Unity3D之迷宫寻路_A*最短路径寻路

A*寻路相信很多人都听说过，也是比较基本的一种算法，具体概念我就不多说了，网上查找一下一大堆，我直接贴上我的A*应用方法，以下是地图：

接下来是地图数组：

using UnityEngine;
using System.Collections;

public static class MapsArray {

    public static int[,] MazeItem = new int[15, 10]   //初始化迷宫
		{
			{1,1,1,1,1,1,1,1,1,1},
			{1,0,1,1,1,0,0,0,1,1},
			{1,0,0,1,1,0,1,0,1,1},
			{1,0,0,0,0,0,1,0,1,1},
			{1,1,0,1,0,1,1,0,1,1},
			{1,1,0,1,0,0,0,0,1,1},
			{1,0,0,0,1,1,1,0,1,1},
			{1,1,0,0,0,0,0,0,1,1},
			{1,1,0,1,1,1,0,0,0,1},
			{1,1,0,0,1,1,1,0,1,1},
            {1,1,1,0,0,0,0,0,1,1},
            {1,1,1,1,0,0,1,0,1,1},
            {1,0,0,0,0,1,1,0,0,1},
            {1,0,1,1,1,0,1,1,0,1},
            {1,1,1,1,1,1,1,1,1,1}
		};
}

接下来是A*算法的使用代码：

using UnityEngine;
using System.Collections;
using System;
using System.Collections.Generic;

public enum Grids3DType { 
    Normal,
    Obstacle,
    Start,
    End
}

public class Grids_3D : IComparable
{
    public int x;
    public int y;
    public int G;
    public int F;
    public int H;
    public Grids_3D fatherMode;
    public Grids3DType gridsType;
    public int CompareTo(object obj)
    {
        Grids_3D grid = (Grids_3D)obj;
        if (this.F