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。