/// <summary>
/// 寻路接口
/// </summary>
/// <param name="grid_map">地图格子列表</param>
/// <param name="startPos">起点</param>
/// <param name="endPos">终点</param>
/// <param name="isFindNearstPath">失败时，是否返回最近可移动路径</param>
/// <returns></returns>
public eFinderResult search(PathGridMap grid_map, Vector2 startPos, Vector2 endPos, bool isFindNearstPath = false)
{
if (grid_map == null)
{
return(eFinderResult.FAILED);
}
m_array_open.Clear();
m_array_closed.Clear();
m_array_search_path.Clear();
m_array_search_grid.Clear();
m_start_node = grid_map.getNodeByPostion(startPos.x, startPos.y);
m_end_node = grid_map.getNodeByPostion(endPos.x, endPos.y);
//Log.Debug(string.Format("起点{0},{1};终点{2},{3}", m_start_node.row, m_start_node.col, m_end_node.row, m_end_node.col));
if (m_start_node == null)
{
//Log.Error("AStarPathfinder::findPath - 角色起点在障碍里面");
return(eFinderResult.FAILED);
}
if (m_end_node == null || (!m_end_node.walkable && !isFindNearstPath))
{
//Log.Error("AStarPathfinder::findPath - 角色终点在障碍里面");
return(eFinderResult.FAILED);
}
m_start_node.g = 0;
m_start_node.h = onDiagonal(m_start_node);
m_start_node.f = m_start_node.g + m_start_node.h;
//执行寻路
//float old_time = Time.realtimeSinceStartup;
eFinderResult result = travel(grid_map, isFindNearstPath);
//Log.Debug("[AI]AStarPathfinder::search - 寻路总用时:", (Time.realtimeSinceStartup - old_time) + "s");
return(result);
}
/// <summary>
/// 寻路接口
/// </summary>
/// <param name="start_x"></param>
/// <param name="start_y"></param>
/// <param name="target_x"></param>
/// <param name="target_y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <returns></returns>
public eFinderResult search(PathGridMap grid_map, float start_x, float start_y, float target_x, float target_y, float width, float height)
{
if (grid_map == null)
{
return(eFinderResult.FAILED);
}
eFace8Type walk_dir = eFace8Type.NONE;
m_cur_grid = null;
m_collide_rect.width = width;
m_collide_rect.height = height;
//上一步的位置
m_last_pos_x = start_x;
m_last_pos_y = start_y;
//步长增长方向
Vector2 pt_step = Math2DUtils.normalPoint(start_x, start_y, target_x, target_y, STEP_LENGTH);
float x_step_inc = pt_step.x;
float y_step_inc = pt_step.y;
//步长个数
int stepCount = (int)Mathf.Ceil(Math2DUtils.distance(start_x, start_y, target_x, target_y) / STEP_LENGTH);
//确定移动方向
float angle = MathUtils.ToDegree(Math2DUtils.LineRadians(start_x, start_y, target_x, target_y));
walk_dir = (eFace8Type)Math2DUtils.getFace(angle, 8);
m_cur_grid = grid_map.getNodeByPostion(start_x, start_y);
if (m_cur_grid == null)
{
return(eFinderResult.FAILED);
}
//重新调整方向：判断下一步是否可走
walk_dir = adjustDir(grid_map, walk_dir, start_x + x_step_inc, start_y + y_step_inc);
switch (walk_dir)
{
case eFace8Type.LEFT:
case eFace8Type.RIGHT:
y_step_inc = 0;
break;
case eFace8Type.UP:
case eFace8Type.DOWN:
x_step_inc = 0;
break;
case eFace8Type.NONE:
return(eFinderResult.FAILED);
}
//开始寻路，每次移动一个步长
eFinderResult result = eFinderResult.FAILED;
int i = 1;
for (i = 1; i <= stepCount; i++) //从1开始，当前位置不判断
{
if (isWalkableRect(grid_map, walk_dir, start_x + x_step_inc * i, start_y + y_step_inc * i))
{
m_last_pos_x = start_x + x_step_inc * i;
m_last_pos_y = start_y + y_step_inc * i;
result = eFinderResult.SUCCEEDED;
}
else
{
//如果第一步都不能走，设置查询失败
if (i == 1)
{
result = eFinderResult.FAILED;
}
else
{
result = eFinderResult.SUCCEEDED_NEAREST;
}
break;
}
}
m_target_pos_x = m_last_pos_x;
m_target_pos_y = m_last_pos_y;
return(result);
}
