public PCell(IntVector2 pos, int generation, float heuristic, PCell parent)
{
this.pos = pos;
this.generation = generation;
this.heuristic = heuristic;
this.parent = parent;
}
//A*寻路：根据起点和目标点 得到触手路径
private List <IntVector2> FindTentaclePath(IntVector2 start, IntVector2 goal)
{
//开放列表
List <PCell> openLst = new List <PCell>()
{
new PCell(goal, 0, 0.0f, null)
};
//关闭列表
bool[,] closeTags = new bool[room.TileWidth, room.TileHeight];
//从目标点向起始点寻路
PCell tempCell = null;
while (openLst.Count > 0 && tempCell == null)
{
//选取开放列表中启发代价最小的单元
PCell parent = openLst[0];
float minH = float.MaxValue;
for (int index = 0; index < openLst.Count; ++index)
{
if (openLst[index].heuristic < (double)minH)
{
parent = openLst[index];
minH = openLst[index].heuristic;
}
}
openLst.Remove(parent);
//四方向检测
for (int index = 0; index < 4; ++index)
{
//左右边界、上下边界和关闭列表检测
if (parent.pos.x + Utils.fourDirections[index].x >= 0 && parent.pos.x + Utils.fourDirections[index].x < room.TileWidth &&
(parent.pos.y + Utils.fourDirections[index].y >= 0 && parent.pos.y + Utils.fourDirections[index].y < room.TileHeight) &&
!closeTags[parent.pos.x + Utils.fourDirections[index].x, parent.pos.y + Utils.fourDirections[index].y])
{
//计算寻路代价（Solid：1000）
float heuristic = Vector2.Distance(IntVector2.ToVector2(parent.pos + Utils.fourDirections[index]), IntVector2.ToVector2(start)) + (!room.GetTile(parent.pos + Utils.fourDirections[index]).Solid ? 0.0f : 1000f);
//创建新的Pcell
PCell pcell = new PCell(parent.pos + Utils.fourDirections[index], parent.generation + 1, heuristic, parent);
//设置重复检测标志位
closeTags[parent.pos.x + Utils.fourDirections[index].x, parent.pos.y + Utils.fourDirections[index].y] = true;
//寻到路径：退出循环
if (pcell.pos == start)
{
tempCell = pcell;
}
else
{
openLst.Add(pcell);
}
}
}
}
//逆转列表获得寻路结果
List <IntVector2> pathLst = new List <IntVector2>();
for (; tempCell.parent != null; tempCell = tempCell.parent)
{
pathLst.Add(tempCell.pos);
}
return(pathLst);
}
