// 计算点周围可以选择的点
private List <NodeOffset> ClacRoundPoint(PathNode pn)
{
var mapWidth = this.Width;
var mapHeight = this.Height;
var tiles = this.GetTiles();
RoundNodes.Clear();
for (int i = 0; i < offsets.Length; ++i)
{
NodeOffset offset = offsets[i];
int x = pn.grid.x + offset.x;
if (x < 0 || x >= mapWidth)
{
continue;
}
int y = pn.grid.z + offset.y;
if (y < 0 || y >= mapHeight)
{
continue;
}
int index = y * mapWidth + x;
if (closeDic.ContainsKey(index))
{
continue;
}
if (!CanWalk(tiles[x, y]))
{
continue;
}
// 忽略拐角拌脚点 斜方向
if (Mathf.Abs(offset.y) + Mathf.Abs(offset.x) > 1)
{
if (!CanWalk(tiles[x, y - offset.y]) || !CanWalk(tiles[x - offset.x, y]))
{
continue;
}
}
RoundNodes.Add(offset);
}
return(RoundNodes);
}
public bool GetPathDistance(int fromGridX, int fromGridZ, int toGridX, int toGridZ, out List <MapGrid> path)
{
var mapWidth = this.Width;
var mapHeight = this.Height;
//var tiles = this.GetTiles();
path = new List <MapGrid>();
if (CanWalk(tiles[fromGridX, fromGridZ]) == false)
{
return(false);
}
if (CanWalk(tiles[toGridX, toGridZ]) == false)
{
return(false);
}
// 同一个点也导出路径
if (fromGridX == toGridX && fromGridZ == toGridZ)
{
path.Add(new MapGrid()
{
x = fromGridX, z = fromGridZ
});
path.Add(new MapGrid()
{
x = toGridX, z = toGridZ
});
return(true);
}
ClearPath();
PathNode pnTo = new PathNode();//m_PathNodePool.Alloc();
pnTo.Init(toGridZ * mapWidth + toGridX, 0, 0, 0);
PathNode pnFrom = new PathNode();//m_PathNodePool.Alloc();
pnFrom.Init(fromGridZ * mapWidth + fromGridX, 0, 0, 0);
openDic.Add(pnFrom.index, pnFrom);
InsertToList(pnFrom);
totalDic.Add(pnFrom.index, pnFrom);
while (openDic.Count > 0)
{
if (open_list.First == null)
{
break;
}
PathNode pn = open_list.First.Value;
if (pn == null)
{
break;
}
closeDic.Add(pn.index, pn);
openDic.Remove(pn.index);
RemoveFromList(pn);
if (pn.index == pnTo.index)
{
break;
}
List <NodeOffset> offsets = ClacRoundPoint(pn);
if (offsets.Count <= 0)
{
openDic.Remove(pn.index);
RemoveFromList(pn);
continue;
}
for (int i = 0; i < offsets.Count; ++i)
{
NodeOffset offset = offsets[i];
int x = pn.grid.x + offset.x;
if (x < 0 || x >= mapWidth)
{
continue;
}
int y = pn.grid.z + offset.y;
if (y < 0 || y >= mapHeight)
{
continue;
}
int index = y * mapWidth + x;
if (closeDic.ContainsKey(index))
{
continue;
}
PathNode pntmp = null;
float g = pn.g + offset.distance;
//if (openDic.ContainsKey(index))
if (openDic.TryGetValue(index, out pntmp))
{
pntmp = openDic[index];
if (g < pntmp.g)
{
pntmp.parentIndex = pn.index;
RemoveFromList(pntmp);
pntmp.setG(g);
InsertToList(pntmp);
}
}
else
{
pntmp = new PathNode();//m_PathNodePool.Alloc();
pntmp.Init(index, pn.index, 0, 0);
openDic[index] = pntmp;
totalDic[index] = pntmp;
pntmp.h = GetDistance(pntmp, pnTo);//Math.Abs(Vector2.Distance(pntmp.position, pnTo.position));
pntmp.setG(g);
InsertToList(pntmp);
}
}
}
if (!closeDic.ContainsKey(pnTo.index))
{
return(false);
}
List <MapGrid> tmpPath = new List <MapGrid>();
PathNode node = closeDic[pnTo.index];
while (node != null)
{
tmpPath.Add(node.grid);
if (node.parentIndex == 0)
{
break;
}
node = totalDic[node.parentIndex];
}
tmpPath.Reverse_NoHeapAlloc(); // 路径反转
path = tmpPath;
ClearPath();
return(true);
}
public List <MapGrid> GetPath(int fromGridX, int fromGridZ, int toGridX, int toGridZ, TileType validType)
{
List <MapGrid> path = new List <MapGrid>();
if ((this[fromGridX, fromGridZ] & validType) == 0)
{
return(path);
}
if ((this[toGridX, toGridZ] & validType) == 0)
{
return(path);
}
// 同一个点也导出路径
if (fromGridX == toGridX && fromGridZ == toGridZ)
{
path.Add(new MapGrid()
{
x = fromGridX, z = fromGridZ
});
path.Add(new MapGrid()
{
x = toGridX, z = toGridZ
});
return(path);
}
PathNode pnFrom = new PathNode(fromGridZ * gridXNum + fromGridX, 0, 0, 0, this);
PathNode pnTo = new PathNode(toGridZ * gridXNum + toGridX, 0, 0, 0, this);
Dictionary <int, PathNode> totalDic = new Dictionary <int, PathNode>();
Dictionary <int, PathNode> openDic = new Dictionary <int, PathNode>();
Dictionary <int, PathNode> closeDic = new Dictionary <int, PathNode>();
openDic.Add(pnFrom.index, pnFrom);
totalDic.Add(pnFrom.index, pnFrom);
float disCornor = Mathf.Sqrt(MapGrid.Width * MapGrid.Width + MapGrid.Height * MapGrid.Height);
NodeOffset[] offsets = new NodeOffset[] { new NodeOffset(gridXNum - 1, disCornor), new NodeOffset(gridXNum, MapGrid.Height), new NodeOffset(gridXNum + 1, disCornor),
new NodeOffset(-1, MapGrid.Width), new NodeOffset(1, MapGrid.Width),
new NodeOffset(-gridXNum - 1, disCornor), new NodeOffset(-gridXNum, MapGrid.Height), new NodeOffset(-gridXNum + 1, disCornor) };
while (openDic.Count > 0)
{
PathNode pn = null;
foreach (KeyValuePair <int, PathNode> t in openDic)
{
if (pn == null)
{
pn = t.Value;
}
if (t.Value.f < pn.f)
{
pn = t.Value;
}
}
closeDic.Add(pn.index, pn);
openDic.Remove(pn.index);
if (pn.index == pnTo.index)
{
break;
}
foreach (NodeOffset offset in offsets)
{
int index = pn.index + offset.offset;
if (index < 0 || index > grids.Length)
{
continue;
}
if (closeDic.ContainsKey(index))
{
continue;
}
if ((grids[index] & validType) == 0)
{
continue;
}
PathNode pntmp = null;
float g = pn.g + offset.distance;
if (openDic.ContainsKey(index))
{
pntmp = openDic[index];
if (g < pntmp.g)
{
pntmp.parentIndex = pn.index;
pntmp.setG(g);
}
}
else
{
pntmp = new PathNode(index, pn.index, 0, 0, this);
openDic[index] = pntmp;
totalDic[index] = pntmp;
pntmp.h = Mathf.Abs(Vector3.Distance(pntmp.position, pnTo.position));
pntmp.setG(g);
}
}
}
if (!closeDic.ContainsKey(pnTo.index))
{
return(path);
}
List <MapGrid> tmpPath = new List <MapGrid>();
PathNode node = closeDic[pnTo.index];
while (node != null)
{
tmpPath.Add(node.grid);
if (node.parentIndex == 0)
{
break;
}
node = totalDic[node.parentIndex];
}
path = LinePathEx(tmpPath, validType);
return(path);
}
public List<MapGrid> GetPath(int fromGridX, int fromGridZ, int toGridX, int toGridZ, TileType validType)
{
List<MapGrid> path = new List<MapGrid>();
if ((this[fromGridX, fromGridZ] & validType) == 0)
return path;
if ((this[toGridX, toGridZ] & validType) == 0)
return path;
// 同一个点也导出路径
if(fromGridX == toGridX && fromGridZ == toGridZ)
{
path.Add(new MapGrid(){x = fromGridX, z = fromGridZ});
path.Add(new MapGrid(){x = toGridX, z = toGridZ});
return path;
}
PathNode pnFrom = new PathNode(fromGridZ * gridXNum + fromGridX, 0, 0, 0, this);
PathNode pnTo = new PathNode(toGridZ * gridXNum + toGridX, 0, 0, 0, this);
Dictionary<int, PathNode> totalDic = new Dictionary<int, PathNode>();
Dictionary<int, PathNode> openDic = new Dictionary<int, PathNode>();
Dictionary<int, PathNode> closeDic = new Dictionary<int, PathNode>();
openDic.Add(pnFrom.index, pnFrom);
totalDic.Add(pnFrom.index, pnFrom);
float disCornor = Mathf.Sqrt(MapGrid.Width * MapGrid.Width + MapGrid.Height * MapGrid.Height);
NodeOffset[] offsets = new NodeOffset[]{new NodeOffset(gridXNum-1, disCornor), new NodeOffset(gridXNum, MapGrid.Height),new NodeOffset(gridXNum+1, disCornor),
new NodeOffset(-1, MapGrid.Width), new NodeOffset(1, MapGrid.Width),
new NodeOffset(-gridXNum-1, disCornor), new NodeOffset(-gridXNum, MapGrid.Height),new NodeOffset(-gridXNum+1, disCornor)};
while(openDic.Count > 0)
{
PathNode pn = null;
foreach(KeyValuePair<int, PathNode> t in openDic)
{
if (pn == null) pn = t.Value;
if (t.Value.f < pn.f) pn = t.Value;
}
closeDic.Add(pn.index, pn);
openDic.Remove(pn.index);
if (pn.index == pnTo.index) break;
foreach(NodeOffset offset in offsets)
{
int index = pn.index + offset.offset;
if (index < 0 || index > grids.Length) continue;
if (closeDic.ContainsKey(index)) continue;
if ((grids[index] & validType) == 0) continue;
PathNode pntmp = null;
float g = pn.g + offset.distance;
if (openDic.ContainsKey(index))
{
pntmp = openDic[index];
if (g < pntmp.g)
{
pntmp.parentIndex = pn.index;
pntmp.setG(g);
}
}
else
{
pntmp = new PathNode(index, pn.index, 0, 0, this);
openDic[index] = pntmp;
totalDic[index] = pntmp;
pntmp.h = Mathf.Abs(Vector3.Distance(pntmp.position, pnTo.position));
pntmp.setG(g);
}
}
}
if(!closeDic.ContainsKey(pnTo.index))
return path;
List<MapGrid> tmpPath = new List<MapGrid>();
PathNode node = closeDic[pnTo.index];
while(node != null)
{
tmpPath.Add(node.grid);
if(node.parentIndex == 0)
break;
node = totalDic[node.parentIndex];
}
path = LinePathEx(tmpPath, validType);
return path;
}
