Unity之A*算法

Astar.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class Astar : MonoBehaviour {
   

    private const int mapWidth = 8;
    private const int mapHeight = 6;
    private Point[,] map = new Point[mapWidth, mapHeight];

	void Start () {
   
        InitMap();
        Point start = map[2, 3];
        Point end = map[6, 3];
        //测试
        //List<Point> list = GetSurroundPoints(map[3, 3]);
        //foreach(Point p  in list)
        //{
   
        //    Debug.Log(p.X + "- "+ p.Y);
        //}
        FindPath(start, end);
        ShowPath(start, end);
    }
	
    private void InitMap(){
   
        for(int x = 0; x < mapWidth; x++)
        {
   
            for(int y = 0; y <mapHeight; y++)
            {
   
                map[x, y] = new Point(x, y);
            }
        }
        map[4, 2].IsWall = true;
        map[4, 3].IsWall = true;
        map[4, 4].IsWall = true;
    }

    private void FindPath(Point start, Point end)
    {
   
        List<Point> openList = new List<Point>();
        List<Point> closeList = new List<Point>();
        openList.Add(start);
        while (openList.Count > 0)
        {
   
            Point point = FindMinOfPoint(openList);
            openList.Remove(point);
            closeList.Add(point);
            List<Point> surroundPoints = GetSurroundPoints(point);
            PointFilter(surroundPoints, closeList);
            foreach(Point surroundPoint in surroundPoints)
            {