🔥 移除不合理astar设计
This commit is contained in:
kercylan98
parent
ad1794a9e3
commit
6c5f0c01a1
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@ -1,99 +1 @@
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package astar
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import (
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"container/heap"
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"fmt"
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"math"
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)
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// Pathfinding3D 寻路
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// - grid: X、Y、Z
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func Pathfinding3D(grid [][][]int, start, target Point3D, collisionRange int) ([]Point3D, error) {
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path, err := aStar3D(grid, start, target, collisionRange)
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if err != nil {
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return nil, err
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}
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return path, nil
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}
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func aStar3D(grid [][][]int, start, goal Point3D, collisionRange int) ([]Point3D, error) {
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startNode := &Node3D{point: start, g: 0, h: heuristic(start, goal)}
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startNode.f = startNode.g + startNode.h
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openList := make(Node3DList, 0)
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heap.Init(&openList)
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heap.Push(&openList, startNode)
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closedList := make(map[Point3D]*Node3D)
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for openList.Len() > 0 {
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current := heap.Pop(&openList).(*Node3D)
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if current.point == goal {
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path := make([]Point3D, 0)
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for current != nil {
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path = append([]Point3D{current.point}, path...)
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current = current.parent
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}
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return path, nil
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}
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closedList[current.point] = current
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for _, neighborPoint := range neighbors(current.point, grid, collisionRange) {
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if _, ok := closedList[neighborPoint]; ok {
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continue
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}
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tentativeG := current.g + 1
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neighborNode := &Node3D{point: neighborPoint, parent: current, g: tentativeG, h: heuristic(neighborPoint, goal)}
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neighborNode.f = neighborNode.g + neighborNode.h
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for _, openNode := range openList {
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if openNode.point == neighborPoint && tentativeG >= openNode.g {
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continue
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}
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}
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heap.Push(&openList, neighborNode)
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}
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}
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return nil, fmt.Errorf("no path found")
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}
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func heuristic(a, b Point3D) float64 {
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return math.Abs(float64(a.X-b.X)) + math.Abs(float64(a.Y-b.Y)) + math.Abs(float64(a.Z-b.Z))
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}
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func inBounds(point Point3D, grid [][][]int) bool {
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return point.X >= 0 && point.X < len(grid) && point.Y >= 0 && point.Y < len(grid[0]) && point.Z >= 0 && point.Z < len(grid[0][0])
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}
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func passable(point Point3D, grid [][][]int, collisionRange int) bool {
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for x := -collisionRange; x <= collisionRange; x++ {
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for y := -collisionRange; y <= collisionRange; y++ {
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for z := -collisionRange; z <= collisionRange; z++ {
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newPoint := Point3D{point.X + x, point.Y + y, point.Z + z}
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if inBounds(newPoint, grid) && grid[newPoint.X][newPoint.Y][newPoint.Z] == 1 {
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return false
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}
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}
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}
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}
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return true
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}
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func neighbors(point Point3D, grid [][][]int, collisionRange int) []Point3D {
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neighborPoints := []Point3D{
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{point.X - 1, point.Y, point.Z}, {point.X + 1, point.Y, point.Z},
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{point.X, point.Y - 1, point.Z}, {point.X, point.Y + 1, point.Z},
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{point.X, point.Y, point.Z - 1}, {point.X, point.Y, point.Z + 1},
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}
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result := make([]Point3D, 0)
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for _, neighbor := range neighborPoints {
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if inBounds(neighbor, grid) && passable(neighbor, grid, collisionRange) {
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result = append(result, neighbor)
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}
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}
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return result
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}
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func abs(x int) int {
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if x < 0 {
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return -x
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}
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return x
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}
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@ -1,77 +0,0 @@
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package astar
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import (
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"fmt"
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"testing"
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)
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func TestPathfinding3D(t *testing.T) {
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grid := [][][]int{
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{
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{0, 0, 0, 0, 0},
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{0, 0, 0, 0, 0},
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{0, 0, 0, 0, 0},
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{0, 0, 0, 0, 0},
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{0, 0, 0, 0, 0},
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},
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{
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{0, 0, 0, 0, 0},
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{0, 1, 1, 1, 0},
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{0, 1, 0, 1, 0},
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{0, 1, 1, 1, 0},
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{0, 0, 0, 0, 0},
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},
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{
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{1, 0, 0, 0, 0},
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{0, 1, 0, 1, 0},
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{0, 0, 0, 0, 0},
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{0, 1, 0, 1, 0},
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{0, 0, 0, 0, 0},
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},
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{
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{0, 0, 0, 0, 0},
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{0, 1, 1, 1, 0},
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{0, 1, 0, 1, 0},
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{0, 1, 1, 1, 0},
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{0, 0, 0, 0, 0},
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},
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{
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{0, 0, 0, 0, 0},
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{0, 0, 0, 0, 0},
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{0, 0, 0, 0, 0},
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{0, 0, 0, 0, 0},
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{0, 0, 0, 0, 0},
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},
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}
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start := Point3D{2, 1, 0}
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target := Point3D{2, 2, 2}
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collisionRange := 0
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path, err := Pathfinding3D(grid, start, target, collisionRange)
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if err != nil {
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panic(err)
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}
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fmt.Println(path)
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printGrid(grid, start)
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}
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func printGrid(grid [][][]int, start Point3D) {
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for z := 0; z < len(grid); z++ {
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fmt.Printf("z = %d\n", z)
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for y := 0; y < len(grid[z]); y++ {
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for x := 0; x < len(grid[z][y]); x++ {
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if x == start.X && y == start.Y && z == start.Z {
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fmt.Print("S ")
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} else if grid[z][y][x] == 0 {
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fmt.Print(". ")
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} else {
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fmt.Print("# ")
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}
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}
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fmt.Println()
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}
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fmt.Println()
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}
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}
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@ -0,0 +1,4 @@
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package astar
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type Node interface {
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}
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@ -1,42 +0,0 @@
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package astar
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type Node3D struct {
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point Point3D
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parent *Node3D
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g, h, f float64
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index int
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}
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type Node3DList []*Node3D
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func (slf *Node3DList) Len() int {
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return len(*slf)
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}
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func (slf *Node3DList) Less(i, j int) bool {
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nl := *slf
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return nl[i].f < nl[j].f
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}
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func (slf *Node3DList) Swap(i, j int) {
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nl := *slf
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nl[i], nl[j] = nl[j], nl[i]
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nl[i].index = i
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nl[j].index = j
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}
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func (slf *Node3DList) Push(x interface{}) {
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n := len(*slf)
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node := x.(*Node3D)
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node.index = n
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*slf = append(*slf, node)
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}
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func (slf *Node3DList) Pop() interface{} {
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old := *slf
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n := len(old)
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node := old[n-1]
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node.index = -1
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*slf = old[0 : n-1]
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return node
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}
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@ -1,5 +0,0 @@
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package astar
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type Point3D struct {
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X, Y, Z int
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}
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@ -52,26 +52,91 @@ func (slf *NavMesh[V]) Find(point geometry.Point[V], maxDistance V) (distance V,
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return minDistance, pointOnClosest, closest.Shape
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}
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// FindPath 使用此导航网格查找从起点到终点的路径。
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func (slf *NavMesh[V]) FindPath(start, end geometry.Point[V]) (result []geometry.Point[V]) {
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var startShape, endShape *shape[V]
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var startDistance, endDistance = V(-1), V(-1)
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for _, meshShape := range slf.meshShapes {
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br := meshShape.BoundingRadius()
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distance := geometry.CalcDistance(geometry.DoublePointToCoordinate(meshShape.Centroid(), start))
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if (distance <= startDistance || startDistance == V(-1)) && distance <= br && meshShape.Contains(start) {
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startShape = meshShape
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startDistance = distance
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}
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distance = geometry.CalcDistance(geometry.DoublePointToCoordinate(meshShape.Centroid(), end))
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if (distance <= endDistance || endDistance == V(-1)) && distance <= br && meshShape.Contains(end) {
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endShape = meshShape
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endDistance = distance
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}
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}
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if endShape == nil && slf.meshShrinkAmount > V(0) {
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for _, meshShape := range slf.meshShapes {
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br := meshShape.BoundingRadius() + slf.meshShrinkAmount
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distance := geometry.CalcDistance(geometry.DoublePointToCoordinate(meshShape.Centroid(), end))
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if distance <= br {
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_, projectionDistance := geometry.ProjectionPointToShape(end, meshShape.Shape)
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if projectionDistance <= slf.meshShrinkAmount && projectionDistance < endDistance {
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endShape = meshShape
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endDistance = projectionDistance
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}
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}
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}
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}
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if endShape == nil {
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return
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}
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if startShape == nil && slf.meshShrinkAmount > 0 {
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for _, meshShape := range slf.meshShapes {
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br := meshShape.BoundingRadius() + slf.meshShrinkAmount
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distance := geometry.CalcDistance(geometry.DoublePointToCoordinate(meshShape.Centroid(), start))
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if distance <= br {
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_, projectionDistance := geometry.ProjectionPointToShape(start, meshShape.Shape)
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if projectionDistance <= slf.meshShrinkAmount && projectionDistance < startDistance {
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startShape = meshShape
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startDistance = projectionDistance
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}
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}
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}
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}
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if startShape == nil {
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return
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}
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if startShape == endShape {
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return append(result, start, end)
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}
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}
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func (slf *NavMesh[V]) aStar() {
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}
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func (slf *NavMesh[V]) generateLink() {
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refer := len(slf.meshShapes)
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for i := 0; i < refer; i++ {
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shapePkg := slf.meshShapes[i]
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shape := shapePkg.Shape
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shapeCentroid := geometry.CalcRectangleCentroid(shape)
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shapeBoundingRadius := geometry.CalcBoundingRadiusWithCentroid(shape, shapeCentroid)
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shapeEdges := shape.Edges()
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shapeCentroid := shapePkg.Centroid()
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shapeBoundingRadius := shapePkg.BoundingRadius()
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shapeEdges := shapePkg.Edges()
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for t := i + 1; t < len(slf.meshShapes); t++ {
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targetShapePkg := slf.meshShapes[t]
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targetShape := targetShapePkg.Shape
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targetShapeCentroid := geometry.CalcRectangleCentroid(targetShape)
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targetShapeBoundingRadius := geometry.CalcBoundingRadiusWithCentroid(shape, targetShapeCentroid)
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targetShapeCentroid := targetShapePkg.Centroid()
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targetShapeBoundingRadius := targetShapePkg.BoundingRadius()
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centroidDistance := geometry.CalcDistance(geometry.DoublePointToCoordinate(shapeCentroid, targetShapeCentroid))
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if centroidDistance > shapeBoundingRadius+targetShapeBoundingRadius {
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continue
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}
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for _, shapeEdge := range shapeEdges {
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for _, targetEdge := range targetShape.Edges() {
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for _, targetEdge := range targetShapePkg.Edges() {
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if !geometry.CalcLineIsCollinear(shapeEdge, targetEdge, V(maths.GetDefaultTolerance())) {
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continue
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}
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@ -7,12 +7,41 @@ import (
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func newShape[V generic.SignedNumber](s geometry.Shape[V]) *shape[V] {
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return &shape[V]{
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Shape: s,
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Shape: s,
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centroid: geometry.CalcRectangleCentroid(s),
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boundingRadius: geometry.CalcBoundingRadius(s),
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edges: s.Edges(),
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}
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}
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type shape[V generic.SignedNumber] struct {
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geometry.Shape[V]
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links []*shape[V]
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portals []geometry.Line[V]
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links []*shape[V]
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portals []geometry.Line[V]
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boundingRadius V
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centroid geometry.Point[V]
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edges []geometry.Line[V]
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weight V
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x, y V
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}
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func (slf *shape[V]) Edges() []geometry.Line[V] {
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return slf.edges
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}
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func (slf *shape[V]) BoundingRadius() V {
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return slf.boundingRadius
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}
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func (slf *shape[V]) Centroid() geometry.Point[V] {
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return slf.centroid
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}
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func (slf *shape[V]) IsWall() bool {
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return slf.weight == 0
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}
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func (slf *shape[V]) GetCost(point geometry.Point[V]) V {
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return geometry.CalcDistance(geometry.DoublePointToCoordinate(slf.Centroid(), point))
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}
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@ -1,27 +0,0 @@
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package path
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type h []*Node
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func (slf *h) Len() int {
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return len(*slf)
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}
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func (slf *h) Less(i, j int) bool {
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return (*slf)[i].cost < (*slf)[j].cost
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}
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func (slf *h) Swap(i, j int) {
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(*slf)[i], (*slf)[j] = (*slf)[j], (*slf)[i]
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}
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func (slf *h) Push(x any) {
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*slf = append(*slf, x.(*Node))
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}
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func (slf *h) Pop() any {
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old := *slf
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n := len(old)
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x := old[n-1]
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*slf = old[0 : n-1]
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return x
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}
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@ -1,89 +0,0 @@
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package path
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import (
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"github.com/kercylan98/minotaur/utils/geometry"
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)
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func NewLandform(pos int, features ...*LandformFeature) *Landform {
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if len(features) == 0 {
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panic("path landforms without any features")
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}
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pl := &Landform{
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pos: pos,
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features: features,
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}
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return pl
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}
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// Landform 路径地貌表示路径地图上的一个点
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// - 末尾特征将决定该路径地貌是否可行走
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type Landform struct {
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width int // 所在路径覆盖宽度
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pos int // 位置
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features []*LandformFeature // 地貌特征
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original []*LandformFeature // 原始地貌
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totalCost float64 // 总消耗
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}
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// GetCoordinate 获取这个路径地貌指向的 x 和 y 坐标
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// - 建议通过 GetPos 来进行获取，这样可以避免一次转换
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func (slf *Landform) GetCoordinate() (x, y int) {
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return geometry.PosToCoordinate(slf.width, slf.pos)
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}
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// GetPos 获取这个路径地貌指向的 pos 位置
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func (slf *Landform) GetPos() int {
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return slf.pos
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}
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// GetTotalCost 获取这个路径地貌的总特征消耗
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func (slf *Landform) GetTotalCost() float64 {
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return slf.totalCost
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}
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// Walkable 指示了该路径地貌是否可以在上面行走或者应该避免在上面行走
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func (slf *Landform) Walkable() bool {
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return slf.features[len(slf.features)-1].Walkable()
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}
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// GetFeatures 获取这个路径地貌的特征
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func (slf *Landform) GetFeatures() []*LandformFeature {
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return slf.features
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}
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// SetFeatures 设置这个路径地貌的特征
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func (slf *Landform) SetFeatures(features ...*LandformFeature) {
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slf.features = features
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slf.original = nil
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slf.totalCost = 0
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for _, feature := range slf.features {
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slf.totalCost += feature.GetCost()
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}
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}
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// SetFeaturesWithRecoverable 通过可恢复的方式设置这个路径地貌的特征
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// - 使用该函数设置地貌特征后续也应该继续使用该函数进行地貌特征修改，如果中途使用 SetFeatures 修改地貌特征后将导致 Recover 不可用
|
||||
func (slf *Landform) SetFeaturesWithRecoverable(features ...*LandformFeature) {
|
||||
if slf.original == nil {
|
||||
slf.original = slf.features
|
||||
}
|
||||
slf.features = features
|
||||
slf.totalCost = 0
|
||||
for _, feature := range slf.features {
|
||||
slf.totalCost += feature.GetCost()
|
||||
}
|
||||
}
|
||||
|
||||
// Recover 恢复这个路径地貌的特征
|
||||
func (slf *Landform) Recover() {
|
||||
if slf.original == nil {
|
||||
return
|
||||
}
|
||||
slf.features = slf.original
|
||||
slf.original = nil
|
||||
slf.totalCost = 0
|
||||
for _, feature := range slf.features {
|
||||
slf.totalCost += feature.GetCost()
|
||||
}
|
||||
}
|
||||
|
|
@ -1,28 +0,0 @@
|
|||
package path
|
||||
|
||||
var (
|
||||
LandformFeatureRoad = NewLandformFeature(1, true) // 道路
|
||||
LandformFeatureWater = NewLandformFeature(1.75, true) // 水
|
||||
)
|
||||
|
||||
// NewLandformFeature 返回一个新的路径地貌特征， cost 将表示在该地貌上行走的消耗，walkable 则表示了该地貌是否支持行走
|
||||
// - 在基于 Terrain 使用时， LandformFeature 必须被声明为全局变量后再进行使用，例如 LandformFeatureRoad
|
||||
func NewLandformFeature(cost float64, walkable bool) *LandformFeature {
|
||||
return &LandformFeature{cost: cost, walkable: walkable}
|
||||
}
|
||||
|
||||
// LandformFeature 表示了路径地貌的特征
|
||||
type LandformFeature struct {
|
||||
cost float64 // 移动消耗
|
||||
walkable bool // 适宜步行
|
||||
}
|
||||
|
||||
// GetCost 获取在该路径地貌行走的消耗，这影响了该路径地貌是否是理想的选择
|
||||
func (slf *LandformFeature) GetCost() float64 {
|
||||
return slf.cost
|
||||
}
|
||||
|
||||
// Walkable 指示了该路径地貌是否可以在上面行走或者应该避免在上面行走
|
||||
func (slf *LandformFeature) Walkable() bool {
|
||||
return slf.walkable
|
||||
}
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
package path
|
||||
|
||||
type Node struct {
|
||||
landform *Landform
|
||||
parent *Node
|
||||
cost float64
|
||||
}
|
||||
|
|
@ -1,14 +0,0 @@
|
|||
package path
|
||||
|
||||
type Path struct {
|
||||
points []*Landform
|
||||
currentIndex int
|
||||
}
|
||||
|
||||
func (slf *Path) GetPoints() []*Landform {
|
||||
return slf.points
|
||||
}
|
||||
|
||||
func (slf *Path) GetCurrentIndex() int {
|
||||
return slf.currentIndex
|
||||
}
|
||||
|
|
@ -1,196 +0,0 @@
|
|||
package path
|
||||
|
||||
import (
|
||||
"container/heap"
|
||||
"github.com/kercylan98/minotaur/utils/geometry"
|
||||
)
|
||||
|
||||
// NewTerrain 返回一个大小为 width 和 height 的新的路径覆盖信息，landformWidth 和 landformHeight 将对每
|
||||
// 个路径地貌的尺寸进行描述，用于世界位置的转化，例如当 landformWidth 和 landformHeight 为 2, 2 时，路径
|
||||
// 地貌位于 2, 3 的情况下，它的世界位置将是 4, 6
|
||||
// - 地貌特征将默认统一为 PathLandformFeatureRoad
|
||||
func NewTerrain(width, height, landformWidth, landformHeight int) *Terrain {
|
||||
path := &Terrain{
|
||||
features: map[*LandformFeature]map[int]struct{}{},
|
||||
width: width,
|
||||
height: height,
|
||||
landformWidth: landformWidth,
|
||||
landformHeight: landformHeight,
|
||||
}
|
||||
path.matrix = make([]*Landform, width*height)
|
||||
for pos := 0; pos < len(path.matrix); pos++ {
|
||||
path.matrix[pos] = NewLandform(pos, LandformFeatureRoad)
|
||||
}
|
||||
path.refreshFeatures()
|
||||
return path
|
||||
}
|
||||
|
||||
// NewPathWithMatrix 基于特定的 matrix 返回一个新的路径覆盖信息
|
||||
// - 可参照于 NewTerrain
|
||||
func NewPathWithMatrix(matrix []*Landform, width, height, landformWidth, landformHeight int) *Terrain {
|
||||
path := &Terrain{
|
||||
matrix: matrix,
|
||||
width: width,
|
||||
height: height,
|
||||
landformWidth: landformWidth,
|
||||
landformHeight: landformHeight,
|
||||
}
|
||||
path.refreshFeatures()
|
||||
return path
|
||||
}
|
||||
|
||||
type Terrain struct {
|
||||
matrix []*Landform // 矩阵
|
||||
width, height int // 矩阵宽高
|
||||
landformWidth, landformHeight int // 地貌宽高
|
||||
features map[*LandformFeature]map[int]struct{} // 标注了特定特征的路径地貌位置
|
||||
}
|
||||
|
||||
// Get 返回 x 和 y 指向的地貌信息
|
||||
// - 通常更建议使用 GetWithPos 进行获取，因为这样可以减少一次转换
|
||||
func (slf *Terrain) Get(x, y int) *Landform {
|
||||
return slf.matrix[geometry.CoordinateToPos(slf.width, x, y)]
|
||||
}
|
||||
|
||||
// GetWithPos 返回 pos 指向的地貌信息
|
||||
func (slf *Terrain) GetWithPos(pos int) *Landform {
|
||||
return slf.matrix[pos]
|
||||
}
|
||||
|
||||
// GetHeight 返回这个路径覆盖的范围高度
|
||||
func (slf *Terrain) GetHeight() int {
|
||||
return slf.height
|
||||
}
|
||||
|
||||
// GetWidth 返回这个路径覆盖的范围宽度
|
||||
func (slf *Terrain) GetWidth() int {
|
||||
return slf.width
|
||||
}
|
||||
|
||||
// GetAll 获取所有地貌信息
|
||||
func (slf *Terrain) GetAll() []*Landform {
|
||||
return slf.matrix
|
||||
}
|
||||
|
||||
// GetPath 返回一个从起点位置到目标位置的路径
|
||||
// - 可以通过参数 diagonals 控制是否支持沿对角线进行移动
|
||||
// - 可以通过参数 wallsBlockDiagonals 控制在进行对角线移动时是否允许穿越不可通行的区域
|
||||
func (slf *Terrain) GetPath(startPos, endPos int, diagonals, wallsBlockDiagonals bool) *Path {
|
||||
start, end := slf.GetWithPos(startPos), slf.GetWithPos(endPos)
|
||||
|
||||
var nodes h
|
||||
var checkedLandforms = make(map[int]struct{})
|
||||
var path = new(Path)
|
||||
heap.Push(&nodes, &Node{landform: end, cost: end.GetTotalCost()})
|
||||
|
||||
if !start.Walkable() || !end.Walkable() {
|
||||
return nil
|
||||
}
|
||||
|
||||
for {
|
||||
if len(nodes) == 0 {
|
||||
break
|
||||
}
|
||||
|
||||
node := heap.Pop(&nodes).(*Node)
|
||||
if node.landform == start {
|
||||
var t = node
|
||||
for true {
|
||||
path.points = append(path.points, t.landform)
|
||||
t = t.parent
|
||||
if t == nil {
|
||||
break
|
||||
}
|
||||
}
|
||||
break
|
||||
}
|
||||
|
||||
for _, adjacent := range geometry.GetAdjacentTranslatePos(slf.matrix, slf.width, node.landform.pos) {
|
||||
landform := slf.GetWithPos(adjacent)
|
||||
n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost}
|
||||
if _, exist := checkedLandforms[adjacent]; n.landform.Walkable() && !exist {
|
||||
heap.Push(&nodes, n)
|
||||
checkedLandforms[adjacent] = struct{}{}
|
||||
}
|
||||
}
|
||||
|
||||
if diagonals {
|
||||
var up, down, left, right bool
|
||||
if upPos := node.landform.pos - slf.width; upPos >= 0 {
|
||||
up = slf.GetWithPos(upPos).Walkable()
|
||||
}
|
||||
if downPos := node.landform.pos + slf.width; downPos < len(slf.matrix) {
|
||||
down = slf.GetWithPos(downPos).Walkable()
|
||||
}
|
||||
row := node.landform.pos / slf.width
|
||||
if leftPos := node.landform.pos - 1; row == (leftPos / slf.width) {
|
||||
left = slf.GetWithPos(leftPos).Walkable()
|
||||
}
|
||||
if rightPos := node.landform.pos + 1; row == (rightPos / slf.width) {
|
||||
right = slf.GetWithPos(rightPos).Walkable()
|
||||
}
|
||||
|
||||
diagonalCost := .414
|
||||
|
||||
size := len(slf.matrix)
|
||||
currentRow := node.landform.pos / slf.width
|
||||
if topLeft := node.landform.pos - slf.width - 1; topLeft >= 0 && currentRow-1 == (topLeft/slf.width) {
|
||||
landform := slf.GetWithPos(topLeft)
|
||||
n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost + diagonalCost}
|
||||
if _, exist := checkedLandforms[topLeft]; n.landform.Walkable() && !exist && (!wallsBlockDiagonals || (left && up)) {
|
||||
heap.Push(&nodes, n)
|
||||
checkedLandforms[topLeft] = struct{}{}
|
||||
}
|
||||
}
|
||||
if topRight := node.landform.pos - slf.width + 1; topRight >= 0 && currentRow-1 == (topRight/slf.width) {
|
||||
landform := slf.GetWithPos(topRight)
|
||||
n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost + diagonalCost}
|
||||
if _, exist := checkedLandforms[topRight]; n.landform.Walkable() && !exist && (!wallsBlockDiagonals || (right && up)) {
|
||||
heap.Push(&nodes, n)
|
||||
checkedLandforms[topRight] = struct{}{}
|
||||
}
|
||||
}
|
||||
if bottomLeft := node.landform.pos + slf.width - 1; bottomLeft < size && currentRow+1 == (bottomLeft/slf.width) {
|
||||
landform := slf.GetWithPos(bottomLeft)
|
||||
n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost + diagonalCost}
|
||||
if _, exist := checkedLandforms[bottomLeft]; n.landform.Walkable() && !exist && (!wallsBlockDiagonals || (left && down)) {
|
||||
heap.Push(&nodes, n)
|
||||
checkedLandforms[bottomLeft] = struct{}{}
|
||||
}
|
||||
}
|
||||
if bottomRight := node.landform.pos + slf.width + 1; bottomRight < size && currentRow+1 == (bottomRight/slf.width) {
|
||||
landform := slf.GetWithPos(bottomRight)
|
||||
n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost + diagonalCost}
|
||||
if _, exist := checkedLandforms[bottomRight]; n.landform.Walkable() && !exist && (!wallsBlockDiagonals || (right && down)) {
|
||||
heap.Push(&nodes, n)
|
||||
checkedLandforms[bottomRight] = struct{}{}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
return path
|
||||
|
||||
}
|
||||
|
||||
// 刷新地貌特征标注信息
|
||||
// - 冗余：已使用过的地貌特征类型在未使用后不会被删除
|
||||
func (slf *Terrain) refreshFeatures() {
|
||||
for _, positions := range slf.features {
|
||||
for pos := range positions {
|
||||
delete(positions, pos)
|
||||
}
|
||||
}
|
||||
|
||||
for pos, landform := range slf.matrix {
|
||||
for _, feature := range landform.GetFeatures() {
|
||||
positions, exist := slf.features[feature]
|
||||
if !exist {
|
||||
positions = map[int]struct{}{}
|
||||
slf.features[feature] = positions
|
||||
}
|
||||
positions[pos] = struct{}{}
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue