/// <summary>
/// 寻找通路
/// </summary>
public bool FindPath(AstarNode start, AstarNode end)
{
if (start == null || end == null)
{
return(false);
}
openList.Clear();
closeList.Clear();
start.Clear();
openList.Add(start);
AstarNode current = null;
while (openList.Count > 0)
{
current = MinCost(openList);
openList.Remove(current);
closeList.Add(current);
if (current == end)
{
break;
}
else
{
foreach (var node in CanArriveNode(current))
{
if (closeList.Contains(node))
{
continue;
}
else if (openList.Contains(node))
{
if (current.g + 1 < node.g)
{
node.g = current.g + 1;
node.lastNode = current;
}
}
else
{
openList.Add(node);
node.h = node.Distance(end);
node.g = current.g + 1;
node.lastNode = current;
}
}
}
}
if (current == end)
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 获取所有可走节点
/// </summary>
public List <AstarNode> CanArriveNode(AstarNode center)
{
var arrive = new List <AstarNode>();
arrive.Add(this[center.x + 1, center.y]);
arrive.Add(this[center.x - 1, center.y]);
arrive.Add(this[center.x, center.y + 1]);
arrive.Add(this[center.x, center.y - 1]);
return(ClearNull(arrive));
}
/// <summary>
/// 初始化寻路信息
/// </summary>
/// <param name="newMap">0代表可通过1代表障碍物</param>
public void Init(int[,] newMap)
{
map = new AstarNode[newMap.GetLength(0), newMap.GetLength(1)];
for (int i = 0; i < map.GetLength(0); i++)
{
for (int j = 0; j < map.GetLength(1); j++)
{
map[i, j] = new AstarNode(i, j);
map[i, j].status = newMap[i, j];
}
}
}
/// <summary>
/// 获取最小距离花费节点
/// </summary>
/// <param name="list">可走节点列表</param>
public AstarNode MinCost(List <AstarNode> list)
{
AstarNode min = null;
foreach (var node in list)
{
if (min == null)
{
min = node; continue;
}
if (min > node)
{
min = node;
}
}
return(min);
}
public void Clear()
{
g = 0;
h = 0;
lastNode = null;
}
public int Distance(AstarNode other)
{
return(Mathf.Abs(other.x - x) + Mathf.Abs(other.y - y));
}
