项目实训（七）——车辆寻路算法的实现

LiuFangdi145

已于 2022-06-09 23:19:51 修改

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分类专栏：项目实训文章标签： unity

于 2022-04-30 18:28:35 首次发布

本文链接：https://blog.csdn.net/Fancy145/article/details/123780768

版权

本文介绍了在Unity项目中实现车辆寻路的代码和算法学习，特别是A*算法的应用。通过像素化地图和曼哈顿距离的概念，详细阐述了A*算法的估价函数和寻路过程，包括Open列表和Close列表的使用，以及如何处理分叉路径。

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一、前言

在我们小组的项目的城市游戏场景中，我进行了车辆寻路的代码实现，该博客将简单记录一下工作内容。

二、代码实现

PathFinding:

using System.Collections;
using System.Collections.Generic;
using System;
using UnityEngine;
#if UNITY_EDITOR
using UnityEditor;
using UnityEditorInternal;
#endif

namespace PolyPerfect.City
{
   

    public class PathFinding : MonoBehaviour
    {
   
        private BinaryHeap Open =new BinaryHeap(2048);
        private Dictionary<Guid, int> OpenIDs = new Dictionary<Guid, int>();
        private Dictionary<Guid, PathNode> Closed = new Dictionary<Guid, PathNode>();
        [HideInInspector]
        public List<Path> PathList = new List<Path>();
        [HideInInspector]
        public List<Path> wholePath;

        private Vector3 startPoint;
        private Vector3 endPoint;

        private Tile endTile;
        private Tile startTile;
        private Guid endId;

         public List<Path> GetPath(Vector3 start, Vector3 end, PathType pathType)
         {
   
            Open.Clear();
            PathList = new List<Path>();
            Closed.Clear();
            OpenIDs.Clear();

            startPoint = start;
            endPoint = end;

            startTile = FindClosestTile(startPoint, pathType);
            endTile = FindClosestTile(endPoint, pathType);
            List<Path> startPaths;
            if(pathType == PathType.Sidewalk)
            {
   
                startPaths = startTile.sidewalkPaths;
            }
            else
                startPaths = startTile.paths;
            foreach (Path path in startPaths)
            {
   
                float h = CalculateHeuristic(path.pathPositions[path.pathPositions.Count - 1].position);
                float g = Vector3.Distance(transform.position, path.pathPositions[0].position) + Vector3.Distance(transform.position, path.pathPositions[path.pathPositions.Count-1].position);
                PathNode node = new PathNode() {
   path = path, lastNode = null, currentScore = g, score = h +g};
                Open.Insert(node);
                OpenIDs.Add(node.path.Id, 0);
            }
            if(DoBfsSteps())
            {
   
                Closed[endId].path = FindClosestPath(endPoint, Closed[endId].lastNode.path.nextPaths);
                GetPathList(Closed[endId]);
                PathList.Reverse();
                //PathList[0] = FindClosestPath(startPoint, startPaths);
                return PathList;
            }
            else
            {
   
                return null;
            }
         }
        public List<Path> GetPathWithCheckpoints(List<Vector3> checkpoints, PathType pathType)
        {
   
            wholePath = new List<Path>();
            
            for (int i = 1; i < checkpoints.Count ;i++)
            {
   
                startPoint = checkpoints[i-1];
                endPoint