i
This commit is contained in:
@@ -1,183 +1,183 @@
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import { Component, Vec2, _decorator } from 'cc'
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const { ccclass, property } = _decorator
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export enum AstarGridType {
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Hider = 0, // 不能走
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Normal = 1, // 能走
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End = 2, // 终点
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}
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@ccclass('Astar')
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export class AstarGrid {
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public x: number = 0
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public y: number = 0
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public f: number = 0
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public g: number = 0
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public h: number = 0
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public type: number = 0
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public parent: AstarGrid = null
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}
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export class Astar extends Component {
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public mapW: number = 24 // 横向格子数量
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public mapH: number = 13 // 纵向格子数量
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public is8dir: boolean = false // 是否8方向寻路 //4方向:代表只能走上下左右 8方向:代表可以走上下左右，左上，右上，左下，右下
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private openList: Array<AstarGrid> = []
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private closeList: Array<AstarGrid> = []
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private path: Array<AstarGrid> = []
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private gridsList: Array<Array<AstarGrid>> = []
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onLoad() {}
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/**
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* @param mapW 宽格子数
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* @param mapH 高格子数
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* @param is8dir 是8方向(上，下，左，右，左上，右上，左下，右下)寻路还是4方向(上，下，左，右)
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*/
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public init(mapW: number, mapH: number, is8dir: boolean = false) {
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this.mapW = mapW
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this.mapH = mapH
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this.is8dir = is8dir
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this.initMap()
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}
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/**
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* 初始化map的格子
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*/
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private initMap() {
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this.openList = []
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this.closeList = []
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this.path = []
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// 初始化格子二维数组
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this.gridsList = Array.from({ length: this.mapW + 1 })
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for (let col = 0; col < this.gridsList.length; col++)
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this.gridsList[col] = Array.from({ length: this.mapH + 1 })
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for (let col = 0; col <= this.mapW; col++)
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for (let row = 0; row <= this.mapH; row++) this.addGrid(col, row, AstarGridType.Normal)
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}
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/**
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* 创建一个格子到地图
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* @param x
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* @param y
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* @param type
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*/
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private addGrid(x: number, y: number, type: number = AstarGridType.Hider) {
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const grid = new AstarGrid()
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grid.x = x
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grid.y = y
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grid.type = type
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this.gridsList[x][y] = grid
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}
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/**
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* 设置格子类型
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* @param x
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* @param y
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* @param type
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*/
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public setGridType(x: number, y: number, type: number) {
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const curGrid: AstarGrid = this.gridsList[x][y]
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curGrid.type = type
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}
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/**
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* 开始搜索路径
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* @param startPos
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* @param endPos
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* @param callback
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*/
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public findPath(startPos: Vec2, endPos: Vec2, callback: Function = null) {
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const startGrid = this.gridsList[startPos.x][startPos.y]
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this.openList.push(startGrid)
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let curGrid: AstarGrid = this.openList[0]
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while (this.openList.length > 0 && curGrid.type !== AstarGridType.End) {
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// 每次都取出f值最小的节点进行查找
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curGrid = this.openList[0]
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if (curGrid.type === AstarGridType.End) {
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// Logger.log(this,"find path success.");
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this.generatePath(curGrid)
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if (callback) callback(this.path)
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return
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}
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for (let i: number = -1; i <= 1; i++) {
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for (let j: number = -1; j <= 1; j++) {
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if (i !== 0 || j !== 0) {
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const col = curGrid.x + i
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const row = curGrid.y + j
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if (
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col >= 0
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&& row >= 0
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&& col <= this.mapW
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&& row <= this.mapH
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&& this.gridsList[col][row].type !== AstarGridType.Hider
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&& !this.closeList.includes(this.gridsList[col][row])
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) {
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if (this.is8dir) {
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// 8方向 斜向走动时要考虑相邻的是不是障碍物
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if (
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this.gridsList[col - i][row].type === AstarGridType.Hider
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|| this.gridsList[col][row - j].type === AstarGridType.Hider
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)
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continue
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} else {
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// 四方形行走
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if (Math.abs(i) === Math.abs(j)) continue
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}
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// 计算g值
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const g = curGrid.g + Math.floor(Math.sqrt((i * 10) ** 2) + (j * 10) ** 2)
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if (this.gridsList[col][row].g === 0 || this.gridsList[col][row].g > g) {
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this.gridsList[col][row].g = g
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// 更新父节点
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this.gridsList[col][row].parent = curGrid
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}
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// 计算h值 manhattan估算法
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this.gridsList[col][row].h = Math.abs(endPos.x - col) + Math.abs(endPos.y - row)
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// 更新f值
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this.gridsList[col][row].f = this.gridsList[col][row].g + this.gridsList[col][row].h
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// 如果不在开放列表里则添加到开放列表里
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if (!this.openList.includes(this.gridsList[col][row]))
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this.openList.push(this.gridsList[col][row])
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// // 重新按照f值排序（升序排列)
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}
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}
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}
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}
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// 遍历完四周节点后把当前节点加入关闭列表
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this.closeList.push(curGrid)
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// 从开放列表把当前节点移除
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this.openList.splice(this.openList.indexOf(curGrid), 1)
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if (this.openList.length <= 0) {
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// Logger.log(this,"find path failed.");
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this.path = []
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if (callback) callback(this.path)
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break
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}
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// 重新按照f值排序（升序排列)
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this.openList.sort((x, y) => {
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return x.f - y.f
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})
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}
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}
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/**
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* 生成路径
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* @param grid
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*/
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private generatePath(grid: AstarGrid) {
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this.path.push(grid)
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while (grid.parent) {
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grid = grid.parent
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this.path.push(grid)
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}
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return this.path
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}
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onDestroy() {}
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}
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import { Component, Vec2, _decorator } from 'cc'
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const { ccclass, property } = _decorator
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export enum AstarGridType {
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Hider = 0, // 不能走
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Normal = 1, // 能走
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End = 2, // 终点
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}
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@ccclass('Astar')
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export class AstarGrid {
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public x: number = 0
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public y: number = 0
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public f: number = 0
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public g: number = 0
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public h: number = 0
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public type: number = 0
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public parent: AstarGrid = null
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}
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export class Astar extends Component {
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public mapW: number = 24 // 横向格子数量
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public mapH: number = 13 // 纵向格子数量
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public is8dir: boolean = false // 是否8方向寻路 //4方向:代表只能走上下左右 8方向:代表可以走上下左右，左上，右上，左下，右下
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private openList: Array<AstarGrid> = []
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private closeList: Array<AstarGrid> = []
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private path: Array<AstarGrid> = []
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private gridsList: Array<Array<AstarGrid>> = []
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onLoad() {}
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/**
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* @param mapW 宽格子数
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* @param mapH 高格子数
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* @param is8dir 是8方向(上，下，左，右，左上，右上，左下，右下)寻路还是4方向(上，下，左，右)
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*/
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public init(mapW: number, mapH: number, is8dir: boolean = false) {
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this.mapW = mapW
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this.mapH = mapH
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this.is8dir = is8dir
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this.initMap()
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}
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/**
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* 初始化map的格子
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*/
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private initMap() {
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this.openList = []
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this.closeList = []
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this.path = []
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// 初始化格子二维数组
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this.gridsList = Array.from({ length: this.mapW + 1 })
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for (let col = 0; col < this.gridsList.length; col++)
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this.gridsList[col] = Array.from({ length: this.mapH + 1 })
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for (let col = 0; col <= this.mapW; col++)
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for (let row = 0; row <= this.mapH; row++) this.addGrid(col, row, AstarGridType.Normal)
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}
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/**
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* 创建一个格子到地图
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* @param x
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* @param y
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* @param type
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*/
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private addGrid(x: number, y: number, type: number = AstarGridType.Hider) {
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const grid = new AstarGrid()
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grid.x = x
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grid.y = y
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grid.type = type
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this.gridsList[x][y] = grid
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}
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/**
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* 设置格子类型
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* @param x
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* @param y
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* @param type
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*/
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public setGridType(x: number, y: number, type: number) {
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const curGrid: AstarGrid = this.gridsList[x][y]
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curGrid.type = type
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}
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/**
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* 开始搜索路径
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* @param startPos
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* @param endPos
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* @param callback
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*/
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public findPath(startPos: Vec2, endPos: Vec2, callback: Function = null) {
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const startGrid = this.gridsList[startPos.x][startPos.y]
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this.openList.push(startGrid)
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let curGrid: AstarGrid = this.openList[0]
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while (this.openList.length > 0 && curGrid.type !== AstarGridType.End) {
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// 每次都取出f值最小的节点进行查找
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curGrid = this.openList[0]
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if (curGrid.type === AstarGridType.End) {
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// Logger.log(this,"find path success.");
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this.generatePath(curGrid)
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if (callback) callback(this.path)
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return
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}
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for (let i: number = -1; i <= 1; i++) {
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for (let j: number = -1; j <= 1; j++) {
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if (i !== 0 || j !== 0) {
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const col = curGrid.x + i
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const row = curGrid.y + j
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if (
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col >= 0
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&& row >= 0
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&& col <= this.mapW
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&& row <= this.mapH
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&& this.gridsList[col][row].type !== AstarGridType.Hider
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&& !this.closeList.includes(this.gridsList[col][row])
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) {
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if (this.is8dir) {
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// 8方向 斜向走动时要考虑相邻的是不是障碍物
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if (
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this.gridsList[col - i][row].type === AstarGridType.Hider
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|| this.gridsList[col][row - j].type === AstarGridType.Hider
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)
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continue
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} else {
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// 四方形行走
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if (Math.abs(i) === Math.abs(j)) continue
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}
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// 计算g值
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const g = curGrid.g + Math.floor(Math.sqrt((i * 10) ** 2) + (j * 10) ** 2)
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if (this.gridsList[col][row].g === 0 || this.gridsList[col][row].g > g) {
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this.gridsList[col][row].g = g
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// 更新父节点
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this.gridsList[col][row].parent = curGrid
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}
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// 计算h值 manhattan估算法
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this.gridsList[col][row].h = Math.abs(endPos.x - col) + Math.abs(endPos.y - row)
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// 更新f值
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this.gridsList[col][row].f = this.gridsList[col][row].g + this.gridsList[col][row].h
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// 如果不在开放列表里则添加到开放列表里
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if (!this.openList.includes(this.gridsList[col][row]))
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this.openList.push(this.gridsList[col][row])
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// // 重新按照f值排序（升序排列)
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}
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}
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}
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}
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// 遍历完四周节点后把当前节点加入关闭列表
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this.closeList.push(curGrid)
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// 从开放列表把当前节点移除
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this.openList.splice(this.openList.indexOf(curGrid), 1)
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if (this.openList.length <= 0) {
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// Logger.log(this,"find path failed.");
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this.path = []
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if (callback) callback(this.path)
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break
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}
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// 重新按照f值排序（升序排列)
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this.openList.sort((x, y) => {
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return x.f - y.f
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})
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}
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}
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/**
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* 生成路径
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* @param grid
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*/
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private generatePath(grid: AstarGrid) {
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this.path.push(grid)
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while (grid.parent) {
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grid = grid.parent
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this.path.push(grid)
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}
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return this.path
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}
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onDestroy() {}
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}
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@@ -1,11 +1,11 @@
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{
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"ver": "4.0.23",
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"importer": "typescript",
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"imported": true,
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"uuid": "2e03a7ea-58a9-4bbb-9dcc-660b093ea918",
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"files": [],
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"subMetas": {},
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"userData": {
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"simulateGlobals": []
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}
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}
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{
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"ver": "4.0.23",
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"importer": "typescript",
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"imported": true,
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"uuid": "2e03a7ea-58a9-4bbb-9dcc-660b093ea918",
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"files": [],
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"subMetas": {},
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"userData": {
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"simulateGlobals": []
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}
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}
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Reference in New Issue
Block a user