/// <summary> /// 插入节点到Cluster内,并构建相关节点和边到图中 /// </summary> private int InsertAbstractNodeInClusterLevel(HierarchicalMap map, Vector2Int concretePos) { AbstractNode abstractNode = map.GetAbstractNode(concretePos); //如果要插入的位置已经存在节点,则保存相关信息,以便之后删除时恢复 if (abstractNode != null) { NodeBackup backup = new NodeBackup(abstractNode.Level, abstractNode.Edges.Values.ToList()); if (m_backupDict.ContainsKey(abstractNode.Id)) { Debug.LogError("已经存在一个NodeBackup,逻辑上出错了"); } m_backupDict[abstractNode.Id] = backup; return(abstractNode.Id); } //把节点插入到Cluster内 int abstractId = map.NodeCount(); var cluster = map.FindClusterForPosition(concretePos); var entrance = cluster.AddEntrancePoint(abstractId, m_concreteMap.Get(concretePos)); cluster.AddIntraEdgesData(entrance); //把节点插入到图中 abstractNode = HPADemo.Instance.CreateAbstractNode(1, concretePos); abstractNode.Init(abstractId, 1, cluster.Id, concretePos); map.AddAbstractNode(abstractNode); map.AbstractGraph.AddNode(abstractNode); //把该节点相关的边插入到图中 foreach (var otherEntrance in cluster.EntrancePoints) { if (cluster.IsConnected(abstractId, otherEntrance.AbstractId)) { float distance = cluster.Distance(abstractId, otherEntrance.AbstractId); AbstractEdge edge = HPADemo.Instance.CreateEdge(concretePos, otherEntrance.ConcreteNode.Pos, 1, false); edge.Init(otherEntrance.AbstractId, distance, 1, false); map.AbstractGraph.AddEdge(abstractId, edge); edge = HPADemo.Instance.CreateEdge(otherEntrance.ConcreteNode.Pos, concretePos, 1, false); edge.Init(abstractId, distance, 1, false); map.AbstractGraph.AddEdge(otherEntrance.AbstractId, edge); } } return(abstractId); }