Unity A*算法实现

来源：互联网发布：my sql条件触发器编辑：程序博客网时间：2024/06/05 18:41
最近赶时间，字以后再码吧 ^_^
using System.Collections;using System.Collections.Generic;using UnityEngine;using Astar;namespace Astar{    public class PathFinder : MonoBehaviour    {        List<Node> Open = new List<Node>();        List<Node> Close = new List<Node>();        List<Node> All = new List<Node>();        Node start;        Node end;        public static bool LOG { get { return false; } }        public static float F { get { return 5; } }        void Start()        {            Init();        }        //初始化        void Init()        {            Open.Clear();            Close.Clear();            for (int x = 0; x < Map.width; x++)            {                for (int z = 0; z < Map.deep; z++)                {                    All.Add(new Node(x, z));                }            }        }        void Reset()        {            Open.Clear();            Close.Clear();            foreach (var node in All)            {                node.Reset();                Open.Add(node);            }        }        public List<IntVector2> Find(IntVector2 from, IntVector2 to)        {            Reset();            if (LOG) Debug.Log("find start.");            start = GetNode(from);            start.cost = 0;            start.f = 0;            end = GetNode(to);            int count = 0;            while (Open.Count != 0)            {                var N = GetMinFNode();                if (LOG) Debug.Log("find step " + count + ":" + N.pos + " , f=" + N.f);                var dirs = new IntVector2[4] { new IntVector2(0, 1), new IntVector2(0, -1), new IntVector2(1, 0), new IntVector2(-1, 0) };                foreach (var dir in dirs)                {                    bool inclose;                    var X = GetNode(N.pos + dir, out inclose);                    //在地图外                    if (X == null)                    {                        continue;                    }                    else if (X == end)                    {                        X.last = N;                        List<IntVector2> res = new List<IntVector2>();                        var cur = end;                        while (cur.last != null)                        {                            res.Add(cur.pos);                            cur = cur.last;                        }                        res.Reverse();                        return res;                    }                    //在Open内                    //Debug.LogError("运行到这里了");                    else if (!inclose)                    {                        UpdateFValue(N, X);                        continue;                    }                    //在Close内                    else if (inclose)                    {                        bool reOpen = UpdateFValue(N, X);                        if (reOpen)                        {                            Open.Add(X);                            Close.Remove(X);                        }                        continue;                    }                }                Debug.DrawLine((Vector3)N.pos, (Vector3)N.pos + Vector3.up, Color.red, 1);                Close.Add(N);                Open.Remove(N);            }            return null;        }        /// <summary>        /// 对X的值进行更新。        /// </summary>        /// <param name="N">当前正在Close的点</param>        /// <param name="X">刷新值的点</param>        /// <returns>返回是否需要重新OPEN</returns>        bool UpdateFValue(Node N, Node X)        {            if (X.cost > N.cost + 1) X.cost = N.cost + 1;            if (X.left < 0) X.left = Node.distance(end, X);            var newF = X.cost + X.left * F;            if (newF < X.f)            {                X.f = newF;                X.last = N;                return true;            }            else return false;        }        Node GetNode(IntVector2 v, out bool inClose)        {            if (!Map.IsInMap(v))            {                inClose = false;                return null;            }            if (!Map.Walkable(v.x, v.z))            {                inClose = false;                return null;            }            for (int i = 0; i < Open.Count; i++)            {                if (Open[i].pos == v)                {                    inClose = false;                    return Open[i];                }            }            for (int i = 0; i < Close.Count; i++)            {                if (Close[i].pos == v)                {                    inClose = true;                    return Close[i];                }            }            Debug.Log("意料之外的情况");            inClose = false;            return null;        }        Node GetNode(IntVector2 v)        {            bool useless;            return GetNode(v, out useless);        }        Node GetMinFNode()        {            if (Open.Count == 0) return null;            Node result = Open[0];            foreach (var node in Open)            {                if (node.f < result.f)                {                    result = node;                }            }            return result;        }        void Update()        {            if (Input.GetKeyDown(KeyCode.F))            {                IntVector2 a = (IntVector2)GameObject.Find("a").transform.position;                IntVector2 b = (IntVector2)GameObject.Find("b").transform.position;                var path = Find(a, b);                for (int i = 1; i < path.Count; i++)                {                    Debug.DrawLine((Vector3)path[i - 1], (Vector3)path[i], Color.yellow, 3f);                }                path = PathFixer.Fix(path, 0.3f);                for (int i = 1; i < path.Count; i++)                {                    Debug.DrawLine((Vector3)path[i - 1] + Vector3.up * 0.2f, (Vector3)path[i] + Vector3.up * 0.2f, Color.red, 3f);                }            }        }    }}
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