void SetStartAndEnd()
{
APos getPos = new APos(0, 0);
RaycastHit hit = new RaycastHit();
Ray ray = mainCamera.ScreenPointToRay(Input.mousePosition);
Physics.Raycast(ray, out hit, 100);
//得到鼠标点击处的坐标
if (hit.transform != null && hit.collider.gameObject.tag == "Plane")
{
var hitPoint = hit.point;
Debug.DrawLine(mainCamera.transform.position, hitPoint, Color.red, 5f);
//将坐标转化为整数坐标
getPos.x = Mathf.RoundToInt(hitPoint.x);
getPos.z = Mathf.RoundToInt(hitPoint.z);
startBox = Instantiate(startAndEnd, new Vector3(getPos.x, startAndEnd.position.y, getPos.z), Quaternion.identity);
startAndEndList.Add(startBox.gameObject);
count += 1;
}
if (count == 1)
{
start = getPos;
nextPos = start;
}
else if (count == 2)
{
end = getPos;
ifSetOver = true;
}
}
/// <summary>
/// 设置方向
/// </summary>
void SetDirection()
{
direction[0] = new APos(0, 1); //前
direction[1] = new APos(0, -1); //后
direction[2] = new APos(1, 0); //右
direction[3] = new APos(-1, 0); //左
direction[4] = new APos(-1, 1); //前左
direction[5] = new APos(1, 1); //前右
direction[6] = new APos(-1, -1); //后左
direction[7] = new APos(1, -1); //后右
}
/// <summary>
/// 查找列表中某元素的index
/// </summary>
/// <param name="pos"></param>
/// <param name="l"></param>
/// <returns></returns>
int FindListIndex(APos pos, List <APos> l)
{
for (int i = 0; i < l.Count; i++)
{
if (l[i].x == pos.x && l[i].z == pos.z)
{
return(i);
}
}
return(0);
}
/// <summary>
/// 判断列表中是否存在某元素
/// </summary>
/// <param name="pos"></param>
/// <param name="l"></param>
/// <returns></returns>
bool IsInList(APos pos, List <APos> l)
{
for (int i = 0; i < l.Count; i++)
{
if (l[i].x == pos.x && l[i].z == pos.z)
{
//Debug.Log("found true");
return(true);
}
}
return(false);
}
void ShowPath(APos pos)
{
var parentPos = searchMap[pos.x, pos.z].parent;
if (parentPos != start)
{
var findPathItem_clone = Instantiate(findPathItem, new Vector3(parentPos.x, findPathItem.position.y, parentPos.z), Quaternion.identity);
findPathItem_clone.SetParent(findPathParent);
ShowPath(parentPos);
}
else
{
isFindPathOver = true;
return;
}
}
/// <summary>
/// 计算G值
/// </summary>
/// <param name="startPos"></param>
/// <param name="endPos"></param>
/// <returns></returns>
int CalculateValueOfG(APos startPos, APos endPos)
{
var valueG = startPos.G;
var offSetX = Mathf.Abs(startPos.x - endPos.x); //两点的x的差值绝对值
var offSetZ = Mathf.Abs(startPos.z - endPos.z); //两点的z的差值绝对值
if (offSetX == 0 || offSetZ == 0)
{
valueG += straightDistance;
}
else
{
valueG += diagonalDistance;
}
return(valueG);
}
/// <summary>
/// 获取H值
/// </summary>
int CalculateValueOfH(APos startPos, APos endPos)
{
var valueH = startPos.H;
var offSetX = Mathf.Abs(startPos.x - endPos.x); //两点的x的差值绝对值
var offSetZ = Mathf.Abs(startPos.z - endPos.z); //两点的z的差值绝对值
var offSetXZ = Mathf.Abs(offSetX - offSetZ); //两点x和z的差值绝对值
var maxOffSet = Mathf.Max(offSetX, offSetZ); //取差值绝对值中的最大值
var minOffSet = Mathf.Min(offSetX, offSetZ); //取差值绝对值中的最小值
if (offSetX == 0 || offSetZ == 0)
{
valueH = maxOffSet * straightDistance;
}
else
{
valueH = offSetXZ * straightDistance + minOffSet * diagonalDistance;
}
return(valueH);
}
public APos parent; //记录每一点的父节点
public ASearchData(APos parent)
{
this.parent = parent;
}
void FindAStarPath(APos pos)
{
int minValueF = 999;
int minValueFInOpenList = 9999;
APos nextPosInOpenList = new APos(0, 0);
closeList.Add(pos); //关闭列表加入pos
for (int i = 0; i < direction.Length; i++)
{
APos newPos = new APos(pos.x + direction[i].x, pos.z + direction[i].z);
if (newPos.x >= 0 && newPos.x < length && newPos.z >= 0 && newPos.z < width) //拓展出的点应在地图范围内
{
if (newPos.x == end.x && newPos.z == end.z)
{
nextPos = end;
searchMap[nextPos.x, nextPos.z].parent = pos;
searchItemParent.gameObject.SetActive(false);
return;
}
//Debug.Log("newPos:" + newPos.x + "," + newPos.z);
isInCloseList = IsInList(newPos, closeList);
//Debug.Log("isInCloseList:" + isInCloseList);
if (map[newPos.x, newPos.z] == 0 && !isInCloseList) //判断新拓展点是否为墙且在关闭列表中
{
newPos.G = CalculateValueOfG(pos, newPos);
newPos.H = CalculateValueOfH(newPos, end);
newPos.F = newPos.G + newPos.H;
valueOfF = newPos.F;
isInOpenList = IsInList(newPos, openList);
//Debug.Log("valueOfF1:" + valueOfF);
if (isInOpenList) //如果open list中已经包含了newPos
{
var oldOpenPos = openList[FindListIndex(newPos, openList)];
//Debug.Log("oldOpenPos:" + oldOpenPos.x + "," + oldOpenPos.z);
if (oldOpenPos.F < valueOfF) //如果该pos的F值小于新的F值的话，则将更小的F值赋给newPos并保持原来的父子关系
{
newPos.G = oldOpenPos.G;
valueOfF = oldOpenPos.F;
searchMap[newPos.x, newPos.z].parent = searchMap[oldOpenPos.x, oldOpenPos.z].parent;
}
else
{
searchMap[newPos.x, newPos.z].parent = pos; //将pos设为新拓展点的父节点
}
}
else
{
searchMap[newPos.x, newPos.z].parent = pos; //将pos设为新拓展点的父节点
openList.Add(newPos); //将新拓展的点加入open list中
var searchItem_clone = Instantiate(searchItem, new Vector3(newPos.x, searchItem.position.y, newPos.z), Quaternion.identity);
searchItem_clone.SetParent(searchItemParent);
}
//Debug.Log("valueOfF2:" + valueOfF);
if (valueOfF <= minValueF) //如果F值小于设定的最小F值，则将新F值设为最小值
{
minValueF = valueOfF;
nextPos = newPos;
}
}
}
}
if (nextPos == null)
{
for (int i = 0; i < openList.Count; i++)
{
if (openList[i].F < minValueFInOpenList)
{
minValueFInOpenList = openList[i].F;
nextPosInOpenList = openList[i];
}
}
nextPos = nextPosInOpenList;
}
var parentPos = searchMap[nextPos.x, nextPos.z].parent;
//Debug.Log("Nextpos:" + nextPos.x + "|" + nextPos.z);
//Debug.Log("Parent:" + parentPos.x + "|" + parentPos.z);
openList.Remove(nextPos); //开放列表中删除下一个节点
Debug.Log(openList.Count);
}
