public WayCell(Cell finish, WayCell preview, float x, float y, float toStartDistance)
: base(x, y, finish.Detalisation)
{
FinishCell = finish;
PreviewCell = preview;
InitializeWeight(toStartDistance);
}
private static Stack <WayCell> CalculateWay(WayCell lastCell)
{
Debug.Log("Начали калькулировать путь");
Stack <WayCell> way = new Stack <WayCell>();
WayCell sameCell = lastCell;
do
{
way.Push(sameCell);
sameCell = sameCell.PreviewCell;
} while (sameCell != null);
return(way);
}
private static Stack <WayCell> GetWay(Vector3 startPos, Vector3 finishPos, float detalisation, float characterRadius, bool diagonalAdjacent = false)
{
Detalisation = detalisation;
MaxDeviation = GetMaxDeviation(Detalisation, FindPower);
DiagonalAdjacent = diagonalAdjacent;
Waiting = new List <WayCell>();
Checked = new List <WayCell>();
Stack <WayCell> way = new Stack <WayCell>();
CharacterRadius = characterRadius;
Finish = GetAvailableTarget(finishPos);
// Debug.LogError("Финиш: " + Finish);
// Finish = new WayCell(finishCell, null, finishCell.X, finishCell.Y, Detalisation,float.MaxValue);
if (Finish == null)
{
//Нет разницы, какая цель, поскольку она недействительна
Start = new WayCell(new Cell(0f, 0f, 1f), null, startPos, 0f);
way.Push(Start);
Debug.Log("Финиш нулевой");
return(way);
}
Start = new WayCell(Finish, null, startPos, 0f);
DiagonalAdjacent = diagonalAdjacent;
Checked.Add(Start);
Start.AddNewAdjacents(ref Waiting, diagonalAdjacent);
while (Waiting.Count > 0)
{
//Вытаскиваем клетку с самым низким весом из ожидающих.
//Какая-то клетка присвоить из ожидающих такую клетку, вес которой равен минимальному весу из ожидающих.
var toCheck = Waiting.Where(x => x.Weight == Waiting.Min(y => y.Weight)).FirstOrDefault();
//Debug.Log("toCheck.X" + toCheck.X);
//Debug.Log("Finish.X" + Finish.X);
if (toCheck.Equals(Finish))
{
Finish.PreviewCell = toCheck.PreviewCell;
return(CalculateWay(Finish));
}
else
{
Waiting.Remove(toCheck);
//Случайное число 9, определяющее максимальное количество условий
List <bool> conditions = new List <bool>();
conditions.Add(Physics2D.OverlapCircle(new Vector2(toCheck.X, toCheck.Y), CharacterRadius, LayerMask.GetMask("Wall")));
// conditions.Add(toCheck.GetDistanсe(Start) > MaxDeviation);
if (Check.Disjunction(conditions))
{
Checked.Add(toCheck);
}
else
{
var justHaveCells = Checked.Where(x => x.X == toCheck.X).Where(y => y.Y == toCheck.Y);
if (!justHaveCells.Any())
{
Checked.Add(toCheck);
toCheck.AddNewAdjacents(ref Waiting, diagonalAdjacent);
}
//else
//{
// var sameCells = justHaveCells.ToList();
//}
}
}
}
Debug.Log("Окончательный путь не найден");
return(way);
}
public WayCell(Cell finish, WayCell preview, Cell currentCell, float toStartDistance)
: this(finish, preview, currentCell.X, currentCell.Y, toStartDistance)
{
}
public WayCell(Cell finish, WayCell preview, Vector3 coord, float toStartDistance)
: this(finish, preview, coord.x, coord.y, toStartDistance)
{
}
