public EntityLocationCell()
{
X = 0;
Y = 0;
IsWall = false;
G = 0;
H = 0;
ParentCell = null;
}
private static int GetDistanceCost(EntityLocationCell cStart, EntityLocationCell cEnd)
{
int iDistanceCost = 999;
int iDistanceX = Math.Abs(cStart.X - cEnd.X);
int iDistanceY = Math.Abs(cStart.Y - cEnd.Y);
iDistanceCost = iDistanceX + iDistanceY;
return(iDistanceCost);
}
private static List <EntityLocationCell> GetAllAroundCells(EntityLocationCell pCurrentCell, List <EntityLocationCell> lstDisableCells)
{
List <EntityLocationCell> lstAroundCells = new List <EntityLocationCell>();
EntityLocationCell cUpCell = new EntityLocationCell();
cUpCell.X = pCurrentCell.X;
cUpCell.Y = pCurrentCell.Y - 1;
if ((cUpCell.X > 0) && (cUpCell.Y > 0))
{
lstAroundCells.Add(cUpCell);
}
EntityLocationCell cDownCell = new EntityLocationCell();
cDownCell.X = pCurrentCell.X;
cDownCell.Y = pCurrentCell.Y + 1;
if ((cDownCell.X > 0) && (cDownCell.Y > 0))
{
lstAroundCells.Add(cDownCell);
}
EntityLocationCell cLeftCell = new EntityLocationCell();
cLeftCell.X = pCurrentCell.X - 1;
cLeftCell.Y = pCurrentCell.Y;
if ((cLeftCell.X > 0) && (cLeftCell.Y > 0))
{
lstAroundCells.Add(cLeftCell);
}
EntityLocationCell cRifhtCell = new EntityLocationCell();
cRifhtCell.X = pCurrentCell.X + 1;
cRifhtCell.Y = pCurrentCell.Y;
if ((cRifhtCell.X > 0) && (cRifhtCell.Y > 0))
{
lstAroundCells.Add(cRifhtCell);
}
for (int i = 0; i < lstAroundCells.Count; i++)
{
if (IsInLocationList(lstAroundCells[i], lstDisableCells))
{
lstAroundCells[i].IsWall = true;
}
}
return(lstAroundCells);
}
/// <summary>
/// 检查一个Cell是不是在禁止到达的List中
/// </summary>
/// <param name="cCurrentCell"></param>
/// <param name="lstDisableCells"></param>
/// <returns></returns>
private static bool IsInLocationList(EntityLocationCell cCurrentCell, List <EntityLocationCell> lstDisableCells)
{
bool bIsInLocationList = false;
if (lstDisableCells == null)
{
return(false);
}
if (lstDisableCells.Count == 0)
{
return(false);
}
foreach (EntityLocationCell cell in lstDisableCells)
{
if ((cell.X == cCurrentCell.X) && (cell.Y == cCurrentCell.Y))
{
bIsInLocationList = true;
break;
}
}
return(bIsInLocationList);
}
//Point p = new System.Drawing.Point();
public static List <EntityLocationCell> FindPath(EntityLocationCell pStartLocation, EntityLocationCell pEndLocation, List <EntityLocationCell> lstDisableCells, bool bIncludeStartPoint = false)
{
List <EntityLocationCell> lstPathReturn = new List <EntityLocationCell>();
bool bIsOutputDebug = false;
int iShowFindNum = 1;
//开启列表
List <EntityLocationCell> OpenList = new List <EntityLocationCell>();
//关闭列表
List <EntityLocationCell> CloseList = new List <EntityLocationCell>();
//起点
EntityLocationCell pStart = pStartLocation;
//终点
EntityLocationCell pEnd = pEndLocation;
System.Diagnostics.Debug.WriteLine("寻路开始,start({0},{1}),end({2},{3})...", pStart.X, pStart.Y, pEnd.X, pEnd.Y);
//将起点作为待处理的点放入开启列表，
OpenList.Add(pStart);
//如果开启列表没有待处理点表示寻路失败，此路不通
while (OpenList.Count > 0)
{
//遍历开启列表，找到消费最小的点作为检查点
EntityLocationCell pCurrentCell = OpenList[0];
for (int i = 0; i < OpenList.Count; i++)
{
if (OpenList[i].F < pCurrentCell.F && OpenList[i].H < pCurrentCell.H)
{
pCurrentCell = OpenList[i];
break;
}
}
if (bIsOutputDebug)
{
System.Diagnostics.Debug.WriteLine("当前检查点：(" + pCurrentCell.X + "," + pCurrentCell.Y + ") 编号：" + iShowFindNum + " open列表节点数量：" + OpenList.Count);
}
//if (iShowFindNum == 438)
//{
// Console.WriteLine(iShowFindNum.ToString());
//}
//显示在界面，和A*算法无关
//pCurrentCell.obj.transform.Find("Num").GetComponent<Text>().text = showFindNum.ToString();
iShowFindNum++;
//从开启列表中删除检查点，把它加入到一个“关闭列表”，列表中保存所有不需要再次检查的方格。
OpenList.Remove(pCurrentCell);
CloseList.Add(pCurrentCell);
//检查是否找到终点
if ((pCurrentCell.X == pEnd.X) && (pCurrentCell.Y == pEnd.Y))
{
Console.WriteLine("寻路结束");
lstPathReturn.Add(pCurrentCell); //加入终点
EntityLocationCell cRecall = new EntityLocationCell();
cRecall = pCurrentCell.ParentCell;
while (!((cRecall.X == pStart.X) && (cRecall.Y == pStart.Y)))
{
EntityLocationCell cRecallAdd = new EntityLocationCell();
//cRecallAdd.X = cRecall.X;
//cRecallAdd.Y = cRecall.Y;
cRecallAdd = cRecall;
lstPathReturn.Add(cRecallAdd);
EntityLocationCell cRecallTemp = new EntityLocationCell();
cRecallTemp = cRecall.ParentCell;
cRecall = cRecallTemp;
}
//根据参数bIncludeStartPoint判断是否要加入起点在返回值list中
if (bIncludeStartPoint)
{
lstPathReturn.Add(pStart); //加入起点
}
string sMessage = "";
for (int i = lstPathReturn.Count; i > 0; i--)
{
if (i > 1)
{
sMessage += "(" + lstPathReturn[i - 1].X + "," + lstPathReturn[i - 1].Y + ") ->";
}
else
{
sMessage += "(" + lstPathReturn[i - 1].X + "," + lstPathReturn[i - 1].Y + ")";
}
}
System.Diagnostics.Debug.WriteLine(sMessage);
System.Diagnostics.Debug.WriteLine("FindNum:" + iShowFindNum.ToString() + ",OpenList:" + OpenList.Count + ",CloseList:" + CloseList.Count);
return(lstPathReturn);
}
//if (pCurrentCell == pEnd)
//{
// Console.WriteLine("寻路结束!");
// //grid.CreatePath(pCurrentCell);
// return;
//}
//根据检查点来找到周围可行走的点
//1.如果是墙或者在关闭列表中则跳过
//2.如果点不在开启列表中则添加
//3.如果点在开启列表中且当前的总花费比之前的总花费小，则更新该点信息
List <EntityLocationCell> listAroundCells = GetAllAroundCells(pCurrentCell, lstDisableCells);
foreach (EntityLocationCell cell in listAroundCells)
{
if (cell.IsWall || CloseList.Contains(cell))
{
continue;
}
int iAroundCellCostG = pCurrentCell.G + GetDistanceCost(cell, pCurrentCell);
if (iAroundCellCostG < cell.G || !OpenList.Contains(cell))
{
cell.G = iAroundCellCostG;
cell.H = GetDistanceCost(cell, pEnd);
cell.F = cell.G + cell.H;
cell.ParentCell = pCurrentCell;
if (bIsOutputDebug)
{
System.Diagnostics.Debug.WriteLine("cell:(" + cell.X + "," + cell.Y + ") parent:(" + pCurrentCell.X + "," + pCurrentCell.Y + ") " + cell.F);
}
//if (!OpenList.Contains(cell)) //这个Contains必须完全相同，G值F值等会造成反复加入
bool bContain = false;
foreach (EntityLocationCell co in OpenList)
{
if ((co.X == cell.X) && (co.Y == cell.Y))
{
bContain = true;
break;
}
}
if (!bContain)
{
OpenList.Add(cell);
}
//显示在界面，和A*算法无关
//cell.obj.transform.Find("Cost").GetComponent<Text>().text = cell.fCost.ToString();
}
}
}
System.Diagnostics.Debug.WriteLine("寻路失败!");
return(null);
}
