赛车AI山地寻路

 寻路基本算法选择A*启发式搜索，但由于山地路不平，无法直接用平面网格，用unity自带的网格导航固然可以，但是还有一个选择，就是自己布点。将寻路网格当成双向有向图，采用有向图邻接表的数据结构存储路网。A*启发函数选择马哈顿距离（d = dx + dy）。代码如下：

//Use Graph to describe availue path for players or non-players

	//Graph Edge
	//Use index in array as id ,so there is no need to store start point
	public class AStarPathEdge {
		public AStarPoint2f endPoint; // End point
		public float distance;      // Distance between start point end end point,
									//which means this value stands for edge distance
		public override string ToString ()
		{
			return "endPointIndex:  " + endPoint.index + "  distane:  " + distance + "    ";
		}
	}
	
	public class AStarPoint2f {
		public float x;
		public float y;
		private IList edges = new ArrayList();  //All edges that start from this point
		public int index = 0;         //Index in array
		public float h = float.MaxValue;    //Distance between this point and end point
		public float g = float.MaxValue;    //Distance between this point and start point
		public float f = float.MaxValue;
		public AStarPoint2f father;//Record A Star path
		//Caculate Manhattan Distance
		public void caculateDestDistance(AStarPoint2f destPoint) {
			if(destPoint == this)
				h = 0;
			else 
				h = ManhattanDistance(