在unity3d中找到最近的目標航路點

我正在開發像 Hitman Go 這樣的游戲，當敵人通過巖石或聲音等發出警報時，我需要找到哪些航點最接近我的目標（特定航點）。

我為敵人設定了一些點，我的敵人在航點之間巡邏（ 8 -> 6 -> 1-> 2-> 3-> 4-> 5 ）然后尊重他的路徑。所以，當我在 18 號航點扔石頭時，我需要將敵人移動到這個航點，但要以最近的方式移動。當敵人獲得警覺時，成像敵人可以是任何這個航點（8、6、1、2、3、4、5點）。

注1：兩點間的距離相等。

注2：我的游戲是 3d 而非 2d。

我使用此代碼逐步移動我的敵人（轉基地）。

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class WaypointController : MonoBehaviour
{
    public List<Transform> waypoints = new List<Transform>();
    private Transform targetWaypoint;
    private int targetWaypointIndex = 0;
    private float minDistance = 0.1f;
    private int lastWaypointIndex;

    public bool reversePath;

    // what easetype to use for iTweening
    public iTween.EaseType easeType = iTween.EaseType.easeInOutExpo;

    // how fast we move
    public float moveSpeed = 1.5f;

    // time to rotate to face destination
    public float rotateTime = 0.5f;

    // delay to use before any call to iTween
    public float iTweenDelay = 0f;

    // Use this for initialization
    void Start()
    {
        lastWaypointIndex = waypoints.Count - 1;
        targetWaypoint = waypoints[targetWaypointIndex];
    }

    public void EnemyTurn()
    {
        float distance = Vector3.Distance(transform.position, targetWaypoint.position);
        CheckDistanceToWaypoint(distance);

        // move toward the destinationPos using the easeType and moveSpeed variables
        iTween.MoveTo(gameObject, iTween.Hash(
            "x", targetWaypoint.position.x,
            "y", targetWaypoint.position.y,
            "z", targetWaypoint.position.z,
            "delay", iTweenDelay,
            "easetype", easeType,
            "speed", moveSpeed
        ));
    }

    void CheckDistanceToWaypoint(float currentDistance)
    {
        if (currentDistance <= minDistance)
        {
            targetWaypointIndex  ;
            UpdateTargetWaypoint();
        }
    }

    void UpdateTargetWaypoint()
    {
        if (targetWaypointIndex > lastWaypointIndex)
        {
            if (reversePath)
            {
                waypoints.Reverse();
            }
        
            targetWaypointIndex = 1;
        }
        targetWaypoint = waypoints[targetWaypointIndex];
    }
}

uj5u.com熱心網友回復：

由于您在評論中要求提供非 A* 解決方案，因此我很無聊:)

具有非常簡單修剪的樸素DFS探路者。蠻力和非常浪費記憶體和 CPU 明智。

對于類似于 Hitman Go / Lara Croft Go 的游戲 - 我會使用此代碼而不是導航網格 / A*。

對于 RTS / FPS 或任何 AI 密集型游戲，我絕對不會使用此解決方案。

public class GridPathfinder
{
    // Not thread safe
    private int? _currentShortestPath;

    /// <summary>
    /// Finds shortest path from cell A to B
    /// </summary>
    /// <returns>Shortest found path; null if found no path.</returns>
    public IList<Node> GetShortestPath(Node a, Node b)
    {
        _currentShortestPath = null;
        return GetShortestPathInternal(a, b, new List<Node>());
    }

    private IList<Node> GetShortestPathInternal(Node @from, Node to, List<Node> currentPath)
    {
        // Sanity
        if (currentPath.Contains(from))
        {
            return null;
        }

        // Prune
        if (_currentShortestPath.HasValue && currentPath.Count   1 >= _currentShortestPath)
        {
            return null;
        }

        currentPath.Add(from);
        if (from == to)
        {
            return currentPath;
        }

        // Check neighbors recursively
        IList<Node> foundShortestPath = null;
        foreach (var connectedCell in from.ConnectedCells)
        {
            var cellPath = GetShortestPathInternal(connectedCell, to, new List<Node>(currentPath));
            if (cellPath == null || foundShortestPath != null && cellPath.Count >= foundShortestPath.Count)
            {
                continue;
            }

            foundShortestPath = cellPath;
        }

        // Update shortest path for future pruning
        if (foundShortestPath != null && (!_currentShortestPath.HasValue || _currentShortestPath > foundShortestPath.Count))
        {
            _currentShortestPath = foundShortestPath.Count;
        }
        
        return foundShortestPath;
    }
}

public class Node
{
    private readonly HashSet<Node> _connectedCells = new HashSet<Node>();

    public IEnumerable<Node> ConnectedCells => _connectedCells;

    /// <summary>
    /// Add a connection
    /// </summary>
    /// <param name="toAdd">Node to add</param>
    /// <param name="isTwoWay">Should add a connection from target node to this node</param>
    public void AddConnection(Node toAdd, bool isTwoWay=true)
    {
        if (toAdd == null || toAdd == this)
        {
            throw new Exception("Invalid connection attempted");
        }

        // Attempt to add
        if (!_connectedCells.Add(toAdd))
        {
            return;
        }

        if (!isTwoWay) return;
        toAdd.AddConnection(this);
    }
}

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