void MoveToNextPoint_Local()
{
if (IsMoving)
{
return;
}
if (moveRode == null || moveRode.Count < 1)
{
IsMoving = false;
objSign.SetActive(false);
return;
}
MapManager.NavPoint point = moveRode.First.Value;
moveRode.RemoveFirst();
Vector3 position = new Vector3(point.col, 0, point.row);
if (position == transform.position || point.type < 1)
{
MoveToNextPoint_Local();
return;
}
Tweener tweener = transform.DOMove(position, fMoveCost);
tweener.SetEase(Ease.InOutQuad);
tweener.onComplete = () => { IsMoving = false; MoveToNextPoint_Local(); };
IsMoving = true;
currentPoint = point;
}
void SetTarget_Local(MapManager.NavPoint point)
{
moveRode = null;
objSign.SetActive(true);
objSign.transform.position = new Vector3(point.col, 0, point.row);
System.Diagnostics.Stopwatch stopWatch = new System.Diagnostics.Stopwatch();
stopWatch.Start();
switch (navType)
{
case NavLibrary.Algorithm.DFS:
moveRode = DFS.Navigation(currentPoint, point);
break;
case NavLibrary.Algorithm.BFS:
moveRode = BFS.Navigation(currentPoint, point);
break;
case NavLibrary.Algorithm.A_Star:
moveRode = A_Star.Navigation(currentPoint, point);
break;
default:
moveRode = null;
break;
}
stopWatch.Stop();
MainView.Instance.RefreshInfo(point.row, point.col, stopWatch.Elapsed.TotalMilliseconds);
Debug.Log("Cost Time: " + stopWatch.Elapsed.TotalMilliseconds);
if (!IsMoving)
{
MoveToNextPoint_Local();
}
}
public static LinkedList <MapManager.NavPoint> Navigation(MapManager.NavPoint start, MapManager.NavPoint target)
{
curTarget = target;
dicClosedNodes.Clear();
listNavResult.Clear();
FindNextPoint(start);
return(listNavResult);
}
public static LinkedList <MapManager.NavPoint> Navigation(MapManager.NavPoint start, MapManager.NavPoint target)
{
targetPoint = target;
dicClosedNodes.Clear();
listNavResult.Clear();
listOpenNodes.Clear();
listOpenNodes.AddLast(new NodeRecord(start, null));
List <NodeRecord> listNeighbors = new List <NodeRecord>(4);
while (listOpenNodes.Count > 0)
{
NodeRecord curRecord = listOpenNodes.First.Value;
MapManager.NavPoint curPoint = curRecord.point;
listOpenNodes.RemoveFirst();
if (dicClosedNodes.ContainsKey(curPoint.id))
{
continue;
}
dicClosedNodes[curPoint.id] = true;
if (curPoint == target)
{
do
{
listNavResult.AddFirst(curRecord.point);
}while (curRecord = curRecord.parentRecord);
return(listNavResult);
}
if (curPoint.type < 1)
{
continue;
}
listNeighbors.Clear();
for (int i = 0, length = rowNeighbors.Length; i < length; ++i)
{
MapManager.NavPoint neighbor = MapManager.Instance.GetPoint(curPoint.row + rowNeighbors[i], curPoint.col + colNeighbors[i]);
if (neighbor && !dicClosedNodes.ContainsKey(neighbor.id))
{
listNeighbors.Add(new NodeRecord(neighbor, curRecord));
}
}
listNeighbors.Sort((a, b) => { return(a.hScore - b.hScore); });
for (int i = 0, length = listNeighbors.Count; i < length; ++i)
{
listOpenNodes.AddLast(listNeighbors[i]);
}
}
return(listNavResult);
}
static bool FindNextPoint(MapManager.NavPoint point)
{
dicClosedNodes[point.id] = true;
if (point == curTarget)
{
listNavResult.AddFirst(point);
return(true);
}
if (point.type < 1)
{
return(false);
}
List <MapManager.NavPoint> listNeighbors = new List <MapManager.NavPoint>(4);
for (int i = 0, length = rowNeighbors.Length; i < length; ++i)
{
MapManager.NavPoint neighbor = MapManager.Instance.GetPoint(point.row + rowNeighbors[i], point.col + colNeighbors[i]);
if (neighbor)
{
listNeighbors.Add(neighbor);
}
}
listNeighbors.Sort((a, b) =>
{
return(Mathf.Abs(a.row - curTarget.row) + Mathf.Abs(a.col - curTarget.col) - Mathf.Abs(b.row - curTarget.row) - Mathf.Abs(b.col - curTarget.col));
});
for (int i = 0, length = listNeighbors.Count; i < length; ++i)
{
if (!dicClosedNodes.ContainsKey(listNeighbors[i].id) && FindNextPoint(listNeighbors[i]))
{
listNavResult.AddFirst(point);
return(true);
}
}
return(false);
}
public NodeRecord(MapManager.NavPoint p, NodeRecord parent)
{
point = p;
fScore = (Mathf.Abs(p.row - curTarget.row) + Mathf.Abs(p.col - curTarget.col)) + (gScore = (parentRecord = parent) == null ? 0 : parent.gScore + 1);
}
public NodeRecord(MapManager.NavPoint p, NodeRecord parent)
{
point = p;
parentRecord = parent;
hScore = Mathf.Abs(p.row - targetPoint.row) + Mathf.Abs(p.col - targetPoint.col);
}
