/// <summary>
/// 添加
/// </summary>
/// <param name="args"></param>
internal void Add(NavigatePointArgs args)
{
if (this.navigatePointList.ContainsKey(args.Cost) == false)
{
this.navigatePointList.Add(args.Cost, new List <NavigatePointArgs>());
}
this.navigatePointList[args.Cost].Add(args);
}
public void Remove(NavigatePointArgs args)
{
var list = this.navigatePointList[args.Cost];
list.Remove(args);
if (list.Any() == false)
{
this.navigatePointList.Remove(args.Cost);
}
}
/// <summary>
/// 获取最短路径
/// </summary>
/// <param name="map">游戏地图</param>
/// <param name="start">起始点</param>
/// <param name="end">终点</param>
/// <param name="passabilityArgs">角色通过性参数</param>
/// <returns>路径数组</returns>
public List <Vector2Int> GetPath(GameMap map, Vector2Int start, Vector2Int end, RolePassabilityArgs passabilityArgs)
{
IComparer <NavigatePointArgs> NavigatePointArgsComparer = new NavigatePointArgs();
var openSet = new NavigatePointList();
var closeSet = new HashSet <Vector2Int>();
var result = new List <Vector2Int>();
var navigateCount = 0; // 寻路使用次数计数器
var navigateStartTime = DateTime.Now; // // 寻路用时计时器
openSet.Add(new NavigatePointArgs()
{
ActualCost = 0,
ExpectCoset = 0,
Position = start,
Parent = null,
});
while (openSet.IsEmpty())
{
navigateCount++;
var point = openSet.Min;
openSet.Remove(point);
if (point.Position != end)
{
closeSet.Add(point.Position);
List <NavigatePointArgs> neighbors = map[point.Position.x, point.Position.y]
.neighbors
.Where(x => x != null && closeSet.Contains(x.Value) == false)
.Select(x =>
{
var args = this.GetNavigatePointArgs(map, point.ActualCost, x.Value, end, passabilityArgs);
args.Parent = point;
return(args);
}).ToList();
openSet.AddRang(neighbors);
}
else
{
result = this.GetPath(point);
break;
}
}
var navigateTime = DateTime.Now - navigateStartTime;
Debug.Log($"寻路完成!\n路径{string.Join("=>", result)}\n" +
$"共计遍历{navigateCount}次,总耗时{navigateTime.TotalMilliseconds}ms");
return(result);
}
/// <summary>
/// 获取最终路径
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
private List <Vector2Int> GetPath(NavigatePointArgs point)
{
List <Vector2Int> result = new List <Vector2Int>();
var next = point;
while (next.Parent != null)
{
result.Add(next.Position);
next = next.Parent;
}
//if (result.Count > 0)
//{
// result.RemoveAt(result.Count - 1);
//}
return(result);
}
