public virtual bool CanAddAdjacentToReachable(PathFinding search, CellData adjacent)
{
// 如果已经在关闭集
if (search.IsCellInExpored(adjacent))
{
return(false);
}
// 已经加入过开放集
if (search.IsCellInReachable(adjacent))
{
return(false);
}
// 计算消耗 = 当前cell的消耗 + 邻居cell的消耗
float g = search.currentCell.g + CalcGPerCell(search, adjacent);
// 不在范围内
if (g < 0f || g > search.range.y)
{
return(false);
}
adjacent.g = g;
return(true);
}
public override float CalcGPerCell(PathFinding search, CellData adjacent)
{
// 获取邻居的Tile
SrpgTile tile = search.map.GetTile(adjacent.position);
// 返回本格子的消耗
return(search.GetMoveConsumption(tile.terrainType));
}
public override float CalcH(PathFinding search, CellData adjacent)
{
Vector2 hVec;
hVec.x = Mathf.Abs(adjacent.position.x - search.endCell.position.x);
hVec.y = Mathf.Abs(adjacent.position.y - search.endCell.position.y);
return(hVec.x + hVec.y);
}
/// <summary>
/// 用H计算攻击距离
/// </summary>
/// <param name="search"></param>
/// <param name="adjacent"></param>
/// <returns></returns>
public virtual float CalcH(PathFinding search, CellData adjacent)
{
CellData startCell = search.startCell ?? search.endCell;
Vector2 hVec;
hVec.x = Mathf.Abs(adjacent.position.x - startCell.position.x);
hVec.y = Mathf.Abs(adjacent.position.y - startCell.position.y);
return(hVec.x + hVec.y);
}
public override void BuildResult(PathFinding search)
{
// 当没有达到目标点时，已经建立过结果
if (search.result.Count > 0)
{
return;
}
search.BuildPath(search.endCell, true);
}
public virtual void BuildResult(PathFinding search)
{
for (int i = 0; i < search.explored.Count; i++)
{
CellData cell = search.explored[i];
if (cell.g >= search.range.x && cell.g <= search.range.y)
{
search.result.Add(cell);
}
}
}
public override bool CanAddAdjacentToReachable(PathFinding search, CellData adjacent)
{
//// 没有Tile
//if (!adjacent.hasTile)
//{
// return false;
//}
//// 已经有对象了
//if (adjacent.hasMapObject)
//{
// return false;
//}
// 是否可移动
if (!adjacent.canMove)
{
return(false);
}
// 如果已经在关闭集
if (search.IsCellInExpored(adjacent))
{
return(false);
}
// 计算消耗 = 当前cell的消耗 + 邻居cell的消耗
float g = search.currentCell.g + CalcGPerCell(search, adjacent);
// 已经加入过开放集
if (search.IsCellInReachable(adjacent))
{
// 如果新消耗更低
if (g < adjacent.g)
{
adjacent.g = g;
adjacent.previous = search.currentCell;
}
return(false);
}
// 不在范围内
if (g < 0f || g > search.range.y)
{
return(false);
}
adjacent.g = g;
adjacent.previous = search.currentCell;
return(true);
}
public virtual bool IsFinishedOnChose(PathFinding search)
{
if (search.currentCell == null)
{
return(true);
}
if (!search.IsCellInExpored(search.currentCell))
{
search.explored.Add(search.currentCell);
}
return(false);
}
public virtual CellData ChoseCell(PathFinding search)
{
if (search.reachable.Count == 0)
{
return(null);
}
int index = search.reachable.Count - 1;
CellData chose = search.reachable[index];
search.reachable.RemoveAt(index);
return(chose);
}
public override CellData ChoseCell(PathFinding search)
{
if (search.reachable.Count == 0)
{
return(null);
}
/// 取得f最小的节点（因为我们没有计算h，这里就是g）
/// 当你在寻找路径有卡顿时，请一定使用更好的查找方式，
/// 例如可以改用二叉树的方式，
/// 也可将PathFinding里面reachable.Add(adjacent)的方法改成边排序边加入的方法
search.reachable.Sort((cell1, cell2) => - cell1.f.CompareTo(cell2.f));
int index = search.reachable.Count - 1;
CellData chose = search.reachable[index];
search.reachable.RemoveAt(index);
return(chose);
}
public virtual bool CanAddAdjacentToReachable(PathFinding search, CellData adjacent)
{
// 如果已经在关闭集
if (search.IsCellInExpored(adjacent))
{
return(false);
}
// 已经加入过开放集
if (search.IsCellInReachable(adjacent))
{
return(false);
}
//// 计算消耗 = 当前cell的消耗 + 邻居cell的消耗
//float g = search.currentCell.g + CalcGPerCell(search, adjacent);
// 计算攻击距离
float h = CalcH(search, adjacent);
//// 不在范围内
//if (g < 0f || g > search.range.y)
//{
// return false;
//}
// 攻击距离不在范围内
if (h < 0f || h > search.range.y)
{
return(false);
}
//adjacent.g = g;
adjacent.h = h;
return(true);
}
public override bool IsFinishedOnChose(PathFinding search)
{
// 如果开放集中已经空了，则说明没有达到目标点
if (search.currentCell == null)
{
// 使用h最小值建立结果
CellData minHCell = search.explored.First(cell => cell.h == search.explored.Min(c => c.h));
search.BuildPath(minHCell, true);
return(true);
}
// 找到了目标点
if (search.currentCell == search.endCell)
{
return(true);
}
if (!search.IsCellInExpored(search.currentCell))
{
search.explored.Add(search.currentCell);
}
return(false);
}
public virtual float CalcGPerCell(PathFinding search, CellData adjacent)
{
return(1f);
}
public virtual float CalcH(PathFinding search, CellData adjacent)
{
return(0f);
}
