public AStarPointData(AStarPoint _AStartPoint, double _g, double _h, AStarPointData _parent)
{
pointPos = _AStartPoint;
g = _g;
h = _h;
parent = _parent;
}
public bool JudgeIsNearPoint(AStarPoint point)
{
int xDis = Mathf.Abs((pos.x - point.pos.x));
int yDis = Mathf.Abs((pos.y - point.pos.y));
return(xDis <= 1 && yDis <= 1 && (xDis + yDis) <= 1);
}
private List <AStarPoint> ShowPath(AStarPoint start, AStarPoint end)
{
mPathPosList.Clear();
AStarPoint temp = end;
while (true)
{
mPathPosList.Add(temp);
Color c = Color.white;
if (temp == start)
{
c = Color.green;
}
else if (temp == end)
{
c = Color.red;
}
CreatePath(temp.mPositionX, temp.mPositionY, c);
if (temp.mParentPoint == null)
{
break;
}
temp = temp.mParentPoint;
}
return(mPathPosList);
}
private void ShowPath(AStarPoint start, AStarPoint end)
{
AStarPoint temp = end;
while (true)
{
//Debug.Log(temp.X + "," + temp.Y);
Color c = Color.gray;
if (temp == start)
{
c = Color.green;
}
else if (temp == end)
{
c = Color.red;
}
CreateCube(temp.X, temp.Y, c);
if (temp.ParentPoint == null)
{
break;
}
temp = temp.ParentPoint;
}
for (int x = 0; x < mapWidth; x++)
{
for (int y = 0; y < mapHeight; y++)
{
if (map[x, y].IsWall)
{
CreateCube(x, y, Color.blue);
}
}
}
}
//在网格上设置点的信息
public void InitPoint()
{
for (int i = 0; i < mGridWidth; i++)
{
for (int j = 0; j < mGridHeight; j++)
{
mPointGrid[i, j] = new AStarPoint(i, j);
}
}
//设置障碍物
mPointGrid[4, 2].mIsObstacle = true;
mPointGrid[4, 3].mIsObstacle = true;
mPointGrid[4, 4].mIsObstacle = true;
mPointGrid[4, 5].mIsObstacle = true;
mPointGrid[4, 6].mIsObstacle = true;
//显示障碍物
for (int x = 0; x < mGridWidth; x++)
{
for (int y = 0; y < mGridHeight; y++)
{
if (mPointGrid[x, y].mIsObstacle)
{
CreatePath(x, y, Color.blue);
}
}
}
}
public AStarPoint(int x, int y, AStarPoint point = null, bool isWall = false)
{
X = x;
Y = y;
ParentPoint = point;
IsWall = isWall;
}
/// <summary>
/// Start is called on the frame when a script is enabled just before
/// any of the Update methods is called the first time.
/// </summary>
void Start()
{
// AStarPoint[,] array = new AStarPoint[128,64];
AStarPoint[,] array = new AStarPoint[128, 64];
for (int i = 0; i < array.GetLength(0); ++i)
{
for (int j = 0; j < array.GetLength(1); ++j)
{
var obj = GameObject.Instantiate(m_Rect);
obj.SetActive(true);
obj.transform.SetParent(transform);
obj.transform.localScale = Vector3.one;
obj.transform.localPosition = new Vector2(i * 0.2f, j * 0.2f);
var img = obj.GetComponent <SpriteRenderer>();
array[i, j] = new AStarPoint(i, j);
array[i, j].Value = m_Txt.GetPixel(i, j) == Color.white?0:1;
array[i, j].Position = obj.transform.localPosition;
img.color = array[i, j].Value == 0?Color.white:Color.black;
obj.GetComponent <CirclePointSprite>().OnMouseUpHandler = OnMouseClickHandler;
}
}
map = new AStarMap(new AStarMapData(array));
// AStar.GetInstance().FindPathAsyn(map,new AStarNode(10,10),new AStarNode(115,32),true,(e)=>
// {
// print("1cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
// AStar.GetInstance().FindPathAsyn(map.Clone(),new AStarNode(11,9),new AStarNode(115,8),true,(e)=>
// {
// print("2cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
// AStar.GetInstance().FindPathAsyn(map.Clone(),new AStarNode(17,23),new AStarNode(66,8),true,(e)=>
// {
// print("3cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
// AStar.GetInstance().FindPathAsyn(map.Clone(),new AStarNode(66,7),new AStarNode(15,22),true,(e)=>
// {
// print("4cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
// AStar.GetInstance().FindPathAsyn(map.Clone(),new AStarNode(115,31),new AStarNode(11,11),true,(e)=>
// {
// print("5cost time "+(Time.time-t));
// StartCoroutine(showPath(e,map));
// });
}
/// <summary>
/// Start is called on the frame when a script is enabled just before
/// any of the Update methods is called the first time.
/// </summary>
void Start()
{
AStarPoint[,] array = new AStarPoint[(int)128, (int)64];
for (int i = 0; i < array.GetLength(0); ++i)
{
for (int j = 0; j < array.GetLength(1); ++j)
{
var obj = GameObject.Instantiate(m_Rect);
obj.SetActive(true);
obj.transform.SetParent(transform);
obj.transform.localScale = Vector3.one;
obj.GetComponent <RectTransform>().anchoredPosition = new Vector2(i * 10, j * 10);
var img = obj.GetComponent <Image>();
array[i, j] = new AStarPoint(i, j);
array[i, j].Value = m_Txt.GetPixel(i, j) == Color.white?0:1;
array[i, j].Position = obj.GetComponent <RectTransform>().anchoredPosition;
img.color = array[i, j].Value == 0?Color.white:Color.black;
}
}
AStarMap map = new AStarMap(new AStarMapData(array));
float t = Time.time;
//var rst = map.GetPath(new AStarNode(1,1),new AStarNode(6,10),false);
AStar.GetInstance().FindPathAsyn(map, new AStarNode(10, 10), new AStarNode(115, 32), true, (e) =>
{
print("1cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
AStar.GetInstance().FindPathAsyn(map.Clone(), new AStarNode(11, 9), new AStarNode(115, 8), true, (e) =>
{
print("2cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
AStar.GetInstance().FindPathAsyn(map.Clone(), new AStarNode(17, 23), new AStarNode(66, 8), true, (e) =>
{
print("3cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
AStar.GetInstance().FindPathAsyn(map.Clone(), new AStarNode(66, 7), new AStarNode(15, 22), true, (e) =>
{
print("4cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
AStar.GetInstance().FindPathAsyn(map.Clone(), new AStarNode(115, 31), new AStarNode(11, 11), true, (e) =>
{
print("5cost time " + (Time.time - t));
StartCoroutine(showPath(e, map));
});
}
//获取位置
public Vector2Int[] GetWays(Vector2Int start, Vector2Int end)
{
string key = GetDictKey(start, end);
if (_wayDict.ContainsKey(key))
{
return(_wayDict[key]);
}
//转换一下
start = start - new Vector2Int(_xMin, _yMin);
end = end - new Vector2Int(_xMin, _yMin);
//先判断位置是否合法
if (!JudgePosIsRight(start) || !JudgePosIsRight(end))
{
return(null);
}
//开始寻路
List <AStarPoint> ways = new List <AStarPoint>();
AStarPoint nowPoint = new AStarPoint(start, 0, end);
SearchAStarPoint(nowPoint, end);
int count = 0;
while (true)
{
count++;
AStarPoint nextPoint = GetNextPoint();
if (nextPoint != null)
{
SearchAStarPoint(nextPoint, end);
ways.Add(nowPoint);
//这个地方看要不要把end加进来
if (nextPoint.pos == end)
{
break;
}
nowPoint = nextPoint;
}
else
{
return(null);
}
}
//清除缓存
_wayHasSearchDict = new Dictionary <int, bool>();
_openDict = new Dictionary <int, Stack <AStarPoint> >();
//MonoBehaviour.print("搜索节点个数：" + ways.Count);
Vector2Int[] shortWays = GetShortWay(ways);
if (_wayDict.Count < MAX_SAVE_LENGTH)
{
_wayDict[key] = shortWays;
return(_wayDict[key]);
}
else
{
return(shortWays);
}
}
/// <summary>
/// 图块更新自己
/// </summary>
public void UpdateSelf()
{
GameManager _gm = GameObject.FindWithTag("GameManager").GetComponent <GameManager>();
//if (MMapObjId == 0)
//{
// return;
//}
string _dbName = "";
string _tabName = "";
int _id = 0;
if (IsWall)
{
_dbName = Dict.WallDBName;
_tabName = "map_" + SaveHeroInfo.CurMapId;
_id = MWallId;
}
else
{
_dbName = Dict.SqlDBName;
_tabName = "map_obj";
_id = MMapObjId;
}
//value 0 出现
if (Dict.GetInt(_dbName, _tabName, "value", _id) == 0)
{
//创造
_gm.GetMap().CreateMapObjById(_id);
}
//value 1 消失
else
{
AStarPoint _selfPoint = _gm.MPointGrid[MPositionX, MPositionY];
Object.Destroy(_selfPoint.MGameObject);
_selfPoint.MGameObject = null;
if (_gm.MPointGrid[MPositionX, MPositionY].MConnectPoint == null)
{
_gm.MPointGrid[MPositionX, MPositionY].Clear();
}
else
{
//针对体型较大如巨龙或章鱼
foreach (AStarPoint _p in _gm.MPointGrid[MPositionX, MPositionY].MConnectPoint)
{
_gm.MPointGrid[_p.MPositionX, _p.MPositionY].Clear();
}
}
}
if (MType == PointType.TempThrough)
{
MType = PointType.Obstacle;
}
}
//寻路
public List <AStarPoint> FindPath(AStarPoint mStartPoint, AStarPoint mEndPoint)
{
if (mEndPoint.mIsObstacle || mStartPoint.mPosition == mEndPoint.mPosition)
{
return(null);
}
//开启列表
List <AStarPoint> openPointList = new List <AStarPoint>();
//关闭列表
List <AStarPoint> closePointList = new List <AStarPoint>();
openPointList.Add(mStartPoint);
while (openPointList.Count > 0)
{
//寻找开启列表中最小预算值的表格
AStarPoint minFPoint = FindPointWithMinF(openPointList);
//将当前表格从开启列表移除 在关闭列表添加
openPointList.Remove(minFPoint);
closePointList.Add(minFPoint);
//找到当前点周围的全部点
List <AStarPoint> surroundPoints = FindSurroundPoint(minFPoint);
//在周围的点中，将关闭列表里的点移除掉
SurroundPointsFilter(surroundPoints, closePointList);
//寻路逻辑
foreach (var surroundPoint in surroundPoints)
{
if (openPointList.Contains(surroundPoint))
{
//计算下新路径下的G值（H值不变的，比较G相当于比较F值）
float newPathG = CalcG(surroundPoint, minFPoint);
if (newPathG < surroundPoint.mG)
{
surroundPoint.mG = newPathG;
surroundPoint.mF = surroundPoint.mG + surroundPoint.mH;
surroundPoint.mParentPoint = minFPoint;
}
}
else
{
//将点之间的
surroundPoint.mParentPoint = minFPoint;
CalcF(surroundPoint, mEndPoint);
openPointList.Add(surroundPoint);
}
}
//如果开始列表中包含了终点，说明找到路径
if (openPointList.IndexOf(mEndPoint) > -1)
{
break;
}
}
return(ShowPath(mStartPoint, mEndPoint));
}
void Start()
{
InitMap();
AStarPoint startPoint = map[2, 3];
AStarPoint endPoint = map[6, 3];
FindPath(startPoint, endPoint);
ShowPath(startPoint, endPoint);
}
public void OnMouseDown()
{
GameManager _gm = GameObject.FindWithTag("GameManager").GetComponent <GameManager>();
_gm.MPathPosList = null;
if (_gm.IsTriggering || _gm.IsAutoMoving || !_gm.MyUI.IsAllUIClosed())
{
return;
}
for (int x = 0; x < Dict.MapWidth; x++)
{
for (int y = 0; y < Dict.MapHeight; y++)
{
//将临时可通行的格子重置为不可通行
if (_gm.MPointGrid[x, y].MType == PointType.TempThrough)
{
_gm.MPointGrid[x, y].MType = PointType.Obstacle;
}
}
}
int _posX = System.Convert.ToInt32(transform.position.x);
int _posY = System.Convert.ToInt32(transform.position.y);
if (FindPath != null)
{
AStarPoint _astarPoint = _gm.MPointGrid[_posX, _posY];
_gm.ActivateAStarPoint = _astarPoint;
//如果是Obj/Item物件 图块置为可通过
if (_astarPoint.IsObj)
{
_astarPoint.MType = PointType.TempThrough;
}
FindPath(_posX, _posY);
}
//23层 MapId24 佛家符号的中心位置处图块
if (SaveHeroInfo.CurMapId == 24)
{
if (_posX == 5 && _posY == 5)
{
if (_gm.MStartPos.MPositionX == 4 && _gm.MStartPos.MPositionY == 6 ||
_gm.MStartPos.MPositionX == 6 && _gm.MStartPos.MPositionY == 6 ||
_gm.MStartPos.MPositionX == 4 && _gm.MStartPos.MPositionY == 4 ||
_gm.MStartPos.MPositionX == 6 && _gm.MStartPos.MPositionY == 4
)
{
//中心处图块的MapObjId = 811
_gm.TriggerObj(811);
}
}
}
}
//计算该点到终点的F值
void CalcF(AStarPoint now, AStarPoint end)
{
//F = G + H
float h = Mathf.Abs(end.MPositionX - now.MPositionX) + Mathf.Abs(end.MPositionY - now.MPositionY);
float g = now.MParentPoint == null ? 0 : Vector2.Distance(new Vector2(now.MPositionX, now.MPositionY), new Vector2(now.MParentPoint.MPositionX, now.MParentPoint.MPositionY)) + now.MParentPoint.MG;
float f = g + h;
now.MF = f;
now.MG = g;
now.MH = h;
}
private void Start()
{
mCubeParent = GameObject.Find("Plane");
mPointGrid = AStarAlgorithm.GetInsatnce.mPointGrid;
InitBG();
mStartPos = mPointGrid[0, 0];
mEndPos = mPointGrid[10, 10];
}
public AStarTriangle(AStarPoint a, AStarPoint b, AStarPoint c)
{
this.a = a;
this.b = b;
this.c = c;
//计算重心
centroid.x = (a.x + b.x + c.x) / 3;
centroid.y = (a.x + b.x + c.x) / 3;
centroid.z = (a.x + b.x + c.x) / 3;
}
public void InitPoint1(int i, int j, int pointX, int pointY)
{
//for (int i = 0; i < mGridWidth; i++)
//{
// for (int j = 0; j < mGridHeight; j++)
// {
// mPointGrid[i, j] = new AStarPoint(i, j);
// }
//}
mPointGrid[i, j] = new AStarPoint(pointX, pointY);
}
private void InitMap()
{
for (int i = 0; i < mapWidth; i++)
{
for (int j = 0; j < mapHeight; j++)
{
map[i, j] = new AStarPoint(i, j);
}
}
map[4, 2].IsWall = true;
map[4, 3].IsWall = true;
map[4, 4].IsWall = true;
}
private AStarPoint GetNextPoint()
{
AStarPoint next = null;
for (int i = 0; i <= fNumMax; i++)
{
if (_openDict.ContainsKey(i) && _openDict[i].Count > 0)
{
next = _openDict[i].Pop();
break;
}
}
return(next);
}
private void Walk()
{
if (mPathPosList != null && mPathPosList.Count > 1)
{
mStartPos = mPathPosList[mPathPosList.Count - 1];
Color color = mStartPos.mGameObject.GetComponent <Renderer>().material.color;
mPathPosList.Remove(mStartPos);
Destroy(mStartPos.mGameObject);
mStartPos.mGameObject = null;
mStartPos = mPathPosList[mPathPosList.Count - 1];
mStartPos.mGameObject.GetComponent <Renderer>().material.color = color;
}
}
//寻找预计值最小的格子
private AStarPoint FindPointWithMinF(List <AStarPoint> openPointList)
{
float f = float.MaxValue;
AStarPoint temp = null;
foreach (AStarPoint p in openPointList)
{
if (p.mF < f)
{
temp = p;
f = p.mF;
}
}
return(temp);
}
private AStarPoint FindMinFOfPoint(List <AStarPoint> openList)
{
float f = float.MaxValue;
AStarPoint temp = null;
foreach (AStarPoint point in openList)
{
if (point.F < f)
{
temp = point;
f = point.F;
}
}
return(temp);
}
private static AStarPoint UpdateAStarPoint(AStarPoint value, float oldG, float distance, Vector3 end, AStarPoint parent = null)
{
if (value == null)
{
return(value);
}
float h = (Mathf.Pow((value.vert.Position.x - end.x), 2) + Mathf.Pow((value.vert.Position.y - end.y), 2));
float g = oldG + distance;
value.g = g;
value.h = h;
value.f = h + g;
value.parent = parent;
return(value);
}
//放到Open列表中
private void AddToOpenNumDict(AStarPoint point)
{
if (point == null)
{
return;
}
if (!_openDict.ContainsKey(point.fNum))
{
_openDict[point.fNum] = new Stack <AStarPoint>();
}
if (point.fNum > fNumMax)
{
fNumMax = point.fNum;
}
_openDict[point.fNum].Push(point);
}
List <AStarPoint> ShowPath(AStarPoint start, AStarPoint end)
{
mPathPosList.Clear();
AStarPoint temp = end;
while (true)
{
mPathPosList.Add(temp);
//原White
Color c = Color.white;
//Color c = new Color(0f, 0.2f, 0.3f);
if (temp == start)
{
//Green
c = Color.green;
}
else if (temp == end)
{
//Red
c = Color.red;
}
if (mPointGrid[temp.MPositionX, temp.MPositionY].MGameObject == null)
{
CreatePath(temp.MPositionX, temp.MPositionY, c);
}
if (temp.MParentPoint == null)
{
break;
}
//防止死循环
if (temp.MPosition == start.MPosition)
{
break;
}
temp = temp.MParentPoint;
}
return(mPathPosList);
}
private static bool GenerateMap(AStarPoint s, AStarPoint e)
{
if (s.Equals(e))
{
return(false);
}
var main = MainGameManager.Instance;
var mainMap = main.MapArray;
Max_PNT = new AStarPoint(main.W, main.H);
Start_Pnt = s;
End_Pnt = e;
Map = new char[Max_PNT.x, Max_PNT.y];
for (int y = 0; y < Max_PNT.y; y++)
{
for (int x = 0; x < Max_PNT.x; x++)
{
var item = mainMap[x, y];
if (item.ElementContent == ElementContent.Door || item.ElementContent == ElementContent.Enemy ||
item.ElementContent == ElementContent.BigWall || item.ElementContent == ElementContent.SmallWall ||
item.ElementState == ElementState.Marked ||
(item.ElementContent == ElementContent.Trap && item.ElementState == ElementState.UnCovered))
{
Map[x, y] = Wall;
}
else if (item.ElementState == ElementState.UnCovered ||
(item.ElementContent == ElementContent.Tool && !(item as ToolElement).isHide) ||
(item.ElementContent == ElementContent.Gold && !(item as GoldElement).isHide))
{
Map[x, y] = Space0;
}
else
{
Map[x, y] = Space1;
}
}
}
if (Map[End_Pnt.x, End_Pnt.y] == Wall)
{
return(false);
}
Map[Start_Pnt.x, Start_Pnt.y] = Start;
Map[End_Pnt.x, End_Pnt.y] = End;
return(true);
}
//搜索这个点周围的点
private void SearchAStarPoint(AStarPoint point, Vector2Int end)
{
if (point.isSearch)
{
return;
}
point.isSearch = true;
AStarPoint left = GetAStarPointByPos(point.pos.x - 1, point.pos.y, point.gNum, end);
AStarPoint up = GetAStarPointByPos(point.pos.x, point.pos.y + 1, point.gNum, end);
AStarPoint right = GetAStarPointByPos(point.pos.x + 1, point.pos.y, point.gNum, end);
AStarPoint down = GetAStarPointByPos(point.pos.x, point.pos.y - 1, point.gNum, end);
AddToOpenNumDict(left);
AddToOpenNumDict(up);
AddToOpenNumDict(right);
AddToOpenNumDict(down);
}
private List <NavMeshMovementLine> ReconstructPath(AStarPoint lastPoint, Vector3 end, Vector3 start)
{
reconstructedPath.Clear();
reconstructedPath.Add(new NavMeshMovementLine {
point = lastPoint.vert.Position, associatedVertex = lastPoint.vert
});
current = lastPoint.parent;
while (current != null)
{
reconstructedPath.Add(new NavMeshMovementLine {
point = current.vert.Position, associatedVertex = lastPoint.vert
});
lastPoint = current;
current = lastPoint.parent;
}
reconstructedPath.Reverse();
return(reconstructedPath);
}
/// <summary>
/// 计算G
/// </summary>
/// <param name="data"></param>
/// <returns></returns>
public static double CalG(AStarPointData data, AStarPoint newPos)
{
double result = data.g + Math.Abs(newPos.x - data.pointPos.x) != Math.Abs(newPos.y - data.pointPos.y)
? StraightLine : SlantLine;
double temp = 0;
var _type = Map[newPos.x, newPos.y];
switch (_type)
{
case Space0:
temp = 1;
break;
case Space1:
temp = 10;
break;
}
return(result + temp);
}
private void CalcF(AStarPoint nowPoint, AStarPoint endPoint)
{
float h = Mathf.Abs(endPoint.X - nowPoint.X) + Mathf.Abs(endPoint.Y - nowPoint.Y);
float g = 0;
if (nowPoint.ParentPoint == null)
{
g = 0;
}
else
{
g = Vector2.Distance(new Vector2(nowPoint.X, nowPoint.Y),
new Vector2(nowPoint.ParentPoint.X, nowPoint.ParentPoint.Y));
}
float f = g + h;
nowPoint.G = g;
nowPoint.H = h;
nowPoint.F = f;
}
