func hexagonPointByStep(user Point, length int64, block []Point) []Point {
var retPoint, initPoint, tmp []Point
curPointSet := set.NewSimpleSet()
lastPointSet := set.NewSimpleSet()
defer curPointSet.Clear()
defer lastPointSet.Clear()
initPoint = hexagonPoint(user)
//删除有障碍物坐标
for _, v := range block {
initPoint = RemovePoint(initPoint, v)
}
//加入集合
for _, v := range initPoint {
curPointSet.Add(v)
lastPointSet.Add(v)
}
var i int64
for i = 1; i < length; i++ {
innerTmp := curPointSet.List()
curPointSet.Clear()
for _, v := range innerTmp {
ptmp := v.(Point)
//生成新的一圈坐标点
tmp = hexagonPoint(ptmp)
//删除有障碍物坐标
for _, v := range block {
tmp = RemovePoint(tmp, v)
}
//删除已经存在的点
for _, v := range tmp {
if !lastPointSet.Has(v) {
curPointSet.Add(v)
lastPointSet.Add(v)
}
}
}
}
for _, v := range lastPointSet.List() {
retPoint = append(retPoint, v.(Point))
}
return retPoint
}
func AttkPointByStep(user Point, length int64) []Point {
var retPoint, initPoint, tmp []Point
if length == 0 {
retPoint = append(retPoint, user)
return retPoint
}
curPointSet := set.NewSimpleSet()
lastPointSet := set.NewSimpleSet()
initPoint = AttkHexagonPoint(user)
for _, v := range initPoint {
curPointSet.Add(v)
lastPointSet.Add(v)
}
var i int64
for i = 1; i < length; i++ {
innerTmp := curPointSet.List()
curPointSet.Clear()
for _, v := range innerTmp {
ptmp := v.(Point)
//生成新的一圈坐标点
tmp = AttkHexagonPoint(ptmp)
for _, v := range tmp {
if !lastPointSet.Contains(v) {
curPointSet.Add(v)
lastPointSet.Add(v)
}
}
}
}
for _, v := range lastPointSet.List() {
retPoint = append(retPoint, v.(Point))
}
return retPoint
}
//查找最短路径
func SearchShortestPath(posBegin, posEnd Point, block []Point) ([]Point, error) {
var retPoint, tmpBuf []Point
var specialPoint Point
//可能重复的点
repeatNode := set.NewSimpleSet()
type tmpNode struct {
bestPos Point
length int64
}
var tmpList []tmpNode
var tmp, bestNode, secNode tmpNode
//目标坐标不能出现障碍物中
for _, v := range block {
if v == posEnd {
return retPoint, errors.New("目标坐标不该出现障碍物中")
}
}
DO_AGAIN:
retPoint = append(retPoint, posBegin)
tmpBuf = hexagonPointByStep(posBegin, 1, block)
for {
for _, v := range tmpBuf {
tmp.bestPos = v
tmp.length = (v.x-posEnd.x)*(v.x-posEnd.x) + (v.y-posEnd.y)*(v.y-posEnd.y)
tmpList = append(tmpList, tmp)
if tmp.length == 0 {
retPoint = append(retPoint, v)
goto DO_END
}
}
//寻找最佳节点
bestNode = tmpList[0]
secNode = tmpList[0]
for _, v := range tmpList {
if v.length < bestNode.length {
secNode = bestNode
bestNode = v
}
}
if bestNode.bestPos == specialPoint {
bestNode = secNode
}
fmt.Println("bestNode:==>", bestNode)
tmpList = nil
//将当前最佳节点加入到路径中
retPoint = append(retPoint, bestNode.bestPos)
//添加进重复的点
if !repeatNode.Contains(bestNode.bestPos) {
repeatNode.Add(bestNode.bestPos)
} else {
specialPoint = bestNode.bestPos
retPoint = nil
goto DO_AGAIN
}
//计算当前节点的辐射范围
tmpBuf = hexagonPointByStep(bestNode.bestPos, 1, block)
fmt.Println("again:==>", tmpBuf)
}
DO_END:
return retPoint, nil
}