Gen_Hack-and-Slash-Roguelite-zzdxxz/Client/Assets/Scripts/Utils/Pathfinder.cs

using System.Collections.Generic;
using UnityEngine;

namespace Utils
{

    public static class Pathfinder
    {
        public static List<Vector2> FindPath(Entity.Entity entity, Vector2 target, float maxDistance)
        {
            Vector2 start = entity.Position;

            // 计算起点和终点所在的瓦片坐标
            var startTile = GetTileCoord(start);
            var endTile = GetTileCoord(target);

            // 如果超出最大距离，直接返回直线路径或空路径
            if (Vector2.Distance(start, target) > maxDistance)
            {
                return new List<Vector2> { start, target };
            }

            // A*算法数据结构
            var cameFrom = new Dictionary<Vector2Int, Vector2Int>();
            var gScore = new Dictionary<Vector2Int, float>();
            var fScore = new Dictionary<Vector2Int, float>();
            var openSet = new List<Vector2Int>();

            // 初始化
            gScore[startTile] = 0;
            fScore[startTile] = Heuristic(startTile, endTile);
            openSet.Add(startTile);

            var closestNode = startTile;
            var closestDist = Vector2.Distance(start, target);

            while (openSet.Count > 0)
            {
                // 获取fScore最小的节点
                var current = openSet[0];
                foreach (var node in openSet)
                {
                    if (fScore.GetValueOrDefault(node, float.MaxValue) <
                        fScore.GetValueOrDefault(current, float.MaxValue))
                    {
                        current = node;
                    }
                }

                // 检查是否到达目标
                if (current == endTile)
                {
                    return ReconstructPath(cameFrom, current, start, target);
                }

                openSet.Remove(current);

                // 检查最大距离限制
                var currentDist = Vector2.Distance(
                    new Vector2(current.x, current.y),
                    target);

                if (currentDist < closestDist)
                {
                    closestDist = currentDist;
                    closestNode = current;
                }

                if (gScore[current] > maxDistance)
                {
                    return ReconstructPath(cameFrom, closestNode, start, target);
                }

                // 遍历邻居（8方向）
                for (var dx = -1; dx <= 1; dx++)
                {
                    for (var dy = -1; dy <= 1; dy++)
                    {
                        if (dx == 0 && dy == 0) continue;

                        var neighbor = new Vector2Int(current.x + dx, current.y + dy);

                        // 跳过不可通行区域
                        if (!Map.MapGenerator.Instance.CanPassThrough(neighbor.x, neighbor.y))
                        {
                            continue;
                        }

                        // 计算移动成本
                        var moveCost = GetMovementCost(current, neighbor);
                        var tentativeGScore = gScore[current] + moveCost;

                        // 跳过超出最大距离的路径
                        if (tentativeGScore > maxDistance)
                        {
                            continue;
                        }

                        // 发现新节点或找到更好路径
                        if (tentativeGScore < gScore.GetValueOrDefault(neighbor, float.MaxValue))
                        {
                            cameFrom[neighbor] = current;
                            gScore[neighbor] = tentativeGScore;
                            fScore[neighbor] = tentativeGScore + Heuristic(neighbor, endTile);

                            if (!openSet.Contains(neighbor))
                            {
                                openSet.Add(neighbor);
                            }
                        }
                    }
                }
            }

            // 无法找到完整路径时返回局部最优解
            return ReconstructPath(cameFrom, closestNode, start, target);
        }

        // 获取瓦片坐标（每个瓦片覆盖±0.5范围）
        private static Vector2Int GetTileCoord(Vector2 position)
        {
            return new Vector2Int(
                Mathf.RoundToInt(position.x),
                Mathf.RoundToInt(position.y)
            );
        }

        // 计算启发式估值（欧几里得距离）
        private static float Heuristic(Vector2Int a, Vector2Int b)
        {
            return Vector2.Distance(
                new Vector2(a.x, a.y),
                new Vector2(b.x, b.y)
            );
        }

        // 获取移动成本
        private static float GetMovementCost(Vector2Int from, Vector2Int to)
        {
            // 计算基础距离（正交=1，对角=√2）
            var distance = (from.x == to.x || from.y == to.y) ? 1f : 1.4142f;

            // 应用目标瓦片的速度削减率
            var costModifier = Map.MapGenerator.Instance.GetTileCost(to.x, to.y);

            // 成本 = 距离 × (1 + 速度削减率)
            return distance * (1 + costModifier);
        }

        // 重建路径
        private static List<Vector2> ReconstructPath(
            Dictionary<Vector2Int, Vector2Int> cameFrom,
            Vector2Int current,
            Vector2 start,
            Vector2 end)
        {
            // 构建瓦片路径
            var tilePath = new List<Vector2Int>();
            tilePath.Add(current);

            while (cameFrom.ContainsKey(current))
            {
                current = cameFrom[current];
                tilePath.Add(current);
            }

            tilePath.Reverse();

            // 转换为实际坐标路径
            var path = new List<Vector2>();
            path.Add(start); // 添加精确起点

            // 添加路径点（瓦片中心）
            foreach (var tile in tilePath)
            {
                path.Add(new Vector2(tile.x, tile.y));
            }

            path.Add(end); // 添加精确终点
            return path;
        }
    }
}