/// <summary>
/// 方法：寻路算法
/// </summary>
///<param name="sg">起点</param>
///<param name="eg">终点</param>
///<param name="map">Map类的实例</param>
///<returns>PacGrid：返回路径起点</returns>
internal PacGrid Find(PacGrid sg, PacGrid eg, PacMap map)
{
openList.Clear();
closeList.Clear();
openList.Add(sg);
PacGrid g;
int i = 0;
while (!IsInList(eg.X, eg.Y, openList) || openList.Count == 0)
{
g = GetMinFFromList(openList);
if (g != null)
{
openList.Remove(g);
closeList.Add(g);
CheckAround(g, eg, map);
}
else
{
return(g);
}
i++;
}
PacGrid tmpg = GetGridFromList(eg, openList);
return(Save(tmpg));
}
/// <summary>
/// 方法：检查当前节点周边的节点
/// </summary>
///<param name="sg">当前节点</param>
///<param name="eg">终点</param>
///<param name="map">Map类的实例</param>
protected void CheckAround(PacGrid sg, PacGrid eg, PacMap map) //
{
int gridmapRow = map.LenY; //获取地图的行数
int gridmapCol = map.LenX; //获取地图的列数
PacGrid[,] gridmap = map.simpleMap;
for (int i = sg.X - 1; i < sg.X + 2; i++)
{
for (int j = sg.Y - 1; j < sg.Y + 2; j++) //筛选出相邻点
{
if (i < 0 || i > gridmapCol - 1 || j < 0 || j > gridmapRow - 1) //若超出地图，pass
{
continue;
}
if (gridmap[i, j].LandAttribute == 0 || IsInList(i, j, closeList) || (i == sg.X && j == sg.Y))//若为障碍点/已考虑节点/当前点，pass
{
continue;
}
gridmap[i, j].HCostAttribute = GetGridCostH(i, j, eg); //计算H值(此节点到目标节点的移动损耗)
if (!IsInList(i, j, openList)) //不在open列表，则加入
{
openList.Add(gridmap[i, j]); //加入open列表
gridmap[i, j].fatherGrid = sg; //将此节点的父节点设为当前节点
gridmap[i, j].GCostAttribute = GetGridCostG(gridmap[i, j], sg); //计算G值(从起点到此节点的移动损耗)
}
else
{
int k = GetGridCostG(gridmap[i, j], sg);
if (gridmap[i, j].GCostAttribute > k) //如果此节点经由当前节点离起点更近，则指向当前节点
{
gridmap[i, j].GCostAttribute = k; //更新G值
gridmap[i, j].fatherGrid = sg; //更新父节点
}
}
}
}
}
