JumpPointSearchPlus with GoalBounding 学习笔记2

遇到的问题：

1.搜索条目2048条，我写的是从1~2048

从0~2047

2.Lode map函数中读取每个点的目标边界出问题

for (int dir = 0; dir < 8; dir++)
{
short value = VALUE[r, c].value1[dir];

if(value == INVALID_GOAL_BOUNDS)//无效的目标
{
m_jumpDistancesAndGoalBoundsMap[r, c].bounds[dir, (int)GoalBoundsEnum.MinRow] = (short)BLOCK.N_MAP_HEIGHT;
m_jumpDistancesAndGoalBoundsMap[r,c].bounds[dir,(int)GoalBoundsEnum.MaxRow] = 0;
m_jumpDistancesAndGoalBoundsMap[r, c].bounds[dir, (int)GoalBoundsEnum.MinCol] = (short)BLOCK.N_MAP_WIDTH;
m_jumpDistancesAndGoalBoundsMap[r,c].bounds[dir,(int)GoalBoundsEnum.MaxCol] = 0;
}
else//有效目标
{
m_jumpDistancesAndGoalBoundsMap[r, c].bounds[dir, (int)GoalBoundsEnum.MinRow] = VALUE[r, c].value2[dir, 0];
m_jumpDistancesAndGoalBoundsMap[r, c].bounds[dir, (int)GoalBoundsEnum.MaxRow] = VALUE[r, c].value2[dir, 1];
m_jumpDistancesAndGoalBoundsMap[r, c].bounds[dir, (int)GoalBoundsEnum.MinCol] = VALUE[r, c].value2[dir, 2];
m_jumpDistancesAndGoalBoundsMap[r, c].bounds[dir, (int)GoalBoundsEnum.MaxCol] = VALUE[r, c].value2[dir, 3];
}
}

当不为无效目标时应设置全部bounds为value2的值，错误原因在于设置bounds的minrow为value

3.跳点目标界限的保存

出现的问题表现为所有跳点的goalbounds都是一样的

由于本人采用c#编写，与原始程序有所不同，此处应设置一个数组保存每个点的goalbounds

for (int i = 0; i < 8; i++)
{
JUMPdiss[r, c].jumpdis[i] = jumpPoints.jumpDistance[i];
}

// Save Goal Bounds保存目标界限
for (int dir = 0; dir < 8; dir++)
{
if ((m_goalBoundsMap[r,c].bounds[dir,(int)GoalBoundsEnum.MinRow] >
m_goalBoundsMap[r,c].bounds[dir,(int)GoalBoundsEnum.MaxRow]) &&
(m_goalBoundsMap[r,c].bounds[dir,(int)GoalBoundsEnum.MinCol] >
m_goalBoundsMap[r,c].bounds[dir,(int)GoalBoundsEnum.MaxCol]))
{
// Use INVALID_GOAL_BOUNDS to represent all four values for compression使用INVALID_GOAL_BOUNDS表示所有四个压缩值
VALUE[r,c].value1[dir] = INVALID_GOAL_BOUNDS;
}
else
{
for (int minMaxIndex = 0; minMaxIndex < 4; minMaxIndex++)
{
VALUE[r, c].value2[dir, minMaxIndex] = m_goalBoundsMap[r, c].bounds[dir, minMaxIndex];
}
}

后续还有很多工作，出现了问题一定要及时记录。