[p1].enterable)
{
Polygon p = polys[p1];
foreach (Border b in p.borders)
{
FPoint fp = b.GetMid();
PushEdgeWaypoint(fp, b, w);
PushVertexWaypoint(b.from, b.from_idx, w);
}
}
if (p2 != -1 && polys[p2].enterable)
{
Polygon p = polys[p2];
foreach (Border b in p.borders)
{
FPoint fp = b.GetMid();
PushEdgeWaypoint(fp, b, w);
PushVertexWaypoint(b.from, b.from_idx, w);
}
}
}
//===============================================================================================
void PushEdgeWaypoint(FPoint fp, Border border, Waypoint parent) //凭借border可以判断done标志
{
//在Close表中，退出
if (close.IsContainsPos(fp))
{
return;
}
//在Open表中否？
Waypoint w = open.GetWaypointFromXY(fp);
if (w != null)
{
//在Open表中，可优化否？
float d = fp.Distance(parent.fp);
if (w.G > parent.G + d) //可优化
{
open.Delete(w);
w.parent = parent;
w.G = parent.G + d;
w.F = w.G + w.H;
open.Add(w);
}
}
else
{
//不在Open表中
int p1 = border.belong_poly;
int p2 = border.neighbor_poly;
Polygon po1 = (p1 == -1) ? null : polys[p1];
Polygon po2 = (p2 == -1) ? null : polys[p2];
bool done = (po1 == dst_poly || po2 == dst_poly) ? true : false;
w = new EdgeWaypoint(fp, parent, border, done);
open.Add(w);
}
}
