public virtual bool CanAddAdjacentToReachable(PathFinding search, CellData adjacent)
{
// 如果已经在关闭集
if (search.IsCellInExplored(adjacent))
{
return(false);
}
// 已经加入过开放集
if (search.IsCellInReachable(adjacent))
{
return(false);
}
// 计算消耗 = 当前 cell 的消耗 + 邻居 cell 的消耗
float g = search.currentCell.G + CalcGPerCell(search, adjacent);
// 不在范围内
if (g < 0f || g > search.range.y)
{
return(false);
}
adjacent.G = g;
return(true);
}
public override bool CanAddAdjacentToReachable(PathFinding search, CellData adjacent)
{
// 是否可移动
if (!adjacent.CanMove)
{
return(false);
}
// 如果已经在关闭集
if (search.IsCellInExplored(adjacent))
{
return(false);
}
// 计算消耗 = 当前 cell 的消耗 + 邻居 cell 的消耗
float g = search.currentCell.G + CalcGPerCell(search, adjacent);
// 已经加入过开放集
if (search.IsCellInReachable(adjacent))
{
// 如果新消耗更低
if (g < adjacent.G)
{
adjacent.G = g;
adjacent.Previous = search.currentCell;
}
return(false);
}
adjacent.G = g;
adjacent.H = CalcH(search, adjacent);
adjacent.Previous = search.currentCell;
return(true);
}
public override float CalcH(PathFinding search, CellData adjacent)
{
Vector2 hVec;
hVec.x = Mathf.Abs(adjacent.Position.x - search.endCell.Position.x);
hVec.y = Mathf.Abs(adjacent.Position.y - search.endCell.Position.y);
return(hVec.x + hVec.y);
}
public override float CalcGPerCell(PathFinding search, CellData adjacent)
{
// 获取邻居的 Tile
SRPGTile tile = search.map.GetTile(adjacent.Position);
// 返回本格子的消耗
return(search.GetMoveConsumption(tile.terrainType));
}
public override void BuildResult(PathFinding search)
{
// 当没有达到目标点时, 已经建立过结果
if (search.result.Count > 0)
{
return;
}
search.BuildPath(search.endCell, true);
}
public virtual void BuildResult(PathFinding search)
{
for (int i = 0; i < search.explored.Count; i++)
{
CellData cell = search.explored[i];
if (cell.G >= search.range.x && cell.G <= search.range.y)
{
search.result.Add(cell);
}
}
}
public virtual CellData ChoseCell(PathFinding search)
{
if (search.reachable.Count == 0)
{
return(null);
}
int index = search.reachable.Count - 1;
CellData chose = search.reachable[index];
search.reachable.RemoveAt(index);
return(chose);
}
public virtual bool IsFinishedOnChose(PathFinding search)
{
if (search.currentCell == null)
{
return(true);
}
if (!search.IsCellInExplored(search.currentCell))
{
search.explored.Add(search.currentCell);
}
return(false);
}
public override CellData ChoseCell(PathFinding search)
{
if (search.reachable.Count == 0)
{
return(null);
}
// 取得 F 最小的节点
search.reachable.Sort((cell1, cell2) => - cell1.F.CompareTo(cell2.F));
int index = search.reachable.Count - 1;
CellData chose = search.reachable[index];
search.reachable.RemoveAt(index);
return(chose);
}
public override bool IsFinishedOnChose(PathFinding search)
{
// 如果开放集中已经空了, 则说明没有达到目标点
if (search.currentCell == null)
{
// 使用 H 最小值建立结果
CellData minCell = search.explored.First(cell => System.Math.Abs(cell.H - search.explored.Min(c => c.H)) < 1e-6);
search.BuildPath(minCell, true);
return(true);
}
// 找到了目标点
if (search.currentCell == search.endCell)
{
return(true);
}
if (!search.IsCellInExplored(search.currentCell))
{
search.explored.Add(search.currentCell);
}
return(false);
}
public virtual float CalcH(PathFinding search, CellData adjacent)
{
return(0f);
}
public virtual float CalcGPerCell(PathFinding search, CellData adjacent)
{
return(1f);
}