void Start()
{
map = new SearchMapNode[MapManager.getInstance().MAP_HEIGHT][];
for (int i = 0; i < MapManager.getInstance().MAP_HEIGHT; i++)
{
map [i] = new SearchMapNode[MapManager.getInstance().MAP_WIDTH];
for (int j = 0; j < MapManager.getInstance().MAP_WIDTH; j++)
{
map [i] [j] = new SearchMapNode(i, j, !MapManager.getInstance().staticBlocks[i][j]);
}
}
setTarget();
//reSearchPath ();
}
public override bool Equals(object obj)
{
if (obj == null)
{
return(false);
}
if ((obj.GetType().Equals(this.GetType())) == false)
{
return(false);
}
SearchMapNode temp = null;
temp = (SearchMapNode)obj;
return(this.row.Equals(temp.row) && this.col.Equals(temp.col));
}
public void reSearchPath()
{
Vector3Int startPos = MapManager.getInstance().tilemap.WorldToCell(transform.position);
Vector3Int endPos = MapManager.getInstance().tilemap.WorldToCell(target.transform.position);
SearchMapNode startNode = map [-startPos.y] [startPos.x];
SearchMapNode endNode = map [-endPos.y] [endPos.x];
if (search(startNode, endNode))
{
movementCtrl.path = pathPos;
movementCtrl.hasPath = true;
}
else
{
// movementCtrl.path = new Vector3();
movementCtrl.hasPath = false;
}
}
public void searchFixedPath(Vector2Int targetPos)
{
if (!findObcOnPath(targetPos))
{
//Debug.Log ("无障碍");
enemyCtrl.path = new List <Vector3>();
enemyCtrl.path.Add(target.transform.position);
enemyCtrl.hasPath = true;
enemyCtrl.pathIdx = 0;
return;
}
//Vector3Int startPos = MapManager.getInstance ().tilemap.WorldToCell (transform.position);
//Vector3Int endPos = MapManager.getInstance ().tilemap.WorldToCell (targetPos);
Vector2Int startPos = MapManager.getInstance().WorldToCell(new Vector2Int(owner.posXInt, owner.posYInt));
Vector2Int endPos = MapManager.getInstance().WorldToCell(targetPos);
if (startPos.y >= 0 && startPos.y < map.Length && startPos.x >= 0 && startPos.x < map [0].Length && endPos.y >= 0 && endPos.y < map.Length && endPos.x >= 0 && endPos.x < map [0].Length)
{
}
else
{
return;
}
SearchMapNode startNode = map [startPos.y] [startPos.x];
SearchMapNode endNode = map [endPos.y] [endPos.x];
if (search(startNode, endNode))
{
enemyCtrl.path = pathPos;
enemyCtrl.hasPath = true;
enemyCtrl.pathIdx = 0;
}
else
{
enemyCtrl.path = new List <Vector3>();
enemyCtrl.hasPath = false;
enemyCtrl.pathIdx = 0;
}
}
// Use this for initialization
void Start()
{
map = new SearchMapNode[maxI][];
//images = new Image[maxI][];
for (int i = 0; i < maxI; i++)
{
map [i] = new SearchMapNode[maxJ];
//images [i] = new Image[maxJ];
for (int j = 0; j < maxJ; j++)
{
map [i] [j] = new SearchMapNode(i, j, true);
// GameObject o = GameObject.Instantiate (image,UILayer);
// o.transform.localPosition = new Vector3 (10*j,-10*i,0);
// images [i] [j] = o.GetComponent<Image> ();
// UIEventListener mListener = o.AddComponent<UIEventListener> ();
// int finalI = i;
// int finalJ = j;
// mListener.ClickEvent += delegate(GameObject gb,PointerEventData eventData) {
//
// map[finalI][finalJ].walkable = !map[finalI][finalJ].walkable;
// o.GetComponent<Image>().color = map[finalI][finalJ].walkable ? Color.white : Color.red;
// };
}
}
// UIEventListener m2Listener = btn.gameObject.AddComponent<UIEventListener> ();
//
// m2Listener.ClickEvent += delegate(GameObject gb,PointerEventData eventData) {
// foreach(Transform child in dotLayer){
// GameObject.Destroy(child.gameObject);
// }
// search();
// };
//Debug.DrawLine(new Vector3(0,0,0), new Vector3(100,100,100),Color.yellow,100000);
//findObcOnPath (new Vector2(0.4f,2.6f),new Vector2(4.7f,0.4f));
setTarget();
reSearchPath();
}
public bool search(SearchMapNode startNode, SearchMapNode endNode)
{
openList.Clear();
closedList.Clear();
SearchMapNode node = startNode;
node.parent = null;
int tryCount = 0;
float time = System.Environment.TickCount;
while (!node.Equals(endNode))
{
tryCount++;
int startY = node.row - 1 > 0 ? node.row - 1 : 0;
int startX = node.col - 1 > 0 ? node.col - 1 : 0;
int endX = node.col + 1 <= MapManager.getInstance().MAP_WIDTH - 1 ? node.col + 1 : MapManager.getInstance().MAP_WIDTH - 1;
int endY = node.row + 1 <= MapManager.getInstance().MAP_HEIGHT - 1 ? node.row + 1 : MapManager.getInstance().MAP_HEIGHT - 1;
for (int i = startY; i <= endY; i++)
{
for (int j = startX; j <= endX; j++)
{
//
SearchMapNode test = map[i][j];
if (test.Equals(node))
{
continue;
}
float costF = 1f;
if (!test.walkable || !map[node.row][test.col].walkable || !map[test.row][node.col].walkable)
{
continue;
}
// if (MapManager.getInstance ().dynamicBlocks [test.row] [test.col]) {
// costF = 5f;
// }
float cost = 1f;
if (!(node.row == test.row || node.col == test.col))
{
cost = 1.4f;
}
float g = node.g + cost * costF;
float h = getH(test, endNode);
float f = g + h;
if (openList.Contains(test))
{
if (test.f > f)
{
test.f = f;
test.g = g;
test.h = h;
test.parent = node;
}
}
else if (!closedList.Contains(test))
{
test.f = f;
test.g = g;
test.h = h;
test.parent = node;
openList.Push(test);
}
}
}
closedList.Add(node);
if (openList.Count == 0)
{
return(false);
}
node = openList.Pop();
}
SearchMapNode p = endNode;
pathPos.Clear();
while (p.parent != null)
{
Vector3 pos = MapManager.getInstance().tilemap.CellToWorld(new Vector3Int(p.col, -p.row, 0));
pos.x += MapManager.TILE_WIDTH * 0.5f * 0.01f;
pos.y += MapManager.TILE_HEIGHT * 0.5f * 0.01f;
pos.z = 0;
pathPos.Insert(0, pos);
p = p.parent;
}
//Debug.Log ("Spend Times :" + (System.Environment.TickCount - time));
return(true);
}
public float getH(SearchMapNode node, SearchMapNode endNode)
{
return(Mathf.Abs(node.row - endNode.row) + Mathf.Abs(node.col - endNode.col));
}
