private void FindAStartPath(Vector3 startPos, Vector3 endPos)
{
showData.openPath = new List <Node>();
showData.ErrorPath = new List <Node>();
Node startNode = showData.GetFromPosition(startPos);
Node endNode = showData.GetFromPosition(endPos);
List <Node> openNode = new List <Node>();
List <Node> closeNode = new List <Node>();
openNode.Add(startNode);
startNode.parent = null;
while (openNode.Count > 0)
{
Node currentNode = openNode[0];
//找到打开节点中最小的权重的节点
for (int i = 0; i < openNode.Count; i++)
{
if ((openNode[i].fCode <= currentNode.fCode) && (openNode[i].hCode < currentNode.hCode))
{
currentNode = openNode[i];
}
}
//将这个权重最小的节点移除
openNode.Remove(currentNode);
closeNode.Add(currentNode);
// 结束
if (currentNode == endNode)
{
List <Node> path = new List <Node>();
while (currentNode.parent != null)
{
try
{
path.Add(currentNode);
}
catch (Exception)
{
enabled = false;
throw;
}
currentNode = currentNode.parent;
}
path.Reverse();
showData.path = path;
return;
}
showData.openPath.Add(currentNode);
//搜索当前节点走位可以走得节点，然后更新权重值
foreach (var node in showData.GetOpenAroundNode(currentNode, closeNode))
{
int newCode = currentNode.gCode + GetDistancePos(currentNode, node);
if (!openNode.Contains(node) || (node.gCode > newCode))
{
if (currentNode == showData.date[8, 4])
{
showData.ErrorPath.Add(node);
}
node.gCode = newCode;
node.hCode = GetDistancePos(node, endNode);
node.parent = currentNode;
if (!openNode.Contains(node))
{
openNode.Add(node);
}
}
}
}
}
