cocos creator TS A*寻路

class Grid {
    x: number;
    y: number;
    f: number;
    g: number;
    h: number;
    parent: any;
    type: number;
    constructor() {
        this.x = 0;
        this.y = 0;
        this.f = 0;
        this.g = 0;
        this.h = 0;
        this.parent = null;
        this.type = 0; // -1障碍物， 0正常， 1起点， 2目的点
    }
}

const { ccclass, property } = cc._decorator;

@ccclass
export default class AStar extends cc.Component {


    @property(cc.Graphics)
    map: cc.Graphics = null;

    _gridW = 50;
    _gridH = 50;
    mapH = 13;
    mapW = 24;
    is8dir = true;
    openList = [];
    closeList = [];
    path = [];
    gridsList = new Array(this.mapW + 1);

    onLoad() {
        this._gridW = 50;   // 单元格子宽度
        this._gridH = 50;   // 单元格子高度
        this.mapH = 13;     // 纵向格子数量
        this.mapW = 24;     // 横向格子数量

        this.is8dir = true; // 是否8方向寻路

        this.node.on(cc.Node.EventType.TOUCH_MOVE, this.onTouchMove, this);
        this.node.on(cc.Node.EventType.TOUCH_END, this.onTouchEnd, this);

        this.initMap();
    }

    onTouchMove(event) {
        let pos = event.getLocation();
        let x = Math.floor(pos.x / (this._gridW + 2));
        let y = Math.floor(pos.y / (this._gridH + 2));
        if (this.gridsList[x][y].type == 0) {
            this.gridsList[x][y].type = -1;
            this.draw(x, y, cc.Color.RED);
        }
        cc.log(x + "," + y);
    }

    onTouchEnd() {
        // 开始寻路
        this.findPath(cc.v2(3, 8), cc.v2(19, 5));
    }

    initMap() {
        this.openList = [];
        this.closeList = [];
        this.path = [];
        // 初始化格子二维数组
        this.gridsList = new Array(this.mapW + 1);
        for (let col = 0; col < this.gridsList.length; col++) {
            this.gridsList[col] = new Array(this.mapH + 1);
        }

        this.map.clear();
        for (let col = 0; col <= this.mapW; col++) {
            for (let row = 0; row <= this.mapH; row++) {
                this.draw(col, row, cc.Color.GRAY);
                this.addGrid(col, row, 0);
            }
        }

        // 设置起点和终点
        let startX = 3;
        let startY = 8;
        let endX = 19;
        let endY = 5;
        this.gridsList[startX][startY].type = 1;
        this.draw(startX, startY, cc.Color.YELLOW);

        this.gridsList[endX][endY].type = 2;
        this.draw(endX, endY, cc.Color.BLUE);
    }

    addGrid(x, y, type) {
        let grid = new Grid();
        grid.x = x;
        grid.y = y;
        grid.type = type;
        this.gridsList[x][y] = grid;
    }

    _sortFunc(x, y) {
        return x.f - y.f;
    }

    generatePath(grid) {
        this.path.push(grid);
        while (grid.parent) {
            grid = grid.parent;
            this.path.push(grid);
        }
        cc.log("path.length: " + this.path.length);
        for (let i = 0; i < this.path.length; i++) {
            // 起点终点不覆盖，方便看效果
            if (i != 0 && i != this.path.length - 1) {
                let grid = this.path[i];
                this.draw(grid.x, grid.y, cc.Color.GREEN);
            }
        }
    }

    findPath(startPos, endPos) {
        let startGrid = this.gridsList[startPos.x][startPos.y];
        let endGrid = this.gridsList[endPos.x][endPos.y];

        this.openList.push(startGrid);
        let curGrid = this.openList[0];


        while (this.openList.length > 0 && curGrid.type != 2) {
            // 每次都取出f值最小的节点进行查找
            curGrid = this.openList[0];
            if (curGrid.type == 2) {
                cc.log("find path success.");
                this.generatePath(curGrid);
                return;
            }

            for (let i = -1; i <= 1; i++) {
                for (let j = -1; j <= 1; j++) {
                    if (i != 0 || j != 0) {
                        let col = curGrid.x + i;
                        let row = curGrid.y + j;
                        if (col >= 0 && row >= 0 && col <= this.mapW && row <= this.mapH
                            && this.gridsList[col][row].type != -1
                            && this.closeList.indexOf(this.gridsList[col][row]) < 0) {
                            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 == -1 || this.gridsList[col][row - j].type == -1) {
                                    continue;
                                }
                            } else {
                                // 四方形行走
                                if (Math.abs(i) == Math.abs(j)) {
                                    continue;
                                }
                            }

                            // 计算g值
                            let g = curGrid.g + Math.sqrt(Math.pow(i * 10, 2) + Math.pow(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.indexOf(this.gridsList[col][row]) < 0) {
                                this.openList.push(this.gridsList[col][row]);
                                console.log("==>"+col +","+ row);
                            }
                            // // 重新按照f值排序（升序排列)
                            // this.openList.sort(this._sortFunc);
                        }
                    }
                }
            }
            // 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) {
                cc.log("find path failed.");
            }

            // 重新按照f值排序（升序排列)
            this.openList.sort(this._sortFunc);
        }
    }

    draw(col, row, color = cc.Color.GRAY) {
        color = color != undefined ? color : cc.Color.GRAY;
        this.map.fillColor = color;
        let posX = 2 + col * (this._gridW + 2);
        let posY = 2 + row * (this._gridH + 2);
        this.map.fillRect(posX, posY, this._gridW, this._gridH);
    }

}