六边形网格A*寻路算法,JAVA实现源码

关于A*算法网上一大堆,我就不重复说明了,以下是JAVA实现的类

代码除了A*之外还有如何建立六边形网格,以及绘制六边形

图中红色是不可通过(山脉)

绿色是减速通过(森林)

灰色是加速通过(道路)

蓝色就是实际路径

修改参数结果也会有变化

具体实现看代码

核心工具类:APathfindingHex:

package gpp.util;

import java.util.ArrayList;
import java.util.List;

import gpp.object.Coordinate;

public class APathfindingHex {
	List<Coordinate> allC;
	
	public List<Coordinate> openList;
	public List<Coordinate> closeList;
	
	List<Coordinate> pathC;
	
	
	public APathfindingHex(List<Coordinate> allC){
		this.allC=new ArrayList<>();
		for (Coordinate oldC : allC) {
			Coordinate newC=new Coordinate(oldC.x, oldC.y);
			newC.isBlock=oldC.isBlock;
			newC.speed=oldC.speed;
			this.allC.add(newC);
		}
	}
	
	Coordinate findC(Coordinate inC,List<Coordinate> allC) {
		for (Coordinate coordinate : allC) {
			if (coordinate.equals(inC)) {
				return coordinate; 
			}
		}
		return null;
	}
	
	public List<Coordinate> start(Coordinate oldStartC,Coordinate oldDesC) {
		
		Coordinate startC=findC(oldStartC,allC);
		Coordinate desC=findC(oldDesC,allC);
		if (findC(startC,allC)==null||findC(desC,allC)==null) {
			System.out.println("起点或者终点有误");
			return null;
		}
		if (startC.isBlock||desC.isBlock) {
			System.out.println("起点或者终点无法通过");
			return null;
		}
		openList=new ArrayList<>();
		closeList=new ArrayList<>();
		pathC=new ArrayList<>();
		
		boolean isFind=makeOne(startC,desC);
		long count=0;
		while (isFind==false&&openList.size()>0) {
			count++;
			//System.out.println("第"+count+"次计算:");
			Coordinate minF=findMinFinOpen();
			if (minF!=null) {
				isFind=makeOne(minF,desC);
			}
		}
		System.out.println("计算量:"+count);
		return pathC;
	}
	
	
	boolean makeOne(Coordinate curC,Coordinate desC) {
		closeList.add(curC);
		openList.remove(curC);
		List<Coordinate> nearListC=curC.findNear();
		for (Coordinate coordinate : nearListC) {
			Coordinate temp=findC(coordinate,allC);
			if (temp!=null&&temp.isBlock==false&&!closeList.contains(temp)) {
				int tempG=curC.G+temp.speed;
				if (tempG<temp.G||temp.parent==null) {
					temp.parent&