/// <summary>
/// F=G+H;
/// </summary>
private void CalcWeight(int cur_x, int cur_y, int next_x, int next_y, bool is_slash, int next_dir)
{
//检查斜线可达
if (is_slash)
{
if (this.NoWalk(next_x, cur_y) || this.NoWalk(cur_x, next_y))
{
return;
}
}
AStarFindPath.PointInfo next_p = this.m_map[next_x][next_y];
AStarFindPath.PointInfo cur_p = this.m_map[cur_x][cur_y];
//计算G
int g = cur_p.g + (is_slash ? 14142 : 10000);
if (cur_p.dir != next_dir)
{
g += 8200;
}
//计算H
if (next_p.g == 0 || next_p.g > g)
{
next_p.g = g;
next_p.parant = cur_p;
next_p.dir = next_dir;
if (next_p.h == 0)
{
next_p.h = 10000 * this.CalH(next_x, next_y);
}
int f = next_p.h + next_p.g;
this.m_open_list.Push(new AStarFindPath.OpenItem(next_x, next_y, f));
}
}
/// <summary>
/// 生成路径
/// </summary>
/// <param name="inflex_points">路径数组</param>
/// <param name="range">与终点的距离</param>
public void GenerateInflexPoint(ref ArrayList inflex_points, float range)
{
AStarFindPath.PointInfo cur_p = this.m_map[this.m_end_point.x][this.m_end_point.y];
if (cur_p == null)
{
inflex_points.Add(new Vector2((float)this.m_start_point.x, (float)this.m_start_point.y));
inflex_points.Add(new Vector2((float)this.m_start_point.x, (float)this.m_start_point.y));
}
else
{
if (range > 0.001f)
{
Vector2 start_pos = new Vector2((float)this.m_start_point.x, (float)this.m_start_point.y);
Vector2 end_pos = new Vector2((float)this.m_end_point.x, (float)this.m_end_point.y);
Vector2 dir = end_pos - start_pos;
if (dir.sqrMagnitude <= range * range)
{
inflex_points.Add(new Vector2((float)this.m_start_point.x, (float)this.m_start_point.y));
inflex_points.Add(new Vector2((float)this.m_start_point.x, (float)this.m_start_point.y));
return;
}
if (this.m_is_last_straight)
{
this.normalise(ref dir);
float real_range = range;
Vector2 cur_end_pos = default(Vector2);
cur_end_pos.x = end_pos.x;
cur_end_pos.y = end_pos.y;
for (; ;)
{
dir *= real_range;
cur_end_pos = end_pos - dir;
cur_end_pos.x = (float)((int)cur_end_pos.x);
cur_end_pos.y = (float)((int)cur_end_pos.y);
if (Vector2.Distance(cur_end_pos, end_pos) <= range * range)
{
break;
}
real_range -= 0.3f;
if (real_range < 0f)
{
cur_end_pos = end_pos;
inflex_points.Add(new Vector2(cur_end_pos.x, cur_end_pos.y));
inflex_points.Add(new Vector2((float)this.m_start_point.x, (float)this.m_start_point.y));
return;
}
}
inflex_points.Add(new Vector2(cur_end_pos.x, cur_end_pos.y));
inflex_points.Add(new Vector2((float)this.m_start_point.x, (float)this.m_start_point.y));
return;
}
AStarFindPath.PointInfo last_p = cur_p;
while (cur_p != null)
{
float tmp_x = (float)cur_p.x + 0.5f - (float)this.m_end_point.x;
float tmp_y = (float)cur_p.y + 0.5f - (float)this.m_end_point.y;
if (range * range < tmp_x * tmp_x + tmp_y * tmp_y)
{
break;
}
last_p = cur_p;
cur_p = cur_p.parant;
}
cur_p = last_p;
}
int cur_dir = -1;
while (cur_p != null)
{
if (cur_p.dir != cur_dir || (cur_p.x == this.m_start_point.x && cur_p.y == this.m_start_point.y))
{
inflex_points.Add(new Vector2((float)cur_p.x + 0.5f, (float)cur_p.y + 0.5f));
cur_dir = cur_p.dir;
}
cur_p = cur_p.parant;
}
}
}
