public override bool StartFindWay(Map map, out WayNode path)
{
_openList.Clear();
_closeList.Clear();
_map = map;
var startNode = map.FindWayData.Entrance;
var endNode = map.FindWayData.Destination;
_startPos = startNode.Pos;
_endPos = endNode.Pos;
//起点终点不可达
if (!startNode.Walkable || !endNode.Walkable)
{
return(base.StartFindWay(map, out path));
}
var node = new AStarWayNode(_startPos, new int2(-1, -1));
node.CalcF(map);
_openList.Add(node);
while (_openList.Count > 0)
{
//获得F最小的点
var minFNode = GetMinF();
//从列表中移除
_openList.Remove(minFNode);
//加入关闭列表
_closeList.Add(minFNode);
var surroundPoints = GetSurround(map, minFNode);
foreach (var surroundPoint in surroundPoints)
{
var surround = (AStarWayNode)surroundPoint;
//在关闭列表中 丢弃
if (!_closeList.Contains(surround) && !_openList.Contains(surround))
{
surround.CalcF(map);
surround.Parent = minFNode.Current;
if (surround.Current.Equals(map.FindWayData.Destination.Pos))
{
path = surround;
return(true);
}
else
{
_openList.Add(surround);
}
}
}
}
return(base.StartFindWay(map, out path));
}
public override List <WayNode> GetSurround(Map map, WayNode center)
{
var result = new List <WayNode>();
var centerPos = center.Current;
var lPos = centerPos + new int2(-1, 0);
var rPos = centerPos + new int2(1, 0);
var uPos = centerPos + new int2(0, 1);
var dPos = centerPos + new int2(0, -1);
if (map.Avaliable(lPos) && map.FindWayData[lPos].Walkable)
{
if (!WayNodes.ContainsKey(lPos))
{
WayNodes[lPos] = new AStarWayNode(lPos, new int2(-1, -1));
}
result.Add(this[lPos]);
}
if (map.Avaliable(rPos) && map.FindWayData[rPos].Walkable)
{
if (!WayNodes.ContainsKey(rPos))
{
WayNodes[rPos] = new AStarWayNode(rPos, new int2(-1, -1));
}
result.Add(this[rPos]);
}
if (map.Avaliable(uPos) && map.FindWayData[uPos].Walkable)
{
if (!WayNodes.ContainsKey(uPos))
{
WayNodes[uPos] = new AStarWayNode(uPos, new int2(-1, -1));
}
result.Add(this[uPos]);
}
if (map.Avaliable(dPos) && map.FindWayData[dPos].Walkable)
{
if (!WayNodes.ContainsKey(dPos))
{
WayNodes[dPos] = new AStarWayNode(dPos, new int2(-1, -1));
}
result.Add(this[dPos]);
}
return(result);
}
