public int Generate(int iStart, int iDest, ref LinkedList <int> rkMapPath)
{
LinkedListNode <Map> linkedListNode = this.m_pkMapLinker.FindMap(iStart);
LinkedListNode <Map> linkedListNode2 = this.m_pkMapLinker.FindMap(iDest);
if (linkedListNode == null || linkedListNode2 == null)
{
if (linkedListNode == null)
{
Debug.Log("startMap == null Start:" + iStart);
}
if (linkedListNode2 == null)
{
Debug.Log("destMap == null Dest:" + iDest);
}
Debug.Log("return -1;\t// 오류 : 맵정보에 없는 맵 인덱스로 맵경유를 찾으려 함");
return(-1);
}
this.ClearNodes();
rkMapPath.Clear();
this.m_iStartMapUnique = iStart;
this.m_iDestMapUnique = iDest;
MapLinkAStar.AsNode asNode = new MapLinkAStar.AsNode(this.m_iStartMapUnique);
asNode.g = 0;
asNode.h = 0;
asNode.f = asNode.g + asNode.h;
this.m_rOpen = asNode;
return(this.Run(ref rkMapPath));
}
private MapLinkAStar.AsNode Pop()
{
MapLinkAStar.AsNode data = this.m_rStack.data;
MapLinkAStar.AsStack rStack = this.m_rStack;
this.m_rStack = rStack.next;
return(data);
}
private void AddToOpen(MapLinkAStar.AsNode addNode)
{
MapLinkAStar.AsNode asNode = this.m_rOpen;
MapLinkAStar.AsNode asNode2 = null;
if (this.m_rOpen == null)
{
this.m_rOpen = addNode;
this.m_rOpen.next = null;
return;
}
while (asNode != null)
{
if (addNode.f <= asNode.f)
{
if (asNode2 != null)
{
asNode2.next = addNode;
addNode.next = asNode;
}
else
{
MapLinkAStar.AsNode rOpen = this.m_rOpen;
this.m_rOpen = addNode;
this.m_rOpen.next = rOpen;
}
return;
}
asNode2 = asNode;
asNode = asNode.next;
}
asNode2.next = addNode;
}
private void UpdateParents(MapLinkAStar.AsNode node)
{
int g = node.g;
for (MapLinkAStar.AsStack asStack = node.child; asStack != null; asStack = asStack.next)
{
MapLinkAStar.AsNode data = asStack.data;
if (g + 1 < data.g)
{
data.g = g + 1;
data.f = data.g + data.h;
data.parent = node;
this.Push(data);
}
}
while (this.m_rStack != null)
{
MapLinkAStar.AsNode asNode = this.Pop();
for (MapLinkAStar.AsStack asStack = asNode.child; asStack != null; asStack = asStack.next)
{
MapLinkAStar.AsNode data = asStack.data;
if (asNode.g + 1 < data.g)
{
data.g = asNode.g + 1;
data.f = data.g + data.h;
data.parent = asNode;
this.Push(data);
}
}
}
}
private int Run(ref LinkedList <int> rkMapPath)
{
int num;
for (num = 0; num == 0; num = this.Step())
{
}
if (num == -1 || this.m_rBest == null)
{
this.m_rBest = null;
this.ClearNodes();
return(0);
}
string text = "LINK MAP: ";
int num2 = 0;
for (MapLinkAStar.AsNode asNode = this.m_rBest; asNode != null; asNode = asNode.parent)
{
if (asNode.mapUnique > -1)
{
rkMapPath.AddFirst(asNode.mapUnique);
text = text + asNode.mapUnique + " ==> Next: ";
num2++;
}
}
NrTSingleton <NrAutoPath> .Instance.AddDebug(text);
return(num2);
}
public void AddChild(ref MapLinkAStar.AsNode node)
{
this.child = new MapLinkAStar.AsStack
{
data = node,
next = this.child
};
}
private MapLinkAStar.AsNode CheckList(MapLinkAStar.AsNode node, int mapUnique)
{
while (node != null)
{
if (node.mapUnique == mapUnique)
{
return(node);
}
node = node.next;
}
return(null);
}
private MapLinkAStar.AsNode GetBest()
{
if (this.m_rOpen == null)
{
return(null);
}
MapLinkAStar.AsNode rOpen = this.m_rOpen;
MapLinkAStar.AsNode rClosed = this.m_rClosed;
this.m_rOpen = rOpen.next;
this.m_rClosed = rOpen;
this.m_rClosed.next = rClosed;
return(rOpen);
}
private int Step()
{
this.m_rBest = this.GetBest();
if (this.m_rBest == null)
{
return(-1);
}
if (this.m_rBest.mapUnique == this.m_iDestMapUnique)
{
return(1);
}
this.CreateChild(this.m_rBest);
return(0);
}
private void Push(MapLinkAStar.AsNode node)
{
if (this.m_rStack != null)
{
this.m_rStack = new MapLinkAStar.AsStack();
this.m_rStack.data = node;
this.m_rStack.next = null;
}
else
{
this.m_rStack = new MapLinkAStar.AsStack
{
data = node,
next = this.m_rStack
};
}
}
private void CreateChild(MapLinkAStar.AsNode parentNode)
{
MapLinkAStar.AsNode asNode = new MapLinkAStar.AsNode();
LinkedListNode <Map> linkedListNode = this.m_pkMapLinker.FindMap(parentNode.mapUnique);
if (linkedListNode == null)
{
return;
}
LinkedList <int> linkMapUniqueList = linkedListNode.Value.GetLinkMapUniqueList();
foreach (int current in linkMapUniqueList)
{
asNode.mapUnique = current;
this.LinkChild(parentNode, asNode);
}
}
private void LinkChild(MapLinkAStar.AsNode parentNode, MapLinkAStar.AsNode childNode)
{
int mapUnique = childNode.mapUnique;
if (this.m_pkMapLinker.FindMap(mapUnique) == null)
{
return;
}
int num = parentNode.g + 1;
MapLinkAStar.AsNode asNode = null;
if ((asNode = this.CheckList(this.m_rOpen, mapUnique)) != null)
{
parentNode.AddChild(ref asNode);
if (num < asNode.g)
{
asNode.parent = parentNode;
asNode.g = num;
asNode.f = num + asNode.h;
}
}
else if ((asNode = this.CheckList(this.m_rClosed, mapUnique)) != null)
{
parentNode.AddChild(ref asNode);
if (num < asNode.g)
{
asNode.parent = parentNode;
asNode.g = num;
asNode.f = num + asNode.h;
this.UpdateParents(asNode);
}
}
else
{
MapLinkAStar.AsNode asNode2 = new MapLinkAStar.AsNode(mapUnique);
asNode2.parent = parentNode;
asNode2.g = num;
asNode2.h = 0;
asNode2.f = asNode2.g + asNode2.h;
this.AddToOpen(asNode2);
parentNode.AddChild(ref asNode2);
}
}
private void ClearNodes()
{
if (this.m_rOpen != null)
{
while (this.m_rOpen != null)
{
MapLinkAStar.AsNode next = this.m_rOpen.next;
this.m_rOpen = null;
this.m_rOpen = next;
}
}
if (this.m_rClosed != null)
{
while (this.m_rClosed != null)
{
MapLinkAStar.AsNode next = this.m_rClosed.next;
this.m_rClosed = null;
this.m_rClosed = next;
}
}
}
