A*算法的C#实现（纯代码）

#region

using System.Collections.Generic;
using System.Diagnostics;
using System.Runtime.InteropServices;

using UnityEngine;

using Debug = UnityEngine.Debug;

#endregion

public class VAStar : MonoBehaviour
{
    #region Fields

    public int GridHeight;

    public int GridWidth;

    private List<VGrid> closedList;

    private Dictionary<int, VGrid> gridDictionary;

    private List<GameObject> obstacleList;

    private List<VGrid> openList;

    private System.Diagnostics.Stopwatch watch;

    public delegate void OnPathComplete ( List<Vector3> posList );

    public OnPathComplete onPathComplete;

    #endregion

    // Use this for initialization

    #region Public Methods and Operators

    public void StartFindPath ( Vector3 startPos, Vector3 endPos, OnPathComplete delegateComplete )
    {
        watch.Start();
        this.onPathComplete = delegateComplete;
        int startGridId = this.GetGridIdByPos(startPos);
        int endGridId = this.GetGridIdByPos(endPos);
        if (startGridId == -1 || endGridId == -1)
        {
            return;
        }
        this.openList.Add(this.gridDictionary[startGridId]);
        this.Test(startGridId, endGridId);
    }

    #endregion

    #region Methods

    private int GetColumnCount ()
    {
        return Screen.width / this.GridWidth;
    }

    private Vector3 GetGridCenterById ( int gridId )
    {
        //Like This:
        //8 9 10 11
        //4 5 6 7
        //0 1 2 3
        return new Vector3(
            gridId % this.GetColumnCount() * this.GridWidth + (this.GridWidth / 2),
            gridId / this.GetColumnCount() * this.GridHeight + (this.GridHeight / 2),
            0);
    }

    private int GetGridIdByPos ( Vector3 pos )
    {
        if (this.gridDictionary != null && this.gridDictionary.Values.Count != 0)
        {
            foreach (KeyValuePair<int, VGrid> kv in this.gridDictionary)
            {
                Rect gridRect = new Rect(
                    kv.Value.Center.x - this.GridWidth / 2,
                    kv.Value.Center.y - this.GridHeight / 2,
                    this.GridWidth,
                    this.GridHeight);
                if (gridRect.Contains(pos))
                {
                    return kv.Key;
                }
            }
        }
        return -1;
    }

    private int GetGridIdByRowAndColumn ( int rowId, int columnId )
    {
        if (rowId < 0 ||