protected void AddNodeToCloseList(AStarNode node)
{
node.astarInListType = AStarNodeInListType.Close_List;
handledDict[node.pos] = node;
}
public List <Vector2Int> Find(Vector2Int startPoint, Vector2Int goalPoint)
{
Reset();
// 为起点赋初值
AStarNode startNode =
PoolCatManagerUtil.Spawn <AStarNode>(null, astarNode => astarNode.Init(startPoint.x, startPoint.y));
startNode.h = GetH(startPoint, goalPoint);
startNode.f = startNode.h + startNode.g;
AddNodeToOpenList(startNode);
while (openHeap.Size > 0)
{
// 寻找开启列表中F值最低的格子。我们称它为当前格
AStarNode checkNode = openHeap.Pop();
// 把目标格添加进了开启列表，这时候路径被找到
if (checkNode.pos.Equals(goalPoint))
{
return(Solve(checkNode));
}
// 获得当前附近的节点集合
SetNeighborList(checkNode.pos);
foreach (var neighborNode in neighborList)
{
float neighborG = checkNode.g + GetG(checkNode.pos, neighborNode.pos);
if (handledDict.ContainsKey(neighborNode.pos))
{
var oldNeighborNode = handledDict[neighborNode.pos];
if (neighborG < oldNeighborNode.g)
{
switch (handledDict[neighborNode.pos].astarInListType)
{
case AStarNodeInListType.Close_List:
neighborNode.parent = checkNode;
neighborNode.g = neighborG;
neighborNode.h = GetH(neighborNode.pos, goalPoint);
neighborNode.f = neighborNode.g + neighborNode.h;
//更新neighbor_node的值
AddNodeToOpenList(neighborNode);
oldNeighborNode.Despawn();
break;
case AStarNodeInListType.Open_List:
neighborNode.parent = checkNode;
neighborNode.g = neighborG;
neighborNode.h = GetH(neighborNode.pos, goalPoint);
neighborNode.f = neighborNode.g + neighborNode.h;
//更新neighbor_node的值
openHeap.Remove(oldNeighborNode);
AddNodeToOpenList(neighborNode);
oldNeighborNode.Despawn();
break;
}
}
else
{
//舍弃的进行回收
neighborNode.Despawn();
}
}
else
{
neighborNode.parent = checkNode;
neighborNode.g = neighborG;
neighborNode.h = GetH(neighborNode.pos, goalPoint);
neighborNode.f = neighborNode.g + neighborNode.h;
AddNodeToOpenList(neighborNode); // 排序插入
}
}
// 把当前格切换到关闭列表
AddNodeToCloseList(checkNode);
}
return(null);
}
protected void AddNodeToOpenList(AStarNode node)
{
node.astarInListType = AStarNodeInListType.Open_List;
openHeap.Push(node);
handledDict[node.pos] = node;
}
public static int Compare(AStarNode data1, AStarNode data2)
{
float value = data1.f - data2.f;
return(value == 0 ? 0 : value < 0 ? -1 : 1);
}
