public List <PathNode> FindPath(int startX, int startY, int endX, int endY, int minX, int minY, int maxX, int maxY)
{
//如果不在grid内，也发回找不到路径
if (endX < minX || endY < minY || endX >= maxX || endY >= maxY)
{
return(null);
}
PathNode startNode = GetNode(startX, startY);
PathNode endNode = GetNode(endX, endY);
oppenList = new List <PathNode> {
startNode
};
closeList = new List <PathNode> ();
for (int x = minX; x < maxX; x++)
{
for (int y = minY; y < maxY; y++)
{
//每个点初始化
PathNode pathNode = grid.GetTGridObject(x, y);
pathNode.gcost = int.MaxValue;
pathNode.CaculateFcost();
pathNode.cameFromNode = null;
}
}
//初始点初始化
startNode.gcost = 0;
startNode.hcost = CaculateDistanceCost(startNode, endNode);
startNode.CaculateFcost();
while (oppenList.Count > 0)
{
PathNode currentNode = GetLowerFcostNode(oppenList);
if (!currentNode.GetIsThroughable())
{
//如果当前点是墙
oppenList.Remove(currentNode);
closeList.Add(currentNode);
continue;
}
if (currentNode == endNode)
{
//到达终点
return(CaculatePath(currentNode));
}
oppenList.Remove(currentNode);
closeList.Add(currentNode);
foreach (PathNode neighbourNode in GetNeighbourList(currentNode, minX, minY, maxX, maxY))
{
//如果neighbourNode已经算过了
if (closeList.Contains(neighbourNode))
{
continue;
}
//判断新Gcost是否比旧Gcost小
int tentativeGcost = currentNode.gcost + CaculateDistanceCost(currentNode, neighbourNode);
if (tentativeGcost < neighbourNode.gcost)
{
neighbourNode.gcost = tentativeGcost;
neighbourNode.cameFromNode = currentNode;
neighbourNode.hcost = CaculateDistanceCost(neighbourNode, endNode);
neighbourNode.CaculateFcost();
if (!oppenList.Contains(neighbourNode))
{
oppenList.Add(neighbourNode);
}
}
}
}
//找不到路径了
return(null);
}