public DroneDecisionSimple(ref DroneController m_Drone, ref GameObject[] friends, ref HighResMap highRes, List <Tuple <int, int> > pathII)
{
mPathII = pathII;
mHighResMap = highRes;
mDrone = m_Drone;
mFriends = friends;
mCurrentTargetIndex = 0;
foreach (var p in mPathII)
{
mPath.Add(new Vector3(mHighResMap.get_x_pos(p.Item1), 0f, mHighResMap.get_z_pos(p.Item2)));
}
printPath();
}
private void planPath()
{
List <int> my_path_reversed = new List <int>();
int e = n;
int u;
// Debug.Log(e); // 先输出最后一个点
my_path_reversed.Add(e);
int counter = 0;
// 现在开始输出路径(倒着输出)
while (true)
{
//从所有的点中找到与上个点相连的点
for (u = 1; u <= n; u++)
{
// 如果这个点上个点相连，并且在最短路径上面
// 那么输出这个点，并且在从这个点寻找路径上的下一个点
if (dis[e] - dis[u] == cc[e, u] && cc[e, u] != INF)
{
e = u;
//Debug.Log(" " + e);
my_path_reversed.Add(e);
break;
}
}
counter++;
if (counter > 100000)
{
break;
}
if (e == 1)
{
break;
}
}
for (int k = my_path_reversed.Count - 2; k > 0; k--)
{
int i = node_dic[my_path_reversed[k]].Item1;
int j = node_dic[my_path_reversed[k]].Item2;
//Debug.Log(i + ", " + j);
Vector3 waypoint = new Vector3(highResMap.get_x_pos(i), 3f, highResMap.get_z_pos(j));
my_path.Add(waypoint);
}
}
