C# A*寻路算法代码

using System;using System.Collections.Generic;public struct _mapPoint{    public int x;    public int y;}class FindWay{    class Point    {        public Point() { }        public Point(_mapPoint m) { x = m.x; y = m.y; }        public int G;        public int H;        public int x;        public int y;        public Point father;    }    //开启列表    static List<Point> open_List = new List<Point>();    //关闭列表    static List<Point> close_List = new List<Point>();    /// <summary>    /// A*寻路算法    /// </summary>    /// <param name="startPoint"></param>    /// <param name="endPoint"></param>    /// <param name="movePower"></param>    /// <param name="consumption"></param>    /// <returns></returns>    public static List<_mapPoint> Astar(_mapPoint startPoint, _mapPoint endPoint, int movePower, ref byte[,] consumption)    {        //定义出发位置        Point startingPoint = new Point(startPoint);        //定义目的地        Point destination = new Point(endPoint);        open_List.Add(startingPoint);        while (!(IsInOpenList(destination.x, destination.y))) //当终点存在开启列表中就意味着寻路结束了        {            Point nowPoint = GetMinFFromOpenList();            open_List.Remove(nowPoint);            close_List.Add(nowPoint);            CheckGrid(nowPoint, destination, ref consumption);        }        List<_mapPoint> way = new List<_mapPoint>();        Point p = GetPointFromOpenList(destination.x, destination.y);        List<Point> temp = new List<Point>();        while (p.father != null)        {            temp.Add(p);            p = p.father;        }        temp.Reverse();        foreach (Point pt in temp)        {            if (pt.G > movePower) break;            way.Add(new _mapPoint() { x = pt.x, y = pt.y });        }        open_List.Clear();        close_List.Clear();        return way;    }    //从开启列表查找F值最小的节点    private static Point GetMinFFromOpenList()    {        Point Pmin = null;        foreach (Point p in open_List) if (Pmin == null || Pmin.G + Pmin.H > p.G + p.H) Pmin = p;        return Pmin;    }    //判断关闭列表是否包含一个坐标的点    private static bool IsInCloseList(int x, int y)    {        Point p = close_List.Find(item => item.x == x && item.y == y);        if (p!=null) return true;        return false;    }    //判断开启列表是否包含一个坐标的点    private static bool IsInOpenList(int x, int y)    {        Point p = open_List.Find(item => item.x == x && item.y == y);        if (p!=null) return true;        return false;    }    //从开启列表返回对应坐标的点    private static Point GetPointFromOpenList(int x, int y)    {        foreach (Point p in open_List) if (p.x == x && p.y == y) return p;        return null;    }    //检查当前节点附近的节点    private static void CheckGrid(Point nowPoint, Point destination, ref byte[,] consumption)    {        for (int xt = nowPoint.x - 1; xt <= nowPoint.x + 1; xt++)        {            for (int yt = nowPoint.y - 1; yt <= nowPoint.y + 1; yt++)            {                //排除超过边界、不相干和关闭列表中的点                if (!(xt >= 0 && xt < consumption.GetLength(0) && yt >= 0 && yt < consumption.GetLength(1))) continue;                if (IsInCloseList(xt, yt)) continue;                if (!(xt == nowPoint.x && yt - 1 == nowPoint.y) && !(xt - 1 == nowPoint.x && yt == nowPoint.y) && !(xt + 1 == nowPoint.x && yt == nowPoint.y) && !(xt == nowPoint.x && yt + 1 == nowPoint.y))                    continue;                if (IsInOpenList(xt, yt))                {                    Point pt = GetPointFromOpenList(xt, yt);                    int cost = CalculateConsumption(ref consumption, pt, nowPoint);                    int G_new = nowPoint.G + cost;                    if (G_new < pt.G)                    {                        open_List.Remove(pt);                        pt.father = nowPoint;                        pt.G = G_new;                        open_List.Add(pt);                    }                }                else //不在开启列表中                {                    Point pt = new Point();                    pt.x = xt;                    pt.y = yt;                    pt.father = nowPoint;                    int cost = CalculateConsumption(ref consumption, pt, nowPoint);                    pt.G = pt.father.G + cost;                    pt.H = Math.Abs(pt.x - destination.x) + Math.Abs(pt.y - destination.y);                    open_List.Add(pt);                }            }        }    }    /// <summary>    /// 计算移动消耗    /// </summary>    /// <param name="consumption"></param>    /// <param name="pt"></param>    /// <param name="nowPoint"></param>    /// <returns></returns>    private static int CalculateConsumption(ref byte[,] consumption, Point pt,Point nowPoint)    {        int xt = nowPoint.x;        int yt = nowPoint.y;        int cost = consumption[pt.x, pt.y] - consumption[xt, yt];        if (cost <= 1) cost = 1;        else if (cost > 1 || cost < 2) cost *= Road.jumpCost;        else cost *= Road.climbCost;        return cost;    }}