protected bool __FindPath__(PathNode StartNode, ref PathNode EndNode)
{
StartNode.Build(0, EndNode);
OpenList.Insert(StartNode);
while (OpenList.Count > 0)
{
BinaryHeapNode MinNode = OpenList.Pop();
if (MinNode.Data.Equals(EndNode))
{
EndNode = MinNode.Data;
return true;
}
CloseList.Add(MinNode.Data);
// 获取所有的相邻节点
LinkedList<PathNode> LinkNodes = __GetLinkNode__(MinNode.Data, EndNode);
// 处理所有相邻节点
foreach (PathNode Node in LinkNodes)
{
// 如果在closelist中，不处理
if (CloseList.Contains(Node))
{
continue;
}
int index = OpenList.GetIndexOf(Node);
if (index >= 0)
{
BinaryHeapNode NodeInOpenList = OpenList[index];
if (NodeInOpenList.Data.F > Node.F)
{
OpenList.Modify(index, Node);
}
continue;
}
OpenList.Insert(Node);
}
}
return false;
}
protected LinkedList<PathNode> __GetLinkNode__(PathNode Node, PathNode EndNode)
{
LinkedList<PathNode> LinkNodes = new LinkedList<PathNode>();
for (int i = -1; i < 2; i++)
{
for (int j = -1; j < 2; j++)
{
for (int k = -1; k < 2; k++)
{
if (i == 0 && j == 0 && k == 0)
continue;
int GAddValue = 0;
if (Mathf.Abs(i + j + k) % 2 == 0)
{
GAddValue = 10;
}
else
{
GAddValue = 14;
}
// 此处指定了坐标和父节点
PathNode __Node = new PathNode(Node.X + i, Node.Y + j, Node.Z + k, Node);
__Node.Build(Node.G + GAddValue, EndNode);
LinkNodes.AddLast(__Node);
}
}
}
return LinkNodes;
}