private List <MapNode> findPath(MapNode start, MapNode end, bool eightDirection = false, bool useBinaryHeap = true)
{
if (useBinaryHeap)
{
_open = new BinaryHeapOpenList <MapNode>();
}
else
{
_open = new ListOpenList <MapNode>();
}
_closed = new List <MapNode>();
List <MapNode> result = new List <MapNode>();
start.parentNode = null;
//设置或者不设置为0，问题不大。唯一的可能问题是寻路多次之后有可能溢出
start.g = 0;
start.h = 0;
start.f = 0;
//-----------------------
if (end == null)
{
return(result);
}
if (!end.isPassAble())
{
return(result);
}
end.parentNode = null;
_open.push(start);
while ((_open.getCount() > 0) && (_closed.IndexOf(end) == -1))
{
//if (_open is ListOpenList<MapNode>)
//{
// (_open as ListOpenList<MapNode>).printSelf();
//}
_current = _open.getSmallest();
checkAround(_current, end, eightDirection);
_closed.Add(_current);
}
MapNode c = end;
while (c != null)
{
result.Insert(0, c);
c = c.parentNode;
}
if (result.Count == 1)
{
result.Clear();
result.Add(start);
}
return(result);
}
/// <summary>
/// 对比测试用的非启发算法，不要使用
/// </summary>
/// <param name="startX"></param>
/// <param name="startY"></param>
/// <param name="endX"></param>
/// <param name="endY"></param>
/// <param name="eightDirection"></param>
/// <param name="useBinaryHeap"></param>
/// <returns></returns>
public List <MapNode> findPathByXYNoInspire(int startX, int startY, int endX, int endY, bool eightDirection = false)
{
//Debug.Log(startX + " " + startY + " " + endX + " " + endY);
List <MapNode> result = new List <MapNode>();
if (startX == endX && startY == endY)
{
result.Add(_mapdata[startY, startX]);
return(result);
}
MapNode start = _mapdata[startY, startX];
MapNode end = _mapdata[endY, endX];
_open = new ListOpenList <MapNode>();
_open.push(start);
start.parentNode = null;
start.g = start.h = start.f = 0;
end.parentNode = null;
_closed = new List <MapNode>();
while (_open.getCount() > 0 && (_closed.IndexOf(end) == -1))
{
//不去是用启发算法去找一个可能最优的,而是随便找一个来计算
MapNode mn = (_open as ListOpenList <MapNode>).pop();
//检查周围
if (!eightDirection)
{
for (int i = 0; i < 4; i++)
{
int _x = mn.x + _xd[i];
int _y = mn.y + _yd[i];
if (_x < 0 || _y < 0 || (_x >= _width) || (_y >= _height))
{
continue;
}
MapNode testN = _mapdata[_y, _x];
if (_closed.IndexOf(testN) != -1)
{
continue;
}
if (!testN.isPassAble())
{
_closed.Add(testN);
testN.parentNode = mn;
continue;
}
if (_open.indexOf(testN) != -1)
{
if (testN.g > mn.g + testN.weight)
{
testN.g = mn.g + testN.weight;
testN.parentNode = mn;
}
continue;
}
else
{
_open.push(testN);
testN.parentNode = mn;
testN.g = mn.g + testN.weight;
}
}
}
else
{
for (int i = 0; i < 8; i++)
{
int _x = mn.x + _xde[i];
int _y = mn.y + _yde[i];
if (_x < 0 || _y < 0 || (_x >= _width) || (_y >= _height))
{
continue;
}
MapNode testN = _mapdata[_y, _x];
if (_closed.IndexOf(testN) != -1)
{
continue;
}
if (!testN.isPassAble())
{
_closed.Add(testN);
testN.parentNode = mn;
continue;
}
if (_open.indexOf(testN) != -1)
{
if (testN.g > mn.g + testN.weight)
{
testN.g = mn.g + testN.weight;
testN.parentNode = mn;
}
continue;
}
else
{
_open.push(testN);
testN.parentNode = mn;
testN.g = mn.g + testN.weight;
}
}
}
//加入closed
_closed.Add(mn);
}
MapNode c = end;
while (c != null)
{
result.Insert(0, c);
c = c.parentNode;
}
if (result.Count == 1)
{
result.Clear();
result.Add(start);
}
if (result.Count < 2)
{
//找不到路
}
return(result);
}
