public static MapManage Instance()
{
if (mMapManager == null)
{
mMapManager = new MapManage();
}
return mMapManager;
}
public static PathResult GetPath(MapManage manage, Vector2Int startPosition, Vector2Int endPosition)
{
if (manage.width < startPosition.x || manage.height < startPosition.y || manage.width < endPosition.x || manage.height < endPosition.y)
{
return(new PathResult()
{
success = false
});
}
MapTile start = manage.map[startPosition.x, startPosition.y];
MapTile end = manage.map[endPosition.x, endPosition.y];
bool success = false;
Vector2Int[] path = new Vector2Int[0];
if (!start.isWall && !end.isWall)
{
// Queue<MapTile> openSet = new Queue<MapTile>();
SimplePriorityQueue <MapTile> openSet = new SimplePriorityQueue <MapTile>();
HashSet <MapTile> closedSet = new HashSet <MapTile>();
openSet.Enqueue(start, start.CostF);
// openSet.Enqueue(start);
while (openSet.Count > 0)
{
MapTile current = openSet.Dequeue();
if (current == end)
{
success = true;
break;
}
closedSet.Add(current);
// for (int i = 0; i < 8; i++)//按次序取出8个角的格子
// {
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
MapTile neighbour = manage.map[current.posX + (i - 1), current.posY - (j + 1)];
if (neighbour == null || neighbour.isWall || closedSet.Contains(neighbour))
{
continue;
}
float neighbourCost = current.costG + Distance(new Vector2Int(current.posX, current.posY), new Vector2Int(neighbour.posX, neighbour.posY)) + neighbour.costH;
if (neighbourCost > neighbour.costG || !openSet.Contains(neighbour))
{
neighbour.costG = neighbourCost;
neighbour.costH = Distance(new Vector2Int(neighbour.posX, neighbour.posY), new Vector2Int(end.posX, end.posY));
// neighbour.parent = current;
if (!openSet.Contains(neighbour))
{
openSet.Enqueue(neighbour, neighbour.CostF);
// openSet.Enqueue(neighbour);
}
else
{
openSet.UpdatePriority(neighbour, neighbour.CostF);
}
}
}
}
}
}
// }
if (success)
{
path = PathFinder.CalcPath(start, end);
success = path.Length > 0;
}
return(new PathResult(path, success));
}