private static void UF_ReleaseASGridData(ASGridData data)
{
if (data != null)
{
s_GridDataPool.Release(data);
}
}
private static ASGridData UF_AcquireASGridData()
{
ASGridData data = s_GridDataPool.Get();
if (data == null)
{
data = new ASGridData();
}
return(data);
}
static bool UF_Contains(List <ASGridData> list, ASGridData target)
{
int index = list.Count - 1;
for (int k = index; k > -1; k--)
{
if (list [k] == target)
{
return(true);
}
}
return(false);
}
/// <summary>
/// 获取两个节点之间的距离
/// </summary>
static int UF_GetDistanceNodes(ASGridData a, ASGridData b)
{
/// 对角线估价法
int cntX = Math.Abs(a.X - b.X);
int cntY = Math.Abs(a.Y - b.Y);
return(cntX > cntY ? 14 * cntY + 10 * (cntX - cntY) : 14 * cntX + 10 * (cntY - cntX));
////几何估价法
//int dx = a.X - b.X;
//int dy = a.Y - b.Y;
//return (int)(Math.Sqrt(dx * dx + dy * dy) * 10);
//// 曼哈顿估价法
//return Math.Abs(a.X - b.X) * 10 + Math.Abs(a.Y + b.Y) * 10;
}
/// <summary>
/// 生成路径
/// </summary>
static void UF_GeneratePath(ASGridData startNode, ASGridData endNode, List <ASGridData> outGrids)
{
outGrids.Clear();
if (endNode != null)
{
ASGridData temp = endNode;
while (temp != startNode)
{
outGrids.Add(temp);
temp = temp.parent;
}
outGrids.Add(startNode);
// 反转路径
outGrids.Reverse();
}
}
//检查邻居节点合法性
//*0
//0*
//斜方向
static private bool UF_CheckNeibourhoodValid(ASGrid asGrid, ASGridData a, ASGridData b)
{
int minX = a.X < b.X ? a.X : b.X;
int minY = a.Y < b.Y ? a.Y : b.Y;
int vCount = 0;
int width = asGrid.width - 1;
int height = asGrid.height - 1;
for (int k = 0; k < 2; k++)
{
for (int i = 0; i < 2; i++)
{
if (asGrid.UF_GetState(Math.Min(minX + i, width), Math.Min(minY + k, height)) == 0)
{
vCount++;
}
}
}
return(vCount >= 3);
}
/// <summary>
/// 查找线路
/// </summary>
/// <returns>如果没有线路 则返回null </returns>
static public void UF_FindingPath(ASGrid asGrid, int startX, int startY, int endX, int endY, List <ASGridData> outGrids)
{
int width = asGrid.width;
int height = asGrid.height;
m_LOpen.Clear();
m_LClose.Clear();
ASGridData startNode = asGrid.UF_GetData(startX, startY);
ASGridData endNode = asGrid.UF_GetData(endX, endY);
if (startNode == null || endNode == null)
{
return;
}
m_LOpen.Add(startNode);
while (m_LOpen.Count > 0)
{
ASGridData curNode = m_LOpen[0];
for (int i = 0, max = m_LOpen.Count; i < max; i++)
{
if (m_LOpen[i].fCost <= curNode.fCost &&
m_LOpen[i].hCost < curNode.hCost)
{
curNode = m_LOpen[i];
}
}
m_LOpen.Remove(curNode);
m_LClose.Add(curNode);
// 找到的目标节点
if (curNode == endNode)
{
UF_GeneratePath(startNode, endNode, outGrids);
return;
}
//未有邻近点，生产并记录
if (curNode.Neibourhood == null)
{
curNode.UF_GenNeibourhood(width, height);
}
// 判断周围节点，选择一个最优的节点GenNeibourhood
for (int k = 0; k < curNode.Neibourhood.Length; k++)
{
ASGridData tempGrid = asGrid[curNode.Neibourhood [k]];
// 如果是墙或者已经在关闭列表中
if (!UF_CanPass(tempGrid.State) || m_LClose.Contains(tempGrid))
{
continue;
}
//判断斜方向邻居点，共享点必须为可行走区域
if (!UF_CheckNeibourhoodValid(asGrid, curNode, tempGrid))
{
continue;
}
// 计算当前相领节点现开始节点距离
int newCost = curNode.gCost + UF_GetDistanceNodes(curNode, tempGrid);
// 如果距离更小，或者原来不在开始列表中
if (newCost < tempGrid.gCost || !UF_Contains(m_LOpen, tempGrid))
{
// 更新与开始节点的距离
tempGrid.gCost = newCost;
// 更新与终点的距离
tempGrid.hCost = UF_GetDistanceNodes(tempGrid, endNode);
// 更新父节点为当前选定的节点
tempGrid.parent = curNode;
// 如果节点是新加入的，将它加入打开列表中
if (!UF_Contains(m_LOpen, tempGrid))
{
m_LOpen.Add(tempGrid);
}
}
}
}
return;
}