/// <summary>
/// 传入起点和终点，返回一个路径
/// </summary>
/// <param name="start"></param>
/// <param name="end"></param>
/// <returns>用返回的坐标数组来表示路径</returns>
public List <Vector2> FindPath(Vector2 start, Vector2 end)
{
this.start = start;
this.end = end;
openList.Clear();
clolseList.Clear();
Path.Clear();
times = 0;
AStarNode startNode = new AStarNode((int)start.x, (int)start.y, null);
clolseList.Add(startNode);
Find(startNode);
Debug.Log("关闭列表");
foreach (var end1 in clolseList)
{
Debug.Log(end1.x + "," + end1.y);
GameObject greenCube = GameObject.CreatePrimitive(PrimitiveType.Cube);
greenCube.transform.position = GameManger.Instance().XYToPos(end1.x, end1.y);
greenCube.GetComponent <MeshRenderer>().material = GameManger.Instance().greenMaterial;
}
return(null);
}
/// <summary>
/// 用来递归循环的方法，给定一个点，遍历周围可用的点，分别算出距离后，存入打开列表并将同一个父节点距离最小的转入关闭列表
/// </summary>
/// <param name="pos"></param>
/// <param name="fatherNode"></param>
public void Find(AStarNode fatherNode)
{
times++;
if (times > 50)
{
Debug.Log("检测到死循环");
times = 0;
return;
}
if (clolseList[clolseList.Count - 1].x == end.x && clolseList[clolseList.Count - 1].y == end.y)
{
return;
}
GameManger.Instance().hasVisted[fatherNode.x, fatherNode.y] = true;
int originCount = openList.Count;
//遍历周围的9个点，当遇到坐标越界，和自身相同，是阻挡物，以及存在于开启或者关闭列表时跳过
for (int i = fatherNode.x - 1; i <= fatherNode.x + 1; i++)
{
if (i < 0 || i >= GameManger.Instance().width)
{
continue;
}
for (int j = fatherNode.y - 1; j <= fatherNode.y + 1; j++)
{
if (j < 0 || j >= GameManger.Instance().height)
{
continue;
}
else if (fatherNode.x == i && fatherNode.y == j)
{
continue;
}
else if (GameManger.Instance().nodeTypes[i, j] == NodeType.stop)
{
continue;
}
else if (GameManger.Instance().hasVisted[i, j] == true)
{
continue;
}
GameManger.Instance().hasVisted[i, j] = true;
Debug.Log("i=" + i + "j=" + j);
AStarNode newNode = new AStarNode(i, j, fatherNode);
newNode.GetDistance(fatherNode.startDistance, start, end);
openList.Add(newNode);
Debug.Log("add x=" + newNode.x + "add y" + newNode.y + "distance" + newNode.totalDistance);
Debug.Log("times" + times);
foreach (var item in openList)
{
Debug.Log("字典中" + "x=" + item.x + "y" + item.y);
}
}
}
if (openList.Count == originCount)
{
Debug.Log("死路");
return;
}
//对openList新加入的元素进行排序
Debug.Log("originCount" + originCount + "openList.Count-1=" + (openList.Count - 1));
openList.Sort(originCount, openList.Count - originCount, fatherNode);
clolseList.Add(openList[originCount]);
openList.RemoveAt(originCount);
Find(clolseList[clolseList.Count - 1]);
}