画线移除循环往复的点
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@ -5,47 +5,48 @@ using UnityEngine;
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public class PathLineAnimator : MonoBehaviour
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{
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private static IEnumerator enumerator;
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public static void Play(
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MonoBehaviour caller,
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Transform origin,
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Transform mover,
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LineRenderer lineRenderer,
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List<MapGraph.Node> unsortedNodes,
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float moveSpeed = 2f)
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{
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if(enumerator!=null)
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caller.StopCoroutine(enumerator);
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List<MapGraph.Node> sortedNodes = SortNodesByGraphCost(origin.position,unsortedNodes);
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List<Vector3> sortedPositions = sortedNodes.Select(n => n.position).ToList();
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enumerator= DrawLineCoroutine(mover, lineRenderer, sortedPositions, moveSpeed);
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caller.StartCoroutine(enumerator);
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}
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public static void Play(
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MonoBehaviour caller,
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Transform origin,
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Transform mover,
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LineRenderer lineRenderer,
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List<Vector3> unsortedNodes,
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float moveSpeed = 2f)
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{
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if(enumerator!=null)
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caller.StopCoroutine(enumerator);
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enumerator= DrawLineCoroutine(mover, lineRenderer, unsortedNodes, moveSpeed);
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caller.StartCoroutine(enumerator);
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}
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private static IEnumerator enumerator;
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public static void Play(
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MonoBehaviour caller,
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Transform origin,
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Transform mover,
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LineRenderer lineRenderer,
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List<MapGraph.Node> unsortedNodes,
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float moveSpeed = 2f)
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{
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if (enumerator != null)
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caller.StopCoroutine(enumerator);
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List<MapGraph.Node> sortedNodes = SortNodesByGraphCost(origin.position, unsortedNodes);
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List<Vector3> sortedPositions = sortedNodes.Select(n => n.position).ToList();
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enumerator = DrawLineCoroutine(mover, lineRenderer, sortedPositions, moveSpeed);
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caller.StartCoroutine(enumerator);
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}
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public static void Play(
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MonoBehaviour caller,
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Transform origin,
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Transform mover,
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LineRenderer lineRenderer,
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List<Vector3> unsortedNodes,
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float moveSpeed = 2f)
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{
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if (enumerator != null)
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caller.StopCoroutine(enumerator);
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enumerator = DrawLineCoroutine(mover, lineRenderer, unsortedNodes, moveSpeed);
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caller.StartCoroutine(enumerator);
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}
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public static List<MapGraph.Node> SortNodesByGraphCost(Vector3 origin, List<MapGraph.Node> nodes)
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public static List<MapGraph.Node> SortNodesByGraphCost(Vector3 origin, List<MapGraph.Node> nodes)
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{
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if (nodes == null || nodes.Count == 0) return new List<MapGraph.Node>();
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if (nodes == null || nodes.Count == 0)
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return new List<MapGraph.Node>();
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List<MapGraph.Node> sorted = new List<MapGraph.Node>();
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HashSet<MapGraph.Node> unvisited = new HashSet<MapGraph.Node>(nodes);
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// ✅ 从 origin.position 找最近的节点作为起点
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// 从原点出发，找出最近的可达节点作为起点
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MapGraph.Node current = unvisited
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.OrderBy(n => Vector3.Distance(origin, n.position))
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.First();
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@ -60,7 +61,8 @@ public static List<MapGraph.Node> SortNodesByGraphCost(Vector3 origin, List<MapG
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foreach (var candidate in unvisited)
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{
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var path = PathFinder.FindPath(current, candidate);
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if (path == null) continue;
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if (path == null || path.Count < 2)
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continue;
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float totalCost = 0f;
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for (int i = 0; i < path.Count - 1; i++)
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@ -68,31 +70,35 @@ public static List<MapGraph.Node> SortNodesByGraphCost(Vector3 origin, List<MapG
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var edge = path[i].edges.Find(e => e.target == path[i + 1]);
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if (edge != null)
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totalCost += edge.cost;
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else
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{
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totalCost = float.MaxValue;
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break; // 不连通路径
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}
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}
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candidateCosts[candidate] = totalCost;
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if (totalCost < float.MaxValue)
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candidateCosts[candidate] = totalCost;
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}
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if (candidateCosts.Count == 0)
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{
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Debug.LogError("排序中断：无可达点");
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Debug.LogWarning("图中存在不可达的节点，停止排序。");
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break;
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}
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// 找出最小权重
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// 选择最小总代价的节点
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float minCost = candidateCosts.Values.Min();
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// 找出具有最小权重的所有点
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var sameCostNodes = candidateCosts
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.Where(kv => Mathf.Approximately(kv.Value, minCost))
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.Select(kv => kv.Key)
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.ToList();
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// ✅ 只保留其中一个（第一个），其余全部舍弃
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MapGraph.Node selected = sameCostNodes.First();
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sorted.Add(selected);
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unvisited.Remove(selected);
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// 移除同样代价的其他节点（也算访问过了）
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for (int i = 1; i < sameCostNodes.Count; i++)
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{
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unvisited.Remove(sameCostNodes[i]);
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@ -104,55 +110,76 @@ public static List<MapGraph.Node> SortNodesByGraphCost(Vector3 origin, List<MapG
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return sorted;
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}
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private static IEnumerator DrawLineCoroutine(
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Transform mover,
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LineRenderer lineRenderer,
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List<Vector3> points,
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float moveSpeed)
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{
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int currentIndex = 0;
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// 初始：第一段开始
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lineRenderer.positionCount = 2;
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lineRenderer.SetPosition(0, points[0]);
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lineRenderer.SetPosition(1, points[0]);
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mover.position = points[0];
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while (currentIndex < points.Count - 1)
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{
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Vector3 start = points[currentIndex];
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Vector3 end = points[currentIndex + 1];
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float t = 0f;
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float segmentLength = Vector3.Distance(start, end);
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private static IEnumerator DrawLineCoroutine(
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Transform mover,
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LineRenderer lineRenderer,
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List<Vector3> rawPoints,
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float moveSpeed)
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{
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if (rawPoints == null || rawPoints.Count < 2)
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yield break;
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while (t < 1f)
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{
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t += Time.deltaTime * moveSpeed / segmentLength;
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Vector3 currentPos = Vector3.Lerp(start, end, t);
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mover.position = currentPos;
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// ✅ 折返清洗逻辑：A → B → A => 保留 B → A
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List<Vector3> points = new List<Vector3>();
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foreach (var point in rawPoints)
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{
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int count = points.Count;
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if (count >= 2 && Vector3.Distance(point, points[count - 2]) < 0.01f)
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{
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// 移除中间的点，A → B → A => 移除 B
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points.RemoveAt(count - 2);
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}
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points.Add(point);
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}
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// 前段保持不动，当前段动态更新
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for (int i = 0; i <= currentIndex; i++)
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{
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lineRenderer.SetPosition(i, points[i]);
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}
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if (points.Count < 2)
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yield break;
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lineRenderer.SetPosition(currentIndex + 1, currentPos);
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// ✅ 动画绘制逻辑
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int currentIndex = 0;
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mover.position = points[0];
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yield return null;
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}
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lineRenderer.positionCount = 2;
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lineRenderer.SetPosition(0, points[0]);
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lineRenderer.SetPosition(1, points[0]);
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currentIndex++;
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while (currentIndex < points.Count - 1)
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{
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Vector3 start = points[currentIndex];
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Vector3 end = points[currentIndex + 1];
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float t = 0f;
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float segmentLength = Vector3.Distance(start, end);
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if (currentIndex < points.Count - 1)
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{
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// 增加一个点用于下一段
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lineRenderer.positionCount++;
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}
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}
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while (t < 1f)
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{
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t += Time.deltaTime * moveSpeed / Mathf.Max(segmentLength, 0.001f);
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Vector3 currentPos = Vector3.Lerp(start, end, t);
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mover.position = currentPos;
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// 最后一段固定终点
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lineRenderer.SetPosition(lineRenderer.positionCount - 1, points.Last());
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mover.position = points.Last();
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}
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}
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for (int i = 0; i <= currentIndex; i++)
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{
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lineRenderer.SetPosition(i, points[i]);
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}
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lineRenderer.SetPosition(currentIndex + 1, currentPos);
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yield return null;
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}
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currentIndex++;
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if (currentIndex < points.Count - 1)
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{
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lineRenderer.positionCount++;
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}
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}
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lineRenderer.SetPosition(lineRenderer.positionCount - 1, points[^1]);
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mover.position = points[^1];
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}
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}
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@ -10,41 +10,63 @@ public class PathFinder
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private static List<MapGraph.Node> FindPathInternal(MapGraph.Node start, MapGraph.Node goal, HashSet<MapGraph.Node> temporarilyAllowed)
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{
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// 优先队列：按 fScore 排序
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var openSet = new PriorityQueue<MapGraph.Node>();
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var cameFrom = new Dictionary<MapGraph.Node, MapGraph.Node>();
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var gScore = new Dictionary<MapGraph.Node, float>();
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var fScore = new Dictionary<MapGraph.Node, float>();
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// 用于判断是否已在 openSet 中，避免重复入队
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var openSetHash = new HashSet<MapGraph.Node>();
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openSet.Enqueue(start, 0);
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gScore[start] = 0;
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fScore[start] = Heuristic(start, goal);
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// 回溯路径的字典
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var cameFrom = new Dictionary<MapGraph.Node, MapGraph.Node>();
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// 起点到每个节点的实际代价
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var gScore = new Dictionary<MapGraph.Node, float> { [start] = 0 };
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// fScore = g + h，估计总代价
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var fScore = new Dictionary<MapGraph.Node, float> { [start] = Heuristic(start, goal) };
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openSet.Enqueue(start, fScore[start]);
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openSetHash.Add(start);
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while (openSet.Count > 0)
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{
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var current = openSet.Dequeue();
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openSetHash.Remove(current);
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// 如果找到目标，回溯路径
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if (current == goal)
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return ReconstructPath(cameFrom, current);
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foreach (var edge in current.edges)
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{
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// 若目标节点不可达，且不在临时允许列表中，跳过
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if (!edge.target.isReachable && !temporarilyAllowed.Contains(edge.target))
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continue;
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float tentativeG = gScore[current] + edge.cost;
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// 如果没访问过目标节点，或找到更短的路径
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if (!gScore.ContainsKey(edge.target) || tentativeG < gScore[edge.target])
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{
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cameFrom[edge.target] = current;
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gScore[edge.target] = tentativeG;
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fScore[edge.target] = tentativeG + Heuristic(edge.target, goal);
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openSet.Enqueue(edge.target, fScore[edge.target]);
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float estimatedF = tentativeG + Heuristic(edge.target, goal);
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fScore[edge.target] = estimatedF;
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// 若未加入 openSet，才加入队列
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if (!openSetHash.Contains(edge.target))
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{
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openSet.Enqueue(edge.target, estimatedF);
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openSetHash.Add(edge.target);
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}
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}
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}
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}
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return null;
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// 找不到路径，返回空列表（比返回 null 更安全）
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return new List<MapGraph.Node>();
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}
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public static List<MapGraph.Node> FindPathThroughNodes(
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List<MapGraph.Node> mustPassNodes,
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List<MapGraph.Node> mustAvoidNodes,
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