public bool DebugAStar(Vector3 begin, Vector3 end, ref List <SearchNode> lstTempSearch, ref BT.BinaryTree lstUnSearch)
{
if (mgr == null)
{
return(false);
}
Coord vbegin = new Coord();
ushort beginheight = 0;
Coord vend = new Coord();
ushort endheight = 0;
if (!mgr.Position_Coord(begin, ref vbegin, ref beginheight) || !mgr.Position_Coord(end, ref vend, ref endheight))
{
return(false);
}
SearchNode newNode = NewSearchNode(vbegin, end);
lstUnSearch.Push(newNode.weight(), newNode);
mgr.AddSearchMark(newNode.v);
if (!WalkHoneycomb(vend, end, lstTempSearch, lstUnSearch))
{
ClearSearchMaskOnly(lstTempSearch, lstUnSearch);
return(false);
}
ClearSearchMaskOnly(lstTempSearch, lstUnSearch);
return(true);
}
bool WalkHoneycomb(Coord vend, Vector3 endPos, List <SearchNode> search, BT.BinaryTree unsearch)
{
int count = 0;
while (true)
{
SearchNode node = (SearchNode)unsearch.Pop();
if (node == null)
{
return(false);
}
search.Add(node);
if (node.v.Equal(vend))
{
return(true);
}
ushort currentData = mgr.GetHeight(node.v);
int current = currentData & Tile.HeightMask;
Coord[] varray = node.v.Neighbour();
int newchild = 0;
for (int i = 0; i < varray.Length; i++)
{
Coord c = varray[i];
if (!mgr.IsCoordValid(c))
{
continue;
}
int layerCount = mgr.GetTileLayerCount(c);
for (int layer = 0; layer < layerCount; layer++)
{
Coord newC = new Coord();
newC.x = c.x;
newC.y = layer;
newC.z = c.z;
//c.y = layer;
ushort by = mgr.GetHeight(newC);
if ((by & Tile.Walkable) == 0)
{
continue;
}
if ((by & Tile.HasSearch) != 0)
{
continue;
}
//if (!newC.Equal(vend))
//{
// if ((by & Tile.HasPlayer) != 0)
// {
// continue;
// }
//}
int height = by & Tile.HeightMask;
float fHeightOffset = (height - current) * mgr.GetLayerHeight();
if (fHeightOffset > 0.5f || fHeightOffset < -0.5f)
{
continue;
}
SearchNode n = NewSearchNode(newC, endPos);
n.parent = node;
n.SetStepWeight(CalcWeight(n, endPos, currentData, by));
count++;
newchild++;
unsearch.Push(n.weight(), n);
mgr.AddSearchMark(n.v);
}
}
}
return(false);
}
// 使用A*算法计算最短路径aa
public bool AStar(Vector3 begin, Vector3 end, out List <Vector3> path, bool OptimizePath)
{
path = null;
if (mgr == null)
{
return(false);
}
Coord vbegin = new Coord();
ushort beginheight = 0;
if (!mgr.Position_Coord_Radius(begin, ref vbegin, ref beginheight))
{
return(false);
}
Coord vend = new Coord();
ushort endheight = 0;
if (!mgr.Position_Coord_Radius(end, ref vend, ref endheight))
{
return(false);
}
//List<SearchNode> lstUnSearch = new List<SearchNode>();
BT.BinaryTree lstUnSearch = new BT.BinaryTree();
SearchNode newNode = NewSearchNode(vbegin, end);
lstUnSearch.Push(newNode.weight(), newNode);
mgr.AddSearchMark(newNode.v);
if (!WalkHoneycomb(vend, end, lstSearch, lstUnSearch))
{
ClearSearchMask(lstSearch, lstUnSearch);
return(false);
}
SearchNode node = lstSearch[lstSearch.Count - 1];
path = new List <Vector3>();
path.Insert(0, node.p);
while (true)
{
if (node.parent == null)
{
break;
}
else
{
if (OptimizePath)
{
if (node.parent != null)
{
path.Insert(0, (node.p + node.parent.p) * 0.5f);
}
else
{
//path.Insert(0, node.p);
}
}
else
{
path.Insert(0, node.p);
}
node = node.parent;
}
}
ClearSearchMask(lstSearch, lstUnSearch);
return(true);
}