private bool compareTwoNodes(long node1, long node2)
{
double f = this._nodeGrid.Nodes[ANode.GetGUID_X(node1), ANode.GetGUID_Y(node1)].f;
double f2 = this._nodeGrid.Nodes[ANode.GetGUID_X(node2), ANode.GetGUID_Y(node2)].f;
return(f < f2);
}
/**比较两个节点，返回true则表示第一个节点小于第二个*/
private Boolean compareTwoNodes(long node1, long node2)
{
double f1 = _nodeGrid.Nodes[ANode.GetGUID_X(node1), ANode.GetGUID_Y(node1)].f;
double f2 = _nodeGrid.Nodes[ANode.GetGUID_X(node2), ANode.GetGUID_Y(node2)].f;
return(f1 < f2);
}
public bool isDiagonalWalkable(long node1, long node2)
{
int node1x = ANode.GetGUID_X(node1);
int node1y = ANode.GetGUID_Y(node1);
int node2x = ANode.GetGUID_X(node2);
int node2y = ANode.GetGUID_Y(node2);
return(1 == this._fixedObstruction[node1x, node2y] && 1 == this._fixedObstruction[node2x, node1y]);
}
/** 判断两个节点的对角线路线是否可走 */
public bool isDiagonalWalkable(long node1, long node2)
{
int node1x = ANode.GetGUID_X(node1);
int node1y = ANode.GetGUID_Y(node1);
int node2x = ANode.GetGUID_X(node2);
int node2y = ANode.GetGUID_Y(node2);
if (1 == _fixedObstruction[node1x, node2y] && 1 == _fixedObstruction[node2x, node1y])
{
return(true);
}
return(false);
}
public string toString()
{
string result = "";
int len = this._data.Count;
for (int i = 0; i < len; i++)
{
double f = this._nodeGrid.Nodes[ANode.GetGUID_X(this._data[i]), ANode.GetGUID_Y(this._data[i])].f;
result += f;
if (i < len - 1)
{
result += ",";
}
}
return(result);
}
private void buildPath()
{
this._path = new List <ANode>();
ANode node = new ANode(this._endNodeX, this._endNodeY);
this._path.Add(node);
int count = 0;
while (node.x != this._startNodeX || node.y != this._startNodeY)
{
int px = this._grid.Nodes[node.x, node.y].parentX;
int py = this._grid.Nodes[node.x, node.y].parentY;
node = new ANode(px, py);
this._path.Insert(0, node);
count++;
}
Debug.WriteLine(string.Format("Find Path count={0}", count));
}
private void buildPath()
{
_path = new List <ANode>();
ANode node = new ANode(_endNodeX, _endNodeY);
_path.Add(node);
int count = 0;
while (!(node.x == _startNodeX && node.y == _startNodeY))
{
int px = _grid.Nodes[node.x, node.y].parentX;
int py = _grid.Nodes[node.x, node.y].parentY;
node = new ANode(px, py);
_path.Insert(0, node);
count++;
}
System.Diagnostics.Debug.WriteLine(string.Format("Find Path count={0}", count));
}
public bool search()
{
try
{
long node = ANode.GetGUID(this._startNodeX, this._startNodeY);
long endNode = ANode.GetGUID(this._endNodeX, this._endNodeY);
int nodex;
int nodey;
while (node != endNode)
{
nodex = ANode.GetGUID_X(node);
nodey = ANode.GetGUID_Y(node);
int startX = (0 > nodex - 1) ? 0 : (nodex - 1);
int endX = (this._grid.numCols - 1 < nodex + 1) ? (this._grid.numCols - 1) : (nodex + 1);
int startY = (0 > nodey - 1) ? 0 : (nodey - 1);
int endY = (this._grid.numRows - 1 < nodey + 1) ? (this._grid.numRows - 1) : (nodey + 1);
for (int i = startX; i <= endX; i++)
{
for (int j = startY; j <= endY; j++)
{
if (this._open.getLength() > AStar.MaxOpenNodeCount)
{
LogManager.WriteLog(LogTypes.Warning, string.Format("AStar:search()待检测的点太多，没必要再寻路: start({0}, {1}), to({2}, {3}), MaxOpenNodeCount={4}", new object[]
{
this._startNodeX,
this._startNodeY,
this._endNodeX,
this._endNodeY,
AStar.MaxOpenNodeCount
}), null, true);
return(false);
}
long test = ANode.GetGUID(i, j);
int testx = i;
int testy = j;
bool isTestWalkable = this._grid.isWalkable(testx, testy);
if (test != node && isTestWalkable && this._grid.isDiagonalWalkable(node, test))
{
double cost = this._straightCost;
if (nodex != testx && nodey != testy)
{
cost = this._diagCost;
}
double nodeg = this._grid.Nodes[nodex, nodey].g;
double g = nodeg + cost * 1.0;
double h = this.diagonal(testx, testy);
double f = g + h;
bool isInOpen = this._open.indexOf(test) != -1;
int indexOfClose = this.IndexOfClose(test);
if (isInOpen || indexOfClose != -1)
{
if (this._grid.Nodes[testx, testy].f > f)
{
this._grid.Nodes[testx, testy].f = f;
this._grid.Nodes[testx, testy].g = g;
this._grid.Nodes[testx, testy].h = h;
this._grid.Nodes[testx, testy].parentX = nodex;
this._grid.Nodes[testx, testy].parentY = nodey;
if (isInOpen)
{
this._open.updateNode(test);
}
}
}
else
{
this._grid.Nodes[testx, testy].f = f;
this._grid.Nodes[testx, testy].g = g;
this._grid.Nodes[testx, testy].h = h;
this._grid.Nodes[testx, testy].parentX = nodex;
this._grid.Nodes[testx, testy].parentY = nodey;
this._open.push(test);
}
}
}
}
this._closed[node] = true;
if (this._open.getLength() == 0)
{
return(false);
}
node = this._open.shift();
}
nodex = ANode.GetGUID_X(node);
nodey = ANode.GetGUID_Y(node);
this._endNodeX = nodex;
this._endNodeY = nodey;
this.buildPath();
}
catch (Exception e)
{
Debug.WriteLine(e.Message);
}
return(true);
}
public bool search()
{
try
{
//异步运算。当上一次遍历超出最大允许值后停止遍历，下一次从
//上次暂停处开始继续遍历
long node = ANode.GetGUID(_startNodeX, _startNodeY);
long endNode = ANode.GetGUID(_endNodeX, _endNodeY);
int nodex = 0;
int nodey = 0;
while (node != endNode)
{
nodex = ANode.GetGUID_X(node);
nodey = ANode.GetGUID_Y(node);
int startX = 0 > nodex - 1 ? 0 : nodex - 1;
int endX = _grid.numCols - 1 < nodex + 1 ? _grid.numCols - 1 : nodex + 1;
int startY = 0 > nodey - 1 ? 0 : nodey - 1;
int endY = _grid.numRows - 1 < nodey + 1 ? _grid.numRows - 1 : nodey + 1;
for (int i = startX; i <= endX; i++)
{
for (int j = startY; j <= endY; j++)
{
//待检测的点太多，没必要再寻路了
if (_open.getLength() > MaxOpenNodeCount)
{
string warning = String.Format("AStar:search()待检测的点太多，没必要再寻路: start({0}, {1}), to({2}, {3}), MaxOpenNodeCount={4}",
_startNodeX, _startNodeY, _endNodeX, _endNodeY, MaxOpenNodeCount);
LogManager.WriteLog(LogTypes.Warning, warning);
return(false);
}
long test = ANode.GetGUID(i, j);
int testx = i;
int testy = j;
bool isTestWalkable = _grid.isWalkable(testx, testy);
if (test == node || !isTestWalkable ||
!_grid.isDiagonalWalkable(node, test))
{
continue;
}
double cost = _straightCost;
if (!((nodex == testx) || (nodey == testy)))
{
cost = _diagCost;
}
double nodeg = _grid.Nodes[nodex, nodey].g;
double g = nodeg + cost * costMultiplier;
double h = diagonal(testx, testy);
double f = g + h;
Boolean isInOpen = _open.indexOf(test) != -1;
int indexOfClose = IndexOfClose(test);
if (isInOpen || indexOfClose != -1)
{
if (_grid.Nodes[testx, testy].f > f)
{
_grid.Nodes[testx, testy].f = f;
_grid.Nodes[testx, testy].g = g;
_grid.Nodes[testx, testy].h = h;
_grid.Nodes[testx, testy].parentX = nodex;
_grid.Nodes[testx, testy].parentY = nodey;
if (isInOpen)
{
_open.updateNode(test);
}
}
}
else
{
_grid.Nodes[testx, testy].f = f;
_grid.Nodes[testx, testy].g = g;
_grid.Nodes[testx, testy].h = h;
_grid.Nodes[testx, testy].parentX = nodex;
_grid.Nodes[testx, testy].parentY = nodey;
_open.push(test);
}
}
}
_closed[node] = true;
if (_open.getLength() == 0)
{
return(false);
}
node = _open.shift();
}
//所有的node，都由很多副本，所以，很多时候，必须生成确定的副本
nodex = ANode.GetGUID_X(node);
nodey = ANode.GetGUID_Y(node);
_endNodeX = nodex;
_endNodeY = nodey;
buildPath();
}
catch (Exception e)
{
System.Diagnostics.Debug.WriteLine(e.Message);
}
return(true);
}
