//按F从大到小排列
protected List <LinkE> GetNextElements(LinkE s)
{
List <LinkE> list = new List <LinkE>();
if (s.R - 1 >= 0 && Map[s.R - 1, s.C])
{
list.Add(new LinkE(s.R - 1, s.C));
}
if (s.C + 1 <= MapC - 1 && Map[s.R, s.C + 1])
{
list.Add(new LinkE(s.R, s.C + 1));
}
if (s.R + 1 <= MapR - 1 && Map[s.R + 1, s.C])
{
list.Add(new LinkE(s.R + 1, s.C));
}
if (s.C - 1 >= 0 && Map[s.R, s.C - 1])
{
list.Add(new LinkE(s.R, s.C - 1));
}
list.Sort((a, b) => (GetF(b) - GetF(a)));
return(list);
}
//获取节点周围可行动的点
protected List <LinkE> GetNextElements(LinkE s)
{
List <LinkE> list = new List <LinkE>();
LinkE e;
if (s.R - 1 >= 0 && Map[s.R - 1, s.C])
{
e = new LinkE(s.R - 1, s.C);
e.F = GetF(e);
list.Add(e);
}
if (s.C + 1 <= MapC - 1 && Map[s.R, s.C + 1])
{
e = new LinkE(s.R, s.C + 1);
e.F = GetF(e);
list.Add(e);
}
if (s.R + 1 <= MapR - 1 && Map[s.R + 1, s.C])
{
e = new LinkE(s.R + 1, s.C);
e.F = GetF(e);
list.Add(e);
}
if (s.C - 1 >= 0 && Map[s.R, s.C - 1])
{
e = new LinkE(s.R, s.C - 1);
e.F = GetF(e);
list.Add(e);
}
return(list);
}
private bool Finding(LinkE s, LinkE e)
{
bool bo = false;
MinHeap <LinkE> heap = new MinHeap <LinkE>();
heap.Add(s);
LinkE current;
while (heap.Count > 0)
{
current = heap.ExtractMin();
Debug.Log(current);
Map[current.R, current.C] = false; //设为已走过
if (current.EqualTo(end))
{
end.Pre = current.Pre;
return(true);
}
List <LinkE> nextElements = GetNextElements(current);
if (nextElements.Count > 0)
{
for (int i = 0; i < nextElements.Count; i++)
{
nextElements[i].Pre = current;
heap.Add(nextElements[i]);
}
}
}
return(bo);
}
private int GetF(LinkE e)
{
int G = 1;//从上一点移动到e的距离
int H = Math.Abs(e.C - end.C) + Math.Abs(e.R - end.R);
return(G + H);
}
//需要被优化
protected override LinkE GetNextE(LinkE s)
{
LinkE e = null;
if (s.R - 1 >= 0 && Map[s.R - 1, s.C])
{
e = new LinkE(s.R - 1, s.C);
}
else if (s.C + 1 <= MapC - 1 && Map[s.R, s.C + 1])
{
e = new LinkE(s.R, s.C + 1);
}
else if (s.R + 1 <= MapR - 1 && Map[s.R + 1, s.C])
{
e = new LinkE(s.R + 1, s.C);
}
else if (s.C - 1 >= 0 && Map[s.R, s.C - 1])
{
e = new LinkE(s.R, s.C - 1);
}
if (e != null)
{
Map[e.R, e.C] = false; //设为已走过
}
return(e);
}
private void LoadMap()
{
Path = Application.streamingAssetsPath + "/" + "Map.txt";
StreamReader reader = new StreamReader(Path);
string[] rc = reader.ReadLine().Split(' ');
column = int.Parse(rc[0]);
row = int.Parse(rc[1]);
Map = new bool[row, column];
rc = reader.ReadLine().Split(' ');
start = new LinkE(int.Parse(rc[0]), int.Parse(rc[1]));
rc = reader.ReadLine().Split(' ');
end = new LinkE(int.Parse(rc[0]), int.Parse(rc[1]));
for (int i = 0; i < row; i++)
{
string line = reader.ReadLine();
for (int j = 0; j < column; j++)
{
Map[i, j] = line[j] == '0';
}
}
Debug.Log(Map);
}
public GameObject UpdateFind(LinkE e)
{
GameObject go = GameObject.Instantiate(cube_green);
go.transform.position = new Vector3(GetX(e.C), 0, GetZ(e.R));
return(go);
}
private bool Finding(LinkE s, LinkE e)
{
bool bo = false;
Stack <LinkE> stack = new Stack <LinkE>();
stack.Push(s);
LinkE current;
while (stack.Count > 0)
{
current = stack.Pop();
Debug.Log(current);
Map[current.R, current.C] = false; //设为已走过
if (current.EqualTo(end))
{
end.Pre = current.Pre;
return(true);
}
List <LinkE> nextElements = GetNextElements(current);
if (nextElements.Count > 0)
{
for (int i = 0; i < nextElements.Count; i++)
{
nextElements[i].Pre = current;
stack.Push(nextElements[i]);
}
}
}
return(bo);
}
private bool Finding(LinkE s, LinkE e)
{
bool bo = false;
Queue <LinkE> queue = new Queue <LinkE>();
queue.Enqueue(s);
LinkE current;
while (queue.Count > 0)
{
current = queue.Dequeue();
if (current.EqualTo(end))
{
end.Pre = current.Pre;
return(true);
}
LinkE temp;
while ((temp = GetNextE(current)) != null)
{
temp.Pre = current;
queue.Enqueue(temp);
}
}
return(bo);
}
private bool Finding(LinkE s, LinkE e)
{
bool bo = false;
linkEStack = new Stack <LinkE>();
linkEStack.Push(s);
LinkE current;
while (linkEStack.Count > 0)
{
current = linkEStack.Pop();
Debug.Log(current);
if (current.EqualTo(e))
{
e.Pre = current.Pre;
return(true);
}
LinkE temp;
while ((temp = GetNextE(current)) != null)
{
temp.Pre = current;
linkEStack.Push(temp);
}
}
return(bo);
}
public override void ShowPath(Action <LinkE> ac)
{
LinkE current = new LinkE(end, false);
while (current.Pre != null)
{
current = current.Pre;
ac(current);
}
}
public override void ShowPath(Action <LinkE> ac)
{
LinkE current = new LinkE(start);
while (current.Next != null)
{
current = current.Next;
ac(current);
}
}
private IEnumerator IE_finding(LinkE s, LinkE e)
{
bool bo = false;
GameObject gameobject = new GameObject();
List <GameObject> gos = new List <GameObject>();
MinHeap <LinkE> heap = new MinHeap <LinkE>();
heap.Add(s);
LinkE current;
while (heap.Count > 0)
{
yield return(new WaitForSeconds(FindDeltT));
current = heap.ExtractMin();
Debug.Log(current);
gameobject = GameObject.Instantiate(GameControl._Instance.cube_green);
gameobject.transform.position = new Vector3(GetX(current.C), 0, GetZ(current.R));
gos.Add(gameobject);
current.go = gameobject;
Map[current.R, current.C] = false; //设为已走过
if (current.EqualTo(end))
{
end.Pre = current.Pre;
//结束
foreach (var item in gos)
{
GameObject.Destroy(item);
yield return(new WaitForEndOfFrame());
}
ShowPath(GameControl._Instance.ShowPath);
yield break;
}
List <LinkE> nextElements = GetNextElements(current);
if (nextElements.Count > 0)
{
for (int i = 0; i < nextElements.Count; i++)
{
nextElements[i].Pre = current;
heap.Add(nextElements[i]);
}
}
}
yield return(null);
}
private IEnumerator IE_finding(LinkE s, LinkE e)
{
bool bo = false;
GameObject gameobject = new GameObject();
Stack <LinkE> stack = new Stack <LinkE>();
stack.Push(s);
LinkE current;
while (stack.Count > 0)
{
yield return(new WaitForSeconds(FindDeltT));
current = stack.Pop();
Debug.Log(current);
gameobject = GameObject.Instantiate(GameControl._Instance.cube_green);
gameobject.transform.position = new Vector3(GetX(current.C), 0, GetZ(current.R));
current.go = gameobject;
Map[current.R, current.C] = false; //设为已走过
if (current.EqualTo(end))
{
end.Pre = current.Pre;
yield break;
}
List <LinkE> nextElements = GetNextElements(current);
if (nextElements.Count > 0)
{
for (int i = 0; i < nextElements.Count; i++)
{
nextElements[i].Pre = current;
stack.Push(nextElements[i]);
}
}
else
{
//删除
LinkE temp = new LinkE(current, false);
while (temp.Pre != stack.Peek().Pre)
{
temp = temp.Pre;
GameObject.Destroy(temp.go);
}
}
}
yield return(null);
}
private IEnumerator IE_finding(LinkE s, LinkE e)
{
linkEStack = new Stack <LinkE>();
linkEStack.Push(s);
LinkE current;
GameObject gameobject = new GameObject();
while (linkEStack.Count > 0)
{
yield return(new WaitForSeconds(FindDeltT));
current = linkEStack.Pop();
Debug.Log(current);
gameobject = GameObject.Instantiate(GameControl._Instance.cube_green);
gameobject.transform.position = new Vector3(GetX(current.C), 0, GetZ(current.R));
current.go = gameobject;
if (current.EqualTo(e))
{
e.Pre = current.Pre;
yield break;
}
LinkE temp;
bool isAdd = false;
//顺时针压入栈中
while ((temp = GetNextE(current)) != null)
{
temp.Pre = current;
linkEStack.Push(temp);
isAdd = true;
}
//删除操作
if (!isAdd)
{
temp = new LinkE();
temp.Pre = current;
while (temp.Pre != linkEStack.Peek().Pre)
{
temp = temp.Pre;
GameObject.Destroy(temp.go);
}
}
}
yield return(null);
}
private IEnumerator IE_finding(LinkE s, LinkE e)
{
Queue <LinkE> queue = new Queue <LinkE>();
queue.Enqueue(s);
GameObject gameobject = new GameObject();
List <GameObject> gos = new List <GameObject>();
LinkE current;
while (queue.Count > 0)
{
yield return(new WaitForSeconds(FindDeltT));
current = queue.Dequeue();
Debug.Log(current);
gameobject = GameObject.Instantiate(GameControl._Instance.cube_green);
gameobject.transform.position = new Vector3(GetX(current.C), 0, GetZ(current.R));
gos.Add(gameobject);
if (current.EqualTo(end))
{
end.Pre = current.Pre;
//结束
foreach (var item in gos)
{
GameObject.Destroy(item);
yield return(new WaitForEndOfFrame());
}
ShowPath(GameControl._Instance.ShowPath);
yield break;
}
LinkE temp;
while ((temp = GetNextE(current)) != null)
{
temp.Pre = current;
queue.Enqueue(temp);
}
}
}
private IEnumerator IE_finding(LinkE s, LinkE e)
{
if (isFindPass)
{
yield break;
}
yield return(new WaitForSeconds(FindDeltT));
LinkE linkE = null;
Map[s.R, s.C] = false; //设为已走过
GameObject gameobject = GameObject.Instantiate(GameControl._Instance.cube_green);
gameobject.transform.position = new Vector3(GetX(s.C), 0, GetZ(s.R));
if (s.EqualTo(e))
{
isFindPass = true;
yield break;
}
while ((linkE = GetNextE(s)) != null)
{
yield return(mono.StartCoroutine(IE_finding(linkE, e)));
if (isFindPass)
{
s.Next = linkE;
yield break;
}
}
GameObject.Destroy(gameobject);
yield return(null);
}
private bool FindingPath(LinkE s, LinkE e)
{
LinkE linkE = null;
Map[s.R, s.C] = false; //设为已走过
if (s.EqualTo(e))
{
return(true);
}
while ((linkE = GetNextE(s)) != null)
{
bool bo = FindingPath(linkE, e);
if (bo)
{
s.Next = linkE;
return(true);
}
}
return(false);
}
//顺时针，从上开始
protected override LinkE GetNextE(LinkE s)
{
LinkE e = null;
if (s.R - 1 >= 0 && Map[s.R - 1, s.C])
{
e = new LinkE(s.R - 1, s.C);
}
else if (s.C + 1 <= MapC - 1 && Map[s.R, s.C + 1])
{
e = new LinkE(s.R, s.C + 1);
}
else if (s.R + 1 <= MapR - 1 && Map[s.R + 1, s.C])
{
e = new LinkE(s.R + 1, s.C);
}
else if (s.C - 1 >= 0 && Map[s.R, s.C - 1])
{
e = new LinkE(s.R, s.C - 1);
}
return(e);
}
public DFS(bool[,] map, LinkE s, LinkE e) : base(map, s, e)
{
}
public void ShowPath(LinkE e)
{
GameObject go = GameObject.Instantiate(cube_red);
go.transform.position = new Vector3(GetX(e.C), 0, GetZ(e.R));
}
public PathFind(bool[,] map, LinkE s, LinkE e)
{
this.Map = map;
this.start = s;
this.end = e;
}
public abstract void IE_Finding(); //携程寻路 protected abstract LinkE GetNextE(LinkE s); //寻路策略
public AStar_Stack(bool[,] map, LinkE s, LinkE e) : base(map, s, e)
{
}
public BFS_Queue(bool[,] map, LinkE s, LinkE e) : base(map, s, e)
{
}
