A*（自动寻路）

onLoad: function () {
        var MAP = {
            rows : 5,
            cols : 5,
            arr:[
                [0,1,0,0,0],
                [0,1,0,1,0],
                [0,1,0,1,0],
                [0,1,0,1,0],
                [0,0,0,1,0]
                ]
        }
        cc.log(this.searchRoad(MAP,0,0,4,4))
       
    },
   

    searchRoad :function (MAP,start_x,start_y,end_x,end_y){
         //用F值对数组排序
        function sortF(a,b){
            return b.F- a.F;
        }
        //获取周围八个点的值
        function SurroundPoint(curPoint){
            var x=curPoint.x,y=curPoint.y;
            return [
                {x:x-1,y:y-1},
                {x:x,y:y-1},
                {x:x+1,y:y-1},
                {x:x+1,y:y},
                {x:x+1,y:y+1},
                {x:x,y:y+1},
                {x:x-1,y:y+1},
                {x:x-1,y:y}
            ]
        }
        //判断点是否存在在列表中，是的话返回的是序列号
        function existList(point,list) {
            for(var i in list) {
                if(point.x==list[i].x && point.y==list[i].y) {
                    return i;
                }
            }
            return false;
        }
            var openList=[],    //开启列表
                closeList=[],   //关闭列表
                result=[],      //结果数组
                result_index;   //结果数组在开启列表中的序号

            openList.push({x:start_x,y:start_y,G:0});//把当前点加入到开启列表中，并且G是0

            do{
                var currentPoint = openList.pop();
                closeList.push(currentPoint);
                var surroundPoint=SurroundPoint(currentPoint);
                for(var i in surroundPoint) {
                    var item = surroundPoint[i];                //获得周围的八个点
                    if (
                        item.x>=0 &&                            //判断是否在地图上
                        item.y>=0 &&
                        item.x<MAP.rows &&
                        item.y<MAP.cols &&
                        MAP.arr[item.x][item.y] != 1 &&         //判断是否是障碍物
                        !existList(item, closeList) &&          //判断是否在关闭列表中
                        MAP.arr[item.x][currentPoint.y]!=1 &&   //判断之间是否有障碍物，如果有障碍物是过不去的
                        MAP.arr[currentPoint.x][item.y]!=1) {
                        //g 到父节点的位置
                        //如果是上下左右位置的则g等于10，斜对角的就是14
                        var g = currentPoint.G + ((currentPoint.x - item.x) * (currentPoint.y - item.y) == 0 ? 10 : 14);
                        if (!existList(item, openList)) {       //如果不在开启列表中
                            //计算H，通过水平和垂直距离进行确定
                            item['H'] = Math.abs(end_x - item.x) * 10 + Math.abs(end_y - item.y) * 10;
                            item['G'] = g;
                            item['F'] = item.H + item.G;
                            item['parent'] = currentPoint;
                            openList.push(item);
                        }
                        else {                                  //存在在开启列表中，比较目前的g值和之前的g的大小
                            var index = existList(item, openList);
                            //如果当前点的g更小
                            if (g < openList[index].G) {
                                openList[index].parent = currentPoint;
                                openList[index].G = g;
                                openList[index].F=g+openList[index].H;
                            }

                        }
                    }
                }
                //如果开启列表空了，没有通路，结果为空
                if(openList.length==0) {
                    break;
                }
                openList.sort(sortF);//这一步是为了循环回去的时候，找出 F 值最小的, 将它从 "开启列表" 中移掉
            }while(!(result_index=existList({x:end_x,y:end_y},openList)));

            //判断结果列表是否为空
            if(!result_index) {
                result=[];
            }
            else {
                var currentObj=openList[result_index];
                do{
                    //把路劲节点添加到result当中
                    result.unshift({
                        x:currentObj.x,
                        y:currentObj.y
                    });
                    currentObj=currentObj.parent;
                }while (currentObj.x!=start_x || currentObj.y!=start_y);

            }
            return result;

        }