/// <summary>
/// A*寻路
/// </summary>
private void AStarCount()
{
//将寻路起点放置到OpenList
openList.Add(allCubes[(int)startPos.x,
(int)startPos.y]);
//循环运算
while (true)
{
//排序
openList.Sort();
//找到此次排序中，F值最小的格子
CubeGrid currentGrid = openList[0];
//如果当前格子是终点
if (currentGrid.GetGridType() == GridType.End)
{
//生成路径
PushCubePath(currentGrid);
break;
}
//遍历周边的8个格子
for (int i = -1; i <= 1; i++)
{
for (int j = -1; j <= 1; j++)
{
//除去当前中心格子
if (i == 0 && j == 0)
{
continue;
}
//计算新格子的坐标
int x = currentGrid.x + i;
int z = currentGrid.z + j;
//排除特殊情况
if (x < 0 || z < 0 ||
x >= allCubes.GetLength(0) ||
z >= allCubes.GetLength(1))
{
continue;
}
//排除障碍
if (allCubes[x, z].GetGridType() == GridType.Obsticle)
{
continue;
}
//排除已经成为过发现者
if (closeList.Contains(allCubes[x, z]))
{
continue;
}
//声明一个G
int g = 0;
if (i == 0 || j == 0)
{
g = currentGrid.G + 10;
}
else
{
g = currentGrid.G + 14;
}
//如果该格子的G值从未计算过，则设置
//如果当前次的运算得到的结果G，比原本的G值要小，则更新
if (allCubes[x, z].G == 0 || g < allCubes[x, z].G)
{
allCubes[x, z].G = g;
//更新发现者
allCubes[x, z].finder = currentGrid;
}
//计算横向的x步数
int hx = (int)endPos.x - x;
//计算纵向的z步数
int hy = (int)endPos.y - z;
//计算H值
allCubes[x, z].H = hx > 0 ? hx : -hx + hy > 0 ? hy : -hy;
//计算F值
allCubes[x, z].F = allCubes[x, z].G + allCubes[x, z].H;
//如果OpenList中不包含当前格子
if (!openList.Contains(allCubes[x, z]))
{
//放进去
openList.Add(allCubes[x, z]);
}
}
}
//将当前中心格子放置到CloseList
closeList.Add(currentGrid);
//从OpenList中移除
openList.Remove(currentGrid);
if (openList.Count == 0)
{
Debug.Log("Can Not Find Path!!!");
break;
}
}
}