void FindPath(Gride _startPo, Gride _endPo)
{
openList.Add(_startPo);
Gride gr;
while ((gr = GetMinGr()) != null)
{
CheckGride(gr);
if (openList.Count == 0 || IsOpenListHave(_endPo))
{
break;
}
}
gr = GetEndGr();
if (gr == null)
{
Debug.LogError("寻路失败");
return;
}
while ((gr = GetGrideFather(gr)) != null)
{
mMap[gr.x, gr.y] = 9;
}
}
/// <summary>
/// 处理当前格子周围的格子
/// </summary>
/// <param name="gr"></param>
void CheckGride(Gride gr)
{
for (int i = gr.x - 1; i <= gr.x + 1; i++)
{
if (i < 0 || i > mapX)
{
continue;
}
for (int j = gr.y - 1; j <= gr.y + 1; j++)
{
if (j < 0 || j > mapY)
{
continue;
}
if (IsDisPointHave(i, j) || (i == gr.x && j == gr.y) || IsCloseListHave(gr))
{
continue;
}
Gride gride = new Gride(i, j);
ComputeGAndH(gride, gr);
openList.Add(gride);
}
}
openList.Remove(gr);
closeList.Add(gr);
}
List <Gride> closeList = new List <Gride>(); //关闭列表
void Start()
{
mDisPoint = new List <int[]>();
mDisPoint.Add(new int[2] {
2, 2
});
mDisPoint.Add(new int[2] {
2, 3
});
mDisPoint.Add(new int[2] {
2, 4
});
mDisPoint.Add(new int[2] {
3, 2
});
mDisPoint.Add(new int[2] {
3, 4
});
mDisPoint.Add(new int[2] {
4, 2
});
mDisPoint.Add(new int[2] {
4, 3
});
mDisPoint.Add(new int[2] {
4, 4
});
mMap = new int[mapX, mapY];
int[] arr = new int[2];
for (int i = 0; i < mapX; i++)
{
for (int j = 0; j < mapY; j++)
{
arr[0] = i;
arr[1] = j;
if (IsDisPointHave(i, j))
{
mMap[i, j] = 0;
}
else
{
mMap[i, j] = 1;
}
}
}
startPo = new Gride(0, 0);
endPo = new Gride(3, 5);
FindPath(startPo, endPo);
PrintMap();
}
bool IsCloseListHave(Gride gr)
{
foreach (Gride gride in closeList)
{
if (gride.x == gr.x && gride.y == gr.y)
{
return(true);
}
}
return(false);
}
/// <summary>
/// 上个格子到当前格子的g值
/// </summary>
/// <param name="curGr"></param>
/// <param name="lastGr"></param>
/// <returns></returns>
int GetG(Gride curGr, Gride lastGr)
{
if (curGr.x == lastGr.x || curGr.y == lastGr.y)
{
return(10);
}
else
{
return(14);
}
}
/// <summary>
/// 获取map中f值最小的
/// </summary>
/// <returns></returns>
Gride GetMinGr()
{
Gride gr = null;
foreach (Gride gride in openList)
{
if (gr == null)
{
gr = gride;
}
else if (gride.g + gride.h < gr.g + gr.h)
{
gr = gride;
}
}
return(gr);
}
/// <summary>
/// 当前格子的g和h值以及是否刷新父节点
/// </summary>
/// <param name="curGr"></param>
/// <param name="lastGr"></param>
void ComputeGAndH(Gride curGr, Gride lastGr)
{
int g = GetG(curGr, lastGr);
if (curGr.father == null)
{
curGr.father = lastGr;
curGr.g = g;
}
else if (g + lastGr.g < curGr.g)
{
curGr.g = g + lastGr.g;
curGr.father = lastGr;
}
curGr.h = (Mathf.Abs(endPo.y - curGr.y) + Mathf.Abs(endPo.x - curGr.x)) * 10;
}
Gride GetGrideFather(Gride gride)
{
return(gride.father);
}
