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