private bool search(int source, int target)
{
Stack <GraphEdge> stack = new Stack <GraphEdge>();
foreach (var e in graph.GetAdjoinEdges(source))
{
stack.Push(e);
}
hasVisited[source] = true;
while (stack.Count != 0)
{
var edge = stack.Pop();
DebugController.instance.AddPathLine(graph.GetNode(edge.From).Pos, graph.GetNode(edge.To).Pos);
hasVisited[edge.From] = true;
pathIndex[edge.To] = edge.From;
if (edge.To == target)
{
return(true);
}
foreach (var e in graph.GetAdjoinEdges(edge.To))
{
if (!hasVisited[e.To])
{
stack.Push(e);
}
}
}
return(false);
}
private bool search(int source, int target)
{
if (source == target)
{
pathIndex[target] = source;
return(true);
}
Queue <GraphEdge> queue = new Queue <GraphEdge>();
hasVisited[source] = true;
pathIndex[source] = source;
foreach (var e in graph.GetAdjoinEdges(source))
{
queue.Enqueue(e);
hasVisited[e.To] = true;
pathIndex[e.To] = e.From;
if (e.To == target)
{
return(true);
}
}
while (queue.Count != 0)
{
var edge = queue.Dequeue();
DebugController.instance.AddPathLine(graph.GetNode(edge.From).Pos, graph.GetNode(edge.To).Pos);
foreach (var e in graph.GetAdjoinEdges(edge.To))
{
if (!hasVisited[e.To])
{
queue.Enqueue(e);
hasVisited[e.To] = true;
pathIndex[e.To] = e.From;
if (e.To == target)
{
return(true);
}
}
}
}
return(false);
}
private bool search(int source, int target)
{
//int num = 0;
if (source == target)
{
//当起点和终点相同时
Debug.Log("目标和起点节点相同" + target);
return(true);
}
//Debug.Log("起始点是"+source+"终点是"+target);
costToNode[source] = 0;
costToEnd[source] = 0;
IndexPriorityQueue <double> pq = new IndexPriorityQueue <double>(costToEnd, (i, j) => (float)(i - j), PriorityOrder.MinFirst);
searchFrontier[source] = new GraphEdge(source, source);
while (!pq.isEmpty())
{
//Debug.Log("A*");
int index = pq.DequeueIndex();
spt[index] = searchFrontier[index];
//Debug.Log("最小花费的点是"+index+"花费是"+costToEnd[index]);
DebugController.instance.AddPathLine(graph.GetNode(spt[index].From).Pos, graph.GetNode(spt[index].To).Pos);
if (index == target)
{
//Debug.Log("A*总的搜索次数是"+num);
return(true);
}
//Debug.Log("" + graph.GetAdjoinEdges(index).Count);
foreach (var e in graph.GetAdjoinEdges(index))
{
//num++;
double costNode = costToNode[e.From] + e.Cost;
double costEnd = costNode + heuristic(e.To, target);
//Debug.Log("边的总花费是" + costEnd+"边的花费是"+e.Cost+"上一个节点的花费是"+costToNode[e.From]+"启发因子花费是"+ heuristic(e.To, target));
if (searchFrontier[e.To] == null)
{
costToNode[e.To] = costNode;
costToEnd[e.To] = costEnd;
searchFrontier[e.To] = e;
pq.ChangePriority(e.To, costEnd);
}
else
{
//Debug.Log("哈哈哈哈"+costNode+",,"+costToNode[e.To]);
if (costNode < costToNode[e.To] && spt[e.To] == null)
{
//否则只有当spt上没有这个节点
//Debug.Log("啦啦啦啦");
costToEnd[e.To] = costEnd;
costToNode[e.To] = costNode;
searchFrontier[e.To] = e;
pq.ChangePriority(e.To, costEnd);
}
}
}
}
return(false);
}
private bool search(int source, int target)
{
int num = 0;
if (source == target)
{
spt[target] = new GraphEdge(target, target);
Debug.Log("一样");
return(true);
}
IndexPriorityQueue <float> queue = new IndexPriorityQueue <float>(costToNode, (i, j) => (i - j), PriorityOrder.MinFirst);
searchFrontier[source] = new GraphEdge(source, source);
//searchFrontier[]
//int t = queue.TopIndex();
//Debug.Log("起点处理完后最小的点是" + t+"花费是"+costToNode[t]);
while (!queue.isEmpty())
{
var index = queue.DequeueIndex();
spt[index] = searchFrontier[index];
DebugController.instance.AddPathLine(graph.GetNode(spt[index].From).Pos, graph.GetNode(spt[index].To).Pos);
if (index == target)
{
//Debug.Log("DJ总的搜索次数是"+num);
return(true);
}
//queue.ChangePriority(index,float.PositiveInfinity);
#region 邻接边的寻找
foreach (var e in graph.GetAdjoinEdges(index))
{
num++;
float costNode = costToNode[e.From] + e.Cost;
//float costEnd = costNode + heuristic(e.To, target);
if (searchFrontier[e.To] == null)
{
costToNode[e.To] = costNode;
searchFrontier[e.To] = e;
queue.ChangePriority(e.To, costNode);
}
else
if (costNode < costToNode[e.To] && spt[e.To] == null)
{
//否则只有当spt上没有这个节点
Debug.Log("lalalal");
costToNode[e.To] = costNode;
searchFrontier[e.To] = e;
queue.ChangePriority(e.To, costNode);
}
}
#endregion
}
return(false);
}