/// <summary>
/// 数据来源AStar 表格地图的直线寻路结果
/// </summary>
/// <returns><c>true</c>, if path was found, <c>false</c> otherwise.</returns>
/// <param name="grid">Grid.</param>
public bool FindPath(CStarGrid grid)
{
CStarNode startNode = grid.StartNode;
CStarNode endNode = grid.EndNode;
SetData(startNode.Col, startNode.Row, endNode.Col, endNode.Row);
return(Find(grid));
}
/// <summary>
/// Finds the path.
/// result do not has the start node itself
/// </summary>
/// <returns><c>true</c>, if path was found, <c>false</c> otherwise.</returns>
/// <param name="grid">传入需要进行寻路的地图</param>
/// <param name="closeToDestination">If set to <c>false</c>, 寻路结果不包含终点</param>
public bool FindPath(CStarGrid grid, bool closeToDestination = false)
{
m_grid = grid;
m_findClosestNode = closeToDestination;
m_open.Clear();
m_closed.Clear();
m_startNode = m_grid.StartNode;
m_endNode = m_grid.EndNode;
//终点不可通行, 我就不寻路了
if (!m_endNode.Walkable)
{
return(false);
}
m_startNode.G = 0;
m_startNode.H = Heuristic(m_startNode);
m_startNode.F = m_startNode.G + m_startNode.H;
bool result = Search();
return(result);
}
/// <summary>
/// 传入地图可通行数据构建寻路对象
/// </summary>
public CTilePathPlanner(CStarGrid map)
{
m_starGrid = map;
}
/// <summary>
/// 初始化整个系统
/// </summary>
public void Initialize(int mapNumCols, int mapNumRows)
{
m_mapWalkableData = new CStarGrid();
m_mapWalkableData.Init(mapNumCols, mapNumRows);
m_pathPlanner = new CTilePathPlanner(m_mapWalkableData);
}