public bool isoutfromborder(indexv2 point, indexv2 borders)
{
if (point.x < 0 || point.y < 0 || (borders.x - 1) < point.x || (borders.y - 1) < point.y)
{
return(true);
}
return(false);
}
public ArrayList allnear(pf_container[,] scont, indexv2 point)
{
ArrayList near = new ArrayList();
indexv2 t = new indexv2(0);
t = new indexv2(1, 0);
if (!isoutfromborder(point.add(t), mass_to_index(scont)))
{
near.Add(scont[point.x + t.x, point.y + t.y]);
}
t = new indexv2(-1, 0);
if (!isoutfromborder(point.add(t), mass_to_index(scont)))
{
near.Add(scont[point.x + t.x, point.y + t.y]);
}
t = new indexv2(0, 1);
if (!isoutfromborder(point.add(t), mass_to_index(scont)))
{
near.Add(scont[point.x + t.x, point.y + t.y]);
}
t = new indexv2(0, -1);
if (!isoutfromborder(point.add(t), mass_to_index(scont)))
{
near.Add(scont[point.x + t.x, point.y + t.y]);
}
t = new indexv2(1, 1);
if (!isoutfromborder(point.add(t), mass_to_index(scont)))
{
near.Add(scont[point.x + t.x, point.y + t.y]);
}
t = new indexv2(1, -1);
if (!isoutfromborder(point.add(t), mass_to_index(scont)))
{
near.Add(scont[point.x + t.x, point.y + t.y]);
}
t = new indexv2(-1, 1);
if (!isoutfromborder(point.add(t), mass_to_index(scont)))
{
near.Add(scont[point.x + t.x, point.y + t.y]);
}
t = new indexv2(-1, -1);
if (!isoutfromborder(point.add(t), mass_to_index(scont)))
{
near.Add(scont[point.x + t.x, point.y + t.y]);
}
return(near);
}
public float dist2(indexv2 v1, indexv2 v2)
{
const float yo = 14.14f;
const float xo = 10f;
int dx = v1.x - v2.x;
if (dx < 0)
{
dx = -dx;
}
int dy = v1.y - v2.y;
if (dy < 0)
{
dy = -dy;
}
int min = Mathf.Min(dx, dy);
int max = Mathf.Max(dx, dy);
int j = max - min;
return((float)j * xo + (float)(max - j) * yo);
}
public pf_container(GameObject sgo, indexv2 si, float smod)
{
go = sgo;
mod = smod;
ind = si;
}
public pf_container(GameObject sgo, indexv2 si)
{
go = sgo;
ind = si;
}
public indexv2 add(indexv2 v2)
{
return(new indexv2(this.x + v2.x, this.y + v2.y));
}
public float dist(indexv2 v1, indexv2 v2)
{
return(Mathf.Sqrt(Mathf.Pow((float)(v1.x - v2.x), 2) + Mathf.Pow((float)(v1.y - v2.y), 2)));
}
public ArrayList calc(pf_container[,] scont, indexv2 sstartpoint, indexv2 sendpoint)
{
ArrayList open = new ArrayList();
ArrayList closed = new ArrayList();
ArrayList path = new ArrayList();
bool win = false;
//задаем начальную точку
open.Add(scont[sstartpoint.x, sstartpoint.y]);
(open[0] as pf_container).mincost = 0f;
(open[0] as pf_container).hcost = dist2(sstartpoint, sendpoint);
(open[0] as pf_container).fincost = (open[0] as pf_container).mincost +
(open[0] as pf_container).hcost;
while (open.Count != 0)
{
pf_container min_item = open[0] as pf_container;
#region ищем минимальное значение
float min = float.MaxValue;
for (int i = 0; i < open.Count; i++)
{
if ((open[i] as pf_container).fincost < min)
{
min_item = open[i] as pf_container;
min = min_item.fincost;
}
}
#endregion
open.Remove(min_item);
closed.Add(min_item);
foreach (pf_container sosed in allnear(scont, min_item.ind))
{
if (!sosed.ini) //если не инициирован, то инициируем
{
if (sosed.ind == sendpoint) //если таргет
{
win = true;
sosed.parent = min_item;
break;
}
sosed.ini = true;
if (sosed.go.GetComponent <Square>().color == 1)
{
sosed.isbrick = true;
}
else
{
sosed.mincost = min_item.mincost + dist2(min_item.ind, sosed.ind);
sosed.hcost = dist2(sosed.ind, sendpoint);
sosed.fincost = sosed.hcost + sosed.mincost;
sosed.parent = min_item;
}
}
if (!sosed.isbrick) //если стенка, то пропускаем
{
float d = min_item.mincost + dist2(min_item.ind, sosed.ind);
if (d < sosed.mincost)
{
sosed.parent = min_item;
sosed.mincost = d;
sosed.fincost = sosed.hcost + sosed.mincost;
}
if (!closed.Contains(sosed))//если уже прошлись, то пропускаем
{
if (!open.Contains(sosed))
{
open.Add(sosed);
}
}
}
}
if (win)
{
break;
}
}
if (!win)
{
return(path);
}
pf_container cur = scont[sendpoint.x, sendpoint.y];
while (cur.parent != scont[sstartpoint.x, sstartpoint.y])
{
path.Add(cur);
cur = cur.parent;
}
path.Add(cur);
cur = cur.parent;
path.Add(cur);
foreach (pf_container node in open)
{
node.go.GetComponent <Square>().color = 2;
}
foreach (pf_container node in closed)
{
node.go.GetComponent <Square>().color = 3;
}
return(path);
}
