private void CheckAddOpenNodes(int col, int row, PathSearchNode _sNode)
{
// 判断新加入的点是否已经包含在开启或关闭列表中
if (IsInvolveOpenClose(col, row))
{
return;
}
// 判断是否是起点
if (startPosition.Equal(col, row))
{
return;
}
PathNode node = AutoPathMap.pathMap[col, row];
// 计算总体消耗
node.f = CalculateF(node);
// 设置父元素
node.Parent = _sNode.node;
PathSearchNode newNode = new PathSearchNode(col, row, node);
if (node.type == NODE_TYPE.Normal)
{
openNodes.Add(newNode);
}
}
public void Search()
{
openNodes.Clear();
closeNodes.Clear();
closeNodes.Add(startPosition);
PathSearchNode movePosition = startPosition;
while (true)
//for(int i = 0; i < 5; i++)
{
CalculateParentNodes(movePosition);
movePosition = FindBestPath();
if (movePosition == null || movePosition.Equal(targetPosition))
{
break;
}
}
//Debug.Log("openNodes count ****** :" + openNodes.Count);
//Debug.Log("closeNodes count ****** :" + closeNodes.Count);
foreach (PathSearchNode n in closeNodes)
{
if (n.node.Parent != null)
{
Debug.Log(string.Format("close sort list col={0}, row={1}, node={2}, parent:{3}", n.col, n.row, n.node, n.node.Parent.ToString()));
}
}
//foreach (PathSearchNode n in openNodes)
//{
// Debug.Log(string.Format("open sort list col={0}, row={1}, f={2}, parent:{3}", n.col, n.row, n.node.f, n.node.Parent.ToString()));
//}
}