private static CEPathFindResult GetPathFindResult(CEPathFindNode _endNode)
{
var result = new CEPathFindResult();
var maxNum = 1;
var node = _endNode;
while (node.parent != null)
{
node = node.parent;
maxNum++;
}
result.isHavePath = true;
result.paths = new Vector2Int[maxNum];
node = _endNode;
while (node != null)
{
result.paths[maxNum - 1] = new Vector2Int(node.x, node.y);
node = node.parent;
maxNum--;
}
return(result);
}
/// <summary>
/// 节点评分,分数越小越优先遍历
/// </summary>
/// <param name="_a"></param>
/// <param name="_b"></param>
/// <returns></returns>
private static int SortListByScore(CEPathFindNode _a, CEPathFindNode _b)
{
if (_a.score == _b.score)
{
return(0);
}
return(_a.score > _b.score ? 1 : -1);
}
public void TickSearch(out bool _isFinish, out CEPathFindResult _result)
{
//起始节点和结束节点本身就无法走
if (!mStarNode.isWalkable || !mEndNode.isWalkable)
{
_isFinish = true;
_result = new CEPathFindResult {
isHavePath = false
};
RecycleNodes();
return;
}
for (var i = 0; i < EACH_TICK_SEARCH_NODE_NUM; i++)
{
if (mCurrentNode.x == mEndNode.x && mCurrentNode.y == mEndNode.y)
{
_isFinish = true;
_result = GetPathFindResult(mCurrentNode);
RecycleNodes();
return;
}
mCloseList.Add(mCurrentNode);
CheckCurrentSearchAroundTile();
if (mOpenList.Count == 0)
{
//没有Open节点了,全部搜索过,但未找到路径
_isFinish = true;
_result = new CEPathFindResult {
isHavePath = false
};
RecycleNodes();
return;
}
// mOpenList.Sort(SortListByScore);
// mCurrentNode = mOpenList[0];
// mOpenList.RemoveAt(0);
mCurrentNode = mOpenList.Remove();
}
_isFinish = false;
_result = null;
return;
}
private static CEPathFindNode GetNewNode()
{
CEPathFindNode node;
if (mNodePool.Count > 0)
{
node = (CEPathFindNode)mNodePool.Pop();
node.Reset();
}
else
{
node = new CEPathFindNode();
}
return(node);
}
public void Reset(CEPathFindMapAgent _mapAgent, int _startTileX, int _startTileY, int _endTileX, int _endTileY)
{
mMapAgent = _mapAgent;
RecycleNodes();
mStarNode = GetNewNode();
mStarNode.x = _startTileX;
mStarNode.y = _startTileY;
mStarNode.isWalkable = mMapAgent.IsTileWalkable(mStarNode.x, mStarNode.y);
mEndNode = GetNewNode();
mEndNode.x = _endTileX;
mEndNode.y = _endTileY;
mEndNode.isWalkable = mMapAgent.IsTileWalkable(mEndNode.x, mEndNode.y);
mCurrentNode = mStarNode;
mCurrentNode.isWalkable = mMapAgent.IsTileWalkable(mCurrentNode.x, mCurrentNode.y);
}
private void SetNodeProperty(CEPathFindNode _node, int _tileX, int _tileY)
{
_node.x = _tileX;
_node.y = _tileY;
mMapAgent.GetTileProperty(_tileX, _tileY, mStarNode, mEndNode, out _node.isWalkable, out _node.score);
}