/// <summary>
/// 开始寻路；
/// </summary>
/// <param name="originNode"></param>
/// <param name="targetNode"></param>
/// <param name="passNodes"></param>
/// <returns></returns>
public static bool FindPath(AStarNode originNode, AStarNode targetNode, ref List <AStarNode> passNodes)
{
passNodes.Clear();
if (originNode.EqualOther(targetNode))
{
passNodes.Add(originNode);
return(true);
}
// 清楚打开和关闭列表；
OpenNodes.Clear();
CloseNodes.Clear();
originNode.G = 0;
originNode.H = originNode.GetH(targetNode);
originNode.ParentNode = null;
OpenNodes.Add(originNode);
AStarNode currenNode = null;
while (OpenNodes.Count > 0)
{
// 找出open表里面最小的F;
currenNode = GetMinF(OpenNodes);
if (currenNode.EqualOther(null))
{
return(false);
}
// 判断当前的节点是不是目标点,是的话就找到了路径;
if (currenNode.EqualOther(targetNode))
{
while (!currenNode.EqualOther(originNode))
{
passNodes.Add(currenNode);
currenNode = currenNode.ParentNode;
}
passNodes.Add(originNode);
passNodes.Reverse();
OpenNodes.Clear();
CloseNodes.Clear();
return(true);
}
// 没有找到就移除Open列表里面;
OpenNodes.Remove(currenNode);
CloseNodes.Add(currenNode);
// 判断邻居节点;
Check8(currenNode, targetNode);
//PrintLog();
}
passNodes.Clear();
OpenNodes.Clear();
CloseNodes.Clear();
return(false);
}
internal AStarLink(AStarNode node, int cost)
{
Node = node;
Cost = cost;
}
private static bool InNodeList(AStarNode node, List <AStarNode> Nodes)
{
return(Nodes.FirstOrDefault(c => c.Point == node.Point) != null);
}
internal void setEndNode(int x, int y)
{
_endNode = _grid[x][y];
}
internal void setStartNode(int x, int y)
{
_startNode = _grid[x][y];
}
public abstract AStarNode GetNeighbourNode(AStarNode node, int index);
public abstract int GetNeighbourNodeCount(AStarNode node);
private int compare(AStarNode a, AStarNode b)
{
return(b._f - a._f);
}