package com.test;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.List;
public class AStar {
private int[][] map;// 地图(1可通过 0不可通过)
private List<Node> openList;// 开启列表
private List<Node> closeList;// 关闭列表
private final int COST_STRAIGHT = 10;// 垂直方向或水平方向移动的路径评分
private final int COST_DIAGONAL = 14;// 斜方向移动的路径评分
private int row;// 行
private int column;// 列
public AStar(int[][] map, int row, int column) {
this.map = map;
this.row = row;
this.column = column;
openList = new ArrayList<Node>();
closeList = new ArrayList<Node>();
}
// 查找坐标(-1:错误,0:没找到,1:找到了)
public int search(int x1, int y1, int x2, int y2) {
if (x1 < 0 || x1 >= row || x2 < 0 || x2 >= row || y1 < 0
|| y1 >= column || y2 < 0 || y2 >= column) {
return -1;
}
if (map[x1][y1] == 0 || map[x2][y2] == 0) {
return -1;
}
Node sNode = new Node(x1, y1, null);
Node eNode = new Node(x2, y2, null);
openList.add(sNode);
List<Node> resultList = search(sNode, eNode);
if (resultList.size() == 0) {
return 0;
}
for (Node node : resultList) {
map[node.getX()][node.getY()] = -1;
}
return 1;
}
// 查找核心算法
private List<Node> search(Node sNode, Node eNode) {
List<Node> resultList = new ArrayList<Node>();
boolean isFind = false;
Node node = null;
while (openList.size() > 0) {
// 取出开启列表中最低F值,即第一个存储的值的F为最低的
node = openList.get(0);
// 判断是否找到目标点
if (node.getX() == eNode.getX() && node.getY() == eNode.getY()) {
isFind = true;
break;
}
// 上
if ((node.getY() - 1) >= 0) {
checkPath(node.getX(), node.getY() - 1, node, eNode,
COST_STRAIGHT);
}
// 下
if ((node.getY() + 1) < column) {
checkPath(node.getX(), node.getY() + 1, node, eNode,
COST_STRAIGHT);
}
// 左
if ((node.getX() - 1) >= 0) {
checkPath(node.getX() - 1, node.getY(), node, eNode,
COST_STRAIGHT);
}
// 右
if ((node.getX() + 1) < row) {
checkPath(node.getX() + 1, node.getY(), node, eNode,
COST_STRAIGHT);
}
// 左上
if ((node.getX() - 1) >= 0 && (node.getY() - 1) >= 0) {
checkPath(node.getX() - 1, node.getY() - 1, node, eNode,
COST_DIAGONAL);
}
// 左下
if ((node.getX() - 1) >= 0 && (node.getY() + 1) < column) {
checkPath(node.getX() - 1, node.getY() + 1, node, eNode,
COST_DIAGONAL);
}
// 右上
if ((node.getX() + 1) < row && (node.getY() - 1) >= 0) {
checkPath(node.getX() + 1, node.getY() - 1, node, eNode,
COST_DIAGONAL);
}
// 右下
if ((node.getX() + 1) < row && (node.getY() + 1) < column) {
checkPath(node.getX() + 1, node.getY() + 1, node, eNode,
COST_DIAGONAL);
}
// 从开启列表中删除
// 添加到关闭列表中
closeList.add(openList.remove(0));
// 开启列表中排序,把F值最低的放到最底端
Collections.sort(openList, new NodeFComparator());
}
if (isFind) {
getPath(resultList, node);
}
return resultList;
}
// 查询此路是否能走通
private boolean checkPath(int x, int y, Node parentNode, Node eNode,
int cost) {
Node node = new Node(x, y, parentNode);
// 查找地图中是否能通过
if (map[x][y] == 0) {
closeList.add(node);
return false;
}
// 查找关闭列表中是否存在
if (isListContains(closeList, x, y) != -1) {
return false;
}
// 查找开启列表中是否存在
int index = -1;
if ((index = isListContains(openList, x, y)) != -1) {
// G值是否更小,即是否更新G,F值
if ((parentNode.getG() + cost) < openList.get(index).getG()) {
node.setParentNode(parentNode);
countG(node, eNode, cost);
countF(node);
openList.set(index, node);
}
} else {
// 添加到开启列表中
node.setParentNode(parentNode);
count(node, eNode, cost);
openList.add(node);
}
return true;
}
// 集合中是否包含某个元素(-1:没有找到,否则返回所在的索引)
private int isListContains(List<Node> list, int x, int y) {
for (int i = 0; i < list.size(); i++) {
Node node = list.get(i);
if (node.getX() == x && node.getY() == y) {
return i;
}
}
return -1;
}
// 从终点往返回到起点
private void getPath(List<Node> resultList, Node node) {
if (node.getParentNode() != null) {
getPath(resultList, node.getParentNode());
}
resultList.add(node);
}
// 计算G,H,F值
private void count(Node node, Node eNode, int cost) {
countG(node, eNode, cost);
countH(node, eNode);
countF(eNode);
}
// 计算G值
private void countG(Node node, Node eNode, int cost) {
if (node.getParentNode() == null) {
node.setG(cost);
} else {
node.setG(node.getParentNode().getG() + cost);
}
}
// 计算H值
private void countH(Node node, Node eNode){
int x = Math.abs(node.getX() - eNode.getX());
int y = Math.abs(node.getY() - eNode.getY());
if(x<y){
node.setH(x * COST_DIAGONAL + (y-x) * COST_STRAIGHT);
}else{
node.setH(y * COST_DIAGONAL + (x-y) * COST_STRAIGHT);
}
}
// 计算F值
private void countF(Node node) {
node.setF(node.getG() + node.getH());
}
public static void main(String[] args) {
int[][] map=new int[][]{// 地图数组
{1,1,1,1,1,1,1,1,1,1},
{1,1,1,1,0,1,1,1,1,1},
{1,1,1,1,0,1,1,1,1,1},
{1,1,1,1,0,1,1,1,1,1},
{1,1,1,1,0,1,1,1,1,1},
{1,1,1,1,0,1,1,1,1,1}
};
AStar aStar=new AStar(map, 6, 10);
int flag=aStar.search(4, 0, 3, 8);
if(flag==-1){
System.out.println("传输数据有误!");
}else if(flag==0){
System.out.println("没找到!");
}else{
for(int x=0;x<6;x++){
for(int y=0;y<10;y++){
if(map[x][y]==1){
System.out.print(" ");
}else if(map[x][y]==0){
System.out.print("〓");
}else if(map[x][y]==-1){
System.out.print("※");
}
}
System.out.println();
}
}
}
}
// 节点类
class Node {
private int x;// X坐标
private int y;// Y坐标
private Node parentNode;// 父类节点
private int g;// 当前点到起点的移动耗费
private int h;// 当前点到终点的移动耗费,即曼哈顿距离|x1-x2|+|y1-y2|(忽略障碍物)
private int f;// f=g+h
public Node(int x, int y, Node parentNode) {
this.x = x;
this.y = y;
this.parentNode = parentNode;
}
public int getX() {
return x;
}
public void setX(int x) {
this.x = x;
}
public int getY() {
return y;
}
public void setY(int y) {
this.y = y;
}
public Node getParentNode() {
return parentNode;
}
public void setParentNode(Node parentNode) {
this.parentNode = parentNode;
}
public int getG() {
return g;
}
public void setG(int g) {
this.g = g;
}
public int getH() {
return h;
}
public void setH(int h) {
this.h = h;
}
public int getF() {
return f;
}
public void setF(int f) {
this.f = f;
}
}
// 节点比较类
class NodeFComparator implements Comparator<Node> {
@Override
public int compare(Node o1, Node o2) {
return o1.getF() - o2.getF();
}
}
参考 : http://www.raywenderlich.com/4946/introduction-to-a-pathfinding