public List <BaseNode> FindPath(int start_x, int start_y, int end_x, int end_y)
{
open_list.Clear();
close_list.Clear();
Debug.LogError("find type" + findType.ToString());
BaseNode start = mapLists[start_x][start_y];
StartNode = start;
BaseNode end = mapLists[end_x][end_y];
if (start.nodeType == NodeType.unwalk || end.nodeType == NodeType.unwalk)
{
Debug.LogError("寻路终点不可达");
return(null);
}
start.parentNode = null;
start.f = 0;
start.g = 0;
start.h = 0;
close_list.Add(start); //初始，将起点加入到open_list中
//查找8个临近的节点
while (true)
{
AddNearNodeToOpenList(start.x, start.y - 1, 1, start, end);
AddNearNodeToOpenList(start.x, start.y + 1, 1, start, end);
AddNearNodeToOpenList(start.x - 1, start.y, 1, start, end);
AddNearNodeToOpenList(start.x + 1, start.y, 1, start, end);
AddNearNodeToOpenList(start.x - 1, start.y - 1, 1.4f, start, end);
AddNearNodeToOpenList(start.x + 1, start.y - 1, 1.4f, start, end);
AddNearNodeToOpenList(start.x - 1, start.y + 1, 1.4f, start, end);
AddNearNodeToOpenList(start.x + 1, start.y + 1, 1.4f, start, end);
//开启列表为空，说明找不到了
if (open_list.Count == 0)
{
Debug.LogError("not find path");
return(null);
}
open_list.Sort(Compare);
close_list.Add(open_list[0]);
start = open_list[0]; //开启下一次遍历
open_list.Remove(open_list[0]);
if (start == end)
{
Debug.LogError("find path");
List <BaseNode> paths = new List <BaseNode>();
paths.Add(end);
while (end.parentNode != null)
{
paths.Add(end.parentNode);
end = end.parentNode;
}
paths.Reverse();
return(paths);
}
}
}
