//检查邻居节点合法性
//*0
//0*
//斜方向
static private bool UF_CheckNeibourhoodValid(ASGrid asGrid, ASGridData a, ASGridData b)
{
int minX = a.X < b.X ? a.X : b.X;
int minY = a.Y < b.Y ? a.Y : b.Y;
int vCount = 0;
int width = asGrid.width - 1;
int height = asGrid.height - 1;
for (int k = 0; k < 2; k++)
{
for (int i = 0; i < 2; i++)
{
if (asGrid.UF_GetState(Math.Min(minX + i, width), Math.Min(minY + k, height)) == 0)
{
vCount++;
}
}
}
return(vCount >= 3);
}
static public void UF_FindingPath(ASGrid asGrid, int startX, int startY, int endX, int endY, List <Vector2> outGrids, bool normalized)
{
List <ASGridData> tempList = ListCache <ASGridData> .Acquire();
outGrids.Clear();
UF_FindingPath(asGrid, startX, startY, endX, endY, tempList);
//normalized 是否泛化同方向点
//去除同方向点
if (normalized && tempList.Count > 1)
{
int lastForward = 0;
for (int k = 1; k < tempList.Count; k++)
{
int forward = UF_GetPointForward(tempList[k].X, tempList[k].Y, tempList[k - 1].X, tempList[k - 1].Y);
if (forward != lastForward)
{
lastForward = forward;
}
else
{
tempList[k - 1] = null;
}
}
}
for (int k = 0; k < tempList.Count; k++)
{
if (tempList[k] != null)
{
outGrids.Add(new Vector2(tempList[k].X, tempList[k].Y));
}
}
ListCache <ASGridData> .Release(tempList);
}
/// <summary>
/// 查找线路
/// </summary>
/// <returns>如果没有线路 则返回null </returns>
static public void UF_FindingPath(ASGrid asGrid, int startX, int startY, int endX, int endY, List <ASGridData> outGrids)
{
int width = asGrid.width;
int height = asGrid.height;
m_LOpen.Clear();
m_LClose.Clear();
ASGridData startNode = asGrid.UF_GetData(startX, startY);
ASGridData endNode = asGrid.UF_GetData(endX, endY);
if (startNode == null || endNode == null)
{
return;
}
m_LOpen.Add(startNode);
while (m_LOpen.Count > 0)
{
ASGridData curNode = m_LOpen[0];
for (int i = 0, max = m_LOpen.Count; i < max; i++)
{
if (m_LOpen[i].fCost <= curNode.fCost &&
m_LOpen[i].hCost < curNode.hCost)
{
curNode = m_LOpen[i];
}
}
m_LOpen.Remove(curNode);
m_LClose.Add(curNode);
// 找到的目标节点
if (curNode == endNode)
{
UF_GeneratePath(startNode, endNode, outGrids);
return;
}
//未有邻近点，生产并记录
if (curNode.Neibourhood == null)
{
curNode.UF_GenNeibourhood(width, height);
}
// 判断周围节点，选择一个最优的节点GenNeibourhood
for (int k = 0; k < curNode.Neibourhood.Length; k++)
{
ASGridData tempGrid = asGrid[curNode.Neibourhood [k]];
// 如果是墙或者已经在关闭列表中
if (!UF_CanPass(tempGrid.State) || m_LClose.Contains(tempGrid))
{
continue;
}
//判断斜方向邻居点，共享点必须为可行走区域
if (!UF_CheckNeibourhoodValid(asGrid, curNode, tempGrid))
{
continue;
}
// 计算当前相领节点现开始节点距离
int newCost = curNode.gCost + UF_GetDistanceNodes(curNode, tempGrid);
// 如果距离更小，或者原来不在开始列表中
if (newCost < tempGrid.gCost || !UF_Contains(m_LOpen, tempGrid))
{
// 更新与开始节点的距离
tempGrid.gCost = newCost;
// 更新与终点的距离
tempGrid.hCost = UF_GetDistanceNodes(tempGrid, endNode);
// 更新父节点为当前选定的节点
tempGrid.parent = curNode;
// 如果节点是新加入的，将它加入打开列表中
if (!UF_Contains(m_LOpen, tempGrid))
{
m_LOpen.Add(tempGrid);
}
}
}
}
return;
}