/// <summary>
/// 路径搜寻
/// </summary>
/// <returns></returns>
private bool Search()
{
if (_endNode.moveable == false)
{
return(false);
}
HexNode node = _startNode;
node.version = _currentVersion;
float g;
float h;
float f;
while (node != _endNode)
{
for (int i = 0; i < 6; i++)
{
HexNode testNode = _grid.GetNode(node.hex.GetNeighbor(i));
if (testNode == null || testNode.moveable == false)
{
continue;
}
g = node.g + 1;
h = _heuristic(testNode, _endNode);
f = g + h;
if (testNode.version == _currentVersion)
{
if (testNode.f > f)
{
testNode.f = f;
testNode.g = g;
testNode.h = h;
testNode.parent = node;
}
}
else
{
testNode.f = f;
testNode.g = g;
testNode.h = h;
testNode.parent = node;
testNode.version = _currentVersion;
_open.Insert(testNode);
}
}
if (_open.isEmpty)
{
return(false);
}
node = _open.Pop();
}
BuildPath();
return(true);
}
/// <summary>
/// 创建路径
/// </summary>
private void BuildPath()
{
HexNode node = _endNode;
_path.Clear();
_path.Add(node);
while (node != _startNode)
{
node = node.parent;
_path.Insert(0, node);
}
}
/// <summary>
/// 寻路
/// </summary>
/// <param name="start"></param>
/// <param name="end"></param>
/// <returns></returns>
public List <HexNode> Find(Hex start, Hex end)
{
_grid.SetStartNode(start);
_grid.SetEndNode(end);
_startNode = _grid.startNode;
_endNode = _grid.endNode;
if (_startNode == null || _endNode == null || !_endNode.moveable)
{
return(null);
}
if (FindPath())
{
return(_path);
}
return(null);
}
/// <summary>
/// 几何估价法(Euclidian heuristic)
/// 计算出两点之间的直线距离，本质公式为勾股定理A²+B²=C²。
/// </summary>
/// <param name="startNode"></param>
/// <param name="endNode"></param>
/// <returns></returns>
public static float Euclidian(HexNode startNode, HexNode endNode)
{
return(endNode.hex.GetDistance(startNode.hex));
}
/// <summary>
/// 节点对比
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <returns></returns>
private bool NodeComparison(HexNode x, HexNode y)
{
return(x.f < y.f);
}
/// <summary>
/// 销毁对象池对象
/// </summary>
public void OnPoolDispose()
{
parent = null;
}
/// <summary>
/// 设置起始节点
/// </summary>
/// <param name="node"></param>
public void SetStartNode(HexNode node)
{
_startNode = node;
}
/// <summary>
/// 重置对象池对象
/// </summary>
public void OnPoolReset()
{
parent = null;
}
/// <summary>
/// 添加节点
/// </summary>
/// <param name="hex"></param>
/// <param name="moveable"></param>
public void AddNode(Hex hex, bool moveable)
{
_nodes[hex] = new HexNode(hex, moveable);
}
/// <summary>
///
/// </summary>
public void Clear()
{
_startNode = null;
_endNode = null;
_nodes.Clear();
}
/// <summary>
/// 设置结束节点
/// </summary>
/// <param name="hex"></param>
public void SetEndNode(Hex hex)
{
_endNode = GetNode(hex);
}
/// <summary>
/// 设置结束节点
/// </summary>
/// <param name="node"></param>
public void SetEndNode(HexNode node)
{
_endNode = node;
}
/// <summary>
/// 设置起始节点
/// </summary>
/// <param name="hex"></param>
public void SetStartNode(Hex hex)
{
_startNode = GetNode(hex);
}
