protected void AddNeighbor(List <AStarNode> neighborList, Vector2Int basePoint, int dx, int dy)
{
int newX = basePoint.x + dx;
int newY = basePoint.y + dy;
// 测试边界
if (!IsInRange(newX, newY))
{
return;
}
// 跳过不能通过的障碍
if (!CanPass(newX, newY))
{
return;
}
// 当前点(p.x,p.y)与该检测邻居点(new_x,new_y)如果是斜线的话， 垂直于当前点(p.x,p.y)与该检测邻居点(new_x,new_y)对角线的两个点中其中一个是阻挡的,则该检测邻居点忽略，不考虑
// 判断左上角邻居节点
if (dx == -1 && dy == 1 && IsSkiped(DirectionInfoUtil.GetDirectionInfo(dx, dy), newX, newY))
{
return;
}
// 判断左下角邻居节点
if (dx == -1 && dy == -1 && IsSkiped(DirectionInfoUtil.GetDirectionInfo(dx, dy), newX, newY))
{
return;
}
// 判断右上角邻居节点
if (dx == 1 && dy == 1 && IsSkiped(DirectionInfoUtil.GetDirectionInfo(dx, dy), newX, newY))
{
return;
}
// 判断右下角邻居节点
if (dx == 1 && dy == -1 && IsSkiped(DirectionInfoUtil.GetDirectionInfo(dx, dy), newX, newY))
{
return;
}
var neighbor_node = PoolCatManagerUtil.Spawn <AStarNode>(null, astarNode => astarNode.Init(newX, newY));
neighborList.Add(neighbor_node);
}
//获得轨迹中可通过的最远点
public static Vector2Int GetMostPassPoint(AStarMapPath astarMapPath, List <Vector2Int> trackList,
int[] canPassObstacleTypes,
int[] canPassTerrainTypes, bool canOut = false)
{
Vector2Int lp = trackList[0];
Vector2Int tp = lp;
for (int i = 1; i < trackList.Count; i++)
{
Vector2Int p = trackList[i];
if (!CanPass(astarMapPath, p.x, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
DirectionInfo directionInfo = DirectionInfoUtil.GetDirectionInfo(p.x - lp.x, p.y - lp.y);
// directionInfo = DirectionConst.GetDirectionInfo(0, 0); // 不再判断临边障碍 2012-10-29
// LogCat.log(directionInfo.name);
if (directionInfo == DirectionInfoConst.LeftTopDirectionInfo) // 左上角
{
if (!CanPass(astarMapPath, p.x + 1, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
if (!CanPass(astarMapPath, p.x, p.y - 1, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
}
else if (directionInfo == DirectionInfoConst.RightTopDirectionInfo) // 右上角
{
if (!CanPass(astarMapPath, p.x - 1, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
if (!CanPass(astarMapPath, p.x, p.y - 1, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
}
else if (directionInfo == DirectionInfoConst.RightBottomDirectionInfo) // 右下角
{
if (!CanPass(astarMapPath, p.x - 1, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
if (!CanPass(astarMapPath, p.x, p.y + 1, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
}
else if (directionInfo == DirectionInfoConst.LeftBottomDirectionInfo) // 左下角
{
if (!CanPass(astarMapPath, p.x + 1, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
if (!CanPass(astarMapPath, p.x, p.y + 1, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
break;
}
}
lp = p;
tp = lp;
}
return(tp);
}
//检测轨迹是否可通过
// can_out 是否允许在场景外
public static bool CanPass(AStarMapPath astarMapPath, List <Vector2Int> trackList, int[] canPassObstacleTypes,
int[] canPassTerrainTypes, bool canOut = false)
{
if (trackList.Count == 0)
{
return(true);
}
Vector2Int lp = trackList[0];
if (trackList.Count == 1)
{
return(CanPass(astarMapPath, lp.x, lp.y, canPassObstacleTypes, canPassTerrainTypes, canOut));
}
for (int i = 1; i < trackList.Count; i++)
{
Vector2Int p = trackList[i];
if (!CanPass(astarMapPath, p.x, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
DirectionInfo directionInfo = DirectionInfoUtil.GetDirectionInfo(p.x - lp.x, p.y - lp.y);
// directionInfo = DirectionConst.GetDirectionInfo(0, 0);
if (directionInfo == DirectionInfoConst.LeftTopDirectionInfo) // 左上角
{
if (!CanPass(astarMapPath, p.x + 1, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
if (!CanPass(astarMapPath, p.x, p.y - 1, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
}
else if (directionInfo == DirectionInfoConst.RightTopDirectionInfo) // 右上角
{
if (!CanPass(astarMapPath, p.x - 1, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
if (!CanPass(astarMapPath, p.x, p.y - 1, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
}
else if (directionInfo == DirectionInfoConst.RightBottomDirectionInfo) // 右下角
{
if (!CanPass(astarMapPath, p.x - 1, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
if (!CanPass(astarMapPath, p.x, p.y + 1, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
}
else if (directionInfo == DirectionInfoConst.LeftBottomDirectionInfo) // 左下角
{
if (!CanPass(astarMapPath, p.x + 1, p.y, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
if (!CanPass(astarMapPath, p.x, p.y + 1, canPassObstacleTypes, canPassTerrainTypes, canOut))
{
return(false);
}
}
lp = p;
}
return(true);
}
