Unity3dA星寻路算法 Seeker.cs

using UnityEngine;
using System.Collections;
using AstarClasses;

public class Seeker : MonoBehaviour {
    public AstarPath.Path path;            //路径
    public bool debugPath = false;           //除错路径
    public float maxAngle = 20;            //最大角
    public float angleCost = 2F;            //角的代价
    public bool removeFirst = true;           //开始移动
    public bool stepByStep = false;          //逐步
    private bool newPath = true;           //新路径
    public Transform endObj;             //结束目标

    void Update () 
    {
        //If a path exists and we have been calculating a new path…
        if (path != null && path.path != null && newPath) {
            //We are not calculating the path anymore
            newPath = false;

            //Convert the Node array to a Vector3 array
            ArrayList a = new ArrayList ();         //创建一个新的队列
            for (int i=1;i<path.path.Length;i++) {
                a.Add (path.path[i].vectorPos);        //添加路径的向量
            }
            Vector3[] a2 = a.ToArray (typeof(Vector3)) as Vector3[]; //让a.ToArray的类型为Vector3[]

            //Send the Vector3 array to a movement script attached to this gameObject
            SendMessage("SetPoints",a2,SendMessageOptions.DontRequireReceiver); //发消息给Setpoints

        }

        //if (Input.GetKey ("space")) {
        // StartPath (transform.position,endObj.position);
        //}
    }

    public void OnDrawGizmos () {
        if (path != null && debugPath && path.path != null) {
            Gizmos.color = Color.green;                 //线框的颜色为绿色

            for (int i=0;i<path.path.Length-1;i++) {
                Node node = path.path[i] as Node;              //当前节点
                Node node2 = path.path[i+1] as Node;            //下一个节点
                Gizmos.DrawLine (node.vectorPos,node2.vectorPos);        //当前节点和下一个节点之间画一条线
            }
        }
    }

    //Call this function to start calculating a path               //调用这个函数开始计算路径
    public void StartPath (Vector3 start, Vector3 end) {          //出发的路径

        //Cancel the previous path
        if (path != null) {
            path.error = true;
        }

        SendMessage("Stop",SendMessageOptions.DontRequireReceiver);//This will make the player stop这将使玩家停止
        AstarPath.Path p = new AstarPath.Path (start,end,maxAngle,angleCost,stepByStep);//Create a new Path instance创建一个新的路径实例
        StartCoroutine (AstarPath.StartPathYield (p));//Start a coroutine (function including yields) to calculate the path启动一个协程（功能，包括收益率）计算路径
        newPath = true;//We are calculating a new path我们计算了一条新路
        path = p;
    }
}