A*寻路算法——多人寻路、实时碰撞寻路、最近目的地

A* 路算法原理可以参考这个文章，已经写的很详细了http://www.cppblog.com/mythit/archive/2009/04/19/80492.aspx

这篇文章主要写写多人寻路的实时碰撞

先说说无法寻路的情况下，如何移动的离目的地最近的点

其实所有能到达的点都在"关闭列表中"，当“开启列表”中所有的点都遍历完后，如果还未找到终点，则视为路径不通

这时候遍历“关闭列表”，找出其中离终点直线距离最短的点即可，见下面代码中findNearPointFromList函数

多人碰撞的大体思路就是

1、用A*找出一条路径

2、按该路径走，没移动一格检测是否发生碰撞

3、如果碰撞，调用A*重新寻路

4、如果未碰撞，按原来路径继续走

5、到目的地停止

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace testAstar
{
    public class AstarNode
    {
        private AstarNode parent = null;
        private int g;
        private int h;
        private int x;
        private int y;

        public AstarNode Parent
        {
            get
            {
                return parent;
            }
            set
            {
                parent = value;
            }
        }

        public int G
        {
            get
            {
                return g;
            }
            set
            {
                g = value;
            }
        }

        public int H
        {
            get
            {
                return h;
            }
            set
            {
                h = value;
            }
        }

        public int F
        {
            get
            {
                return g + h;
            }
        }

        public int X
        {
            get
            {
                return x;
            }
            set
            {
                x = value;
            }
        }

        public int Y
        {
            get
            {
                return y;
            }
            set
            {
                y = value;
            }
        }

        public AstarNode(int _x, int _y)
        {
            this.x = _x;
            this.y = _y;
            this.parent = null;
            this.g = 0;
            this.h = 0;
        }
    }

    public class Astar
    {
        private List<AstarNode> openList = new List<AstarNode>();
        private List<AstarNode> closeList = new List<AstarNode>();
        private bool[,] mapData = null;
        private int pixelFormat = 16;
        private int mapWidth = 0;
        private int mapHeight = 0;
        private int endX = 0;
        private int endY = 0;

        public bool[,] MapData
        {
            get
            {
                return mapData;
            }
        }

        public int PixelFormat
        {
            get
            {
                return pixelFormat;
            }
        }

        public int MapWidth
        {
            get
            {
                return mapWidth;
            }
        }

        public int MapHeight
        {
            get
            {
                return mapHeight;
            }
        }

        public Astar()
        {
        }

        private bool isValid(int x, int y)
        {
            if (x < 0 || x >= mapWidth)
            {
                return false;
            }

            if (y < 0 || y >= mapHeight)
            {
                return false;
            }

            return true;
        }

        private bool inList(List<AstarNode> list, int x, int y)
        {
            foreach (AstarNode node in list)
            {
                if (node.X == x && node.Y == y)
                {