public MapVecAndPriority Dequeue()
{
MapVecAndPriority retT = list[0];
list.RemoveAt(0);
return(retT);
}
public int CompareTo(object obj)
{
MapVecAndPriority mapVecAndCost = obj as MapVecAndPriority;
return(Priority.CompareTo(mapVecAndCost.Priority));
}
public void Enqueue(MapVecAndPriority item)
{
list.Add(item);
list.Sort();
}
public Stack <Vector3> SumPathFromChunk(MapChunk[,] roomChunk, Vector3 curVec, Vector3 goalVec, float debugLineStayTime = 0)
{
MapChunk startMapVec = SolveMapChunk(roomChunk, curVec);
MapChunk goalMapVec = SolveMapChunk(roomChunk, goalVec);
//MapChunk startMapVec = roomChunk[(int)(Mathf.Round(curVec.x * 0.4f)), (int)(Mathf.Round(curVec.z * 0.4f))];
//MapChunk goalMapVec = roomChunk[(int)(Mathf.Round(goalVec.x * 0.4f)), (int)(Mathf.Round(goalVec.z * 0.4f))];
//Debug.Log("startMapVec:" + startMapVec.MapVector.X + "," + startMapVec.MapVector.Y + " goalMapVec" + goalMapVec.MapVector.X + "," + goalMapVec.MapVector.Y);
//bool inRange = JudgeMapVecInRoom(roomChunk, startMapVec.MapVector.X, startMapVec.MapVector.Y) && JudgeMapVecInRoom(roomChunk, goalMapVec.MapVector.X, goalMapVec.MapVector.Y);
bool inRange = startMapVec != null && goalMapVec != null;
//如果两个点都没有越界,并且两点都是可走空地则继续
if (inRange)
{
bool canMove = (startMapVec.Weight != IBuilding.CannotWalkThrough && goalMapVec.Weight != IBuilding.CannotWalkThrough);
if (canMove)
{
PriorityQueue mapVecAndCostPriorityQueue = new PriorityQueue();
Dictionary <MapVector, MapChunk> comeFromDic = new Dictionary <MapVector, MapChunk>();
Dictionary <MapVector, float> costDic = new Dictionary <MapVector, float>();
//起始点入队
mapVecAndCostPriorityQueue.Enqueue(new MapVecAndPriority(startMapVec, 0));
//初始化花费
costDic.Add(startMapVec.MapVector, 1);
//当优先队列不为空时候
while (mapVecAndCostPriorityQueue.Count > 0)
{
//取出第一个点(花费最小的点)
MapVecAndPriority curMapVecAndCost = mapVecAndCostPriorityQueue.Dequeue();
//遍历其周围没有越界的可走的点
for (int i = curMapVecAndCost.MapChunk.MapVector.X - 1; i < curMapVecAndCost.MapChunk.MapVector.X + 2; i++)
{
for (int j = curMapVecAndCost.MapChunk.MapVector.Y - 1; j < curMapVecAndCost.MapChunk.MapVector.Y + 2; j++)
{
if (JudgeMapVecInRoom(roomChunk, i, j) && !(curMapVecAndCost.MapChunk.MapVector.X == i && curMapVecAndCost.MapChunk.MapVector.Y == j))
{
if (roomChunk[i, j].Weight != IBuilding.CannotWalkThrough)
{
//根据体型判断是否能斜向通过
if (scaleType == Small)
{
//计算当前花费
float newCost = costDic[curMapVecAndCost.MapChunk.MapVector] + roomChunk[i, j].Weight;
float priority = ManhattanAlgorithm(newCost, roomChunk[i, j], goalMapVec);
if (i == goalMapVec.MapVector.X && j == goalMapVec.MapVector.Y)
{
//设置终点的来源
comeFromDic.Add(roomChunk[i, j].MapVector, curMapVecAndCost.MapChunk);
//资源释放
mapVecAndCostPriorityQueue.Dispose();
costDic = null;
return(GetPathsFromDic(comeFromDic, startMapVec, goalMapVec, debugLineStayTime));
}
//如果邻居已经在花费列表
if (costDic.ContainsKey(roomChunk[i, j].MapVector))
{
//如果花费小于列表中的则更新Cost及ComeFrom
if (newCost < costDic[roomChunk[i, j].MapVector])
{
costDic[roomChunk[i, j].MapVector] = newCost;
comeFromDic[roomChunk[i, j].MapVector] = curMapVecAndCost.MapChunk;
mapVecAndCostPriorityQueue.Enqueue(new MapVecAndPriority(roomChunk[i, j], priority));
}
}
//如果不包含
else
{
costDic.Add(roomChunk[i, j].MapVector, newCost);
comeFromDic.Add(roomChunk[i, j].MapVector, curMapVecAndCost.MapChunk);
mapVecAndCostPriorityQueue.Enqueue(new MapVecAndPriority(roomChunk[i, j], priority));
}
}
//如果体型大
else
{
//通过if过滤掉
if (i == curMapVecAndCost.MapChunk.MapVector.X || j == curMapVecAndCost.MapChunk.MapVector.Y)
{
//计算当前花费
float newCost = costDic[curMapVecAndCost.MapChunk.MapVector] + roomChunk[i, j].Weight;
float priority = ManhattanAlgorithm(newCost, roomChunk[i, j], goalMapVec);
if (i == goalMapVec.MapVector.X && j == goalMapVec.MapVector.Y)
{
//设置终点的来源
comeFromDic.Add(roomChunk[i, j].MapVector, curMapVecAndCost.MapChunk);
//资源释放
mapVecAndCostPriorityQueue.Dispose();
costDic = null;
return(GetPathsFromDic(comeFromDic, startMapVec, goalMapVec, debugLineStayTime));
}
//如果邻居已经在花费列表
if (costDic.ContainsKey(roomChunk[i, j].MapVector))
{
//如果花费小于列表中的则更新Cost及ComeFrom
if (newCost < costDic[roomChunk[i, j].MapVector])
{
costDic[roomChunk[i, j].MapVector] = newCost;
comeFromDic[roomChunk[i, j].MapVector] = curMapVecAndCost.MapChunk;
mapVecAndCostPriorityQueue.Enqueue(new MapVecAndPriority(roomChunk[i, j], priority));
}
}
//如果不包含
else
{
costDic.Add(roomChunk[i, j].MapVector, newCost);
comeFromDic.Add(roomChunk[i, j].MapVector, curMapVecAndCost.MapChunk);
mapVecAndCostPriorityQueue.Enqueue(new MapVecAndPriority(roomChunk[i, j], priority));
}
}
}
}
}
}
}
}
return(null);
}
else
{
Debug.Log("起始点或终点不可走");
return(null);
}
}
//如果越界则直接跳出并打印信息
else
{
if (!inRange)
{
Debug.Log("起始点或终点产生越界");
}
return(null);
}
}