/// <summary>
/// 将这个点的周围都加入到开放合集;
/// </summary>
void OpenNeighbors(PathNode parent)
{
var neighbors = parent.Position.GetNeighbours();
foreach (var neighbor in neighbors)
{
if (!closePointsSet.Contains(neighbor))
{
PathNode neighborNode;
if (IsOutRange(neighbor))
{
closePointsSet.Add(neighbor);
}
else if (openPointsSet.TryGetValue(neighbor, out neighborNode))
{
neighborNode.TryChangeParent(parent);
}
else if (!Walker.IsWalkable(neighbor))
{
closePointsSet.Add(neighbor);
}
else
{
int cost = Walker.GetCost(parent.Position, neighbor, Destination);
neighborNode = new PathNode(parent, neighbor, cost);
openPointsSet.Add(neighborNode);
}
}
}
}
/// <summary>
/// 是否这个点的周围点都无法行走?
/// </summary>
bool IsTrapped(T position)
{
var neighbors = position.GetNeighbours();
foreach (var neighbor in neighbors)
{
if (Walker.IsWalkable(neighbor))
{
return(false);
}
}
return(true);
}
