public virtual bool CanAddAdjacentToReachable(PathFinding search, CellData adjacent)
{
// 如果已经在关闭集
if (search.IsCellInExplored(adjacent))
{
return(false);
}
// 已经加入过开放集
if (search.IsCellInReachable(adjacent))
{
return(false);
}
// 计算消耗 = 当前 cell 的消耗 + 邻居 cell 的消耗
float g = search.currentCell.G + CalcGPerCell(search, adjacent);
// 不在范围内
if (g < 0f || g > search.range.y)
{
return(false);
}
adjacent.G = g;
return(true);
}
public override bool CanAddAdjacentToReachable(PathFinding search, CellData adjacent)
{
// 是否可移动
if (!adjacent.CanMove)
{
return(false);
}
// 如果已经在关闭集
if (search.IsCellInExplored(adjacent))
{
return(false);
}
// 计算消耗 = 当前 cell 的消耗 + 邻居 cell 的消耗
float g = search.currentCell.G + CalcGPerCell(search, adjacent);
// 已经加入过开放集
if (search.IsCellInReachable(adjacent))
{
// 如果新消耗更低
if (g < adjacent.G)
{
adjacent.G = g;
adjacent.Previous = search.currentCell;
}
return(false);
}
adjacent.G = g;
adjacent.H = CalcH(search, adjacent);
adjacent.Previous = search.currentCell;
return(true);
}
public virtual bool IsFinishedOnChose(PathFinding search)
{
if (search.currentCell == null)
{
return(true);
}
if (!search.IsCellInExplored(search.currentCell))
{
search.explored.Add(search.currentCell);
}
return(false);
}
public override bool IsFinishedOnChose(PathFinding search)
{
// 如果开放集中已经空了, 则说明没有达到目标点
if (search.currentCell == null)
{
// 使用 H 最小值建立结果
CellData minCell = search.explored.First(cell => System.Math.Abs(cell.H - search.explored.Min(c => c.H)) < 1e-6);
search.BuildPath(minCell, true);
return(true);
}
// 找到了目标点
if (search.currentCell == search.endCell)
{
return(true);
}
if (!search.IsCellInExplored(search.currentCell))
{
search.explored.Add(search.currentCell);
}
return(false);
}