俗话说，好记性不如烂笔头，对于有了解过寻路算法的同学，对于A星算法应该不陌生；为了巩固下这个算法的理解，所以利用Unity演示了算法的过程；本文的基本构成分为 基本原理+ 算法实现+ Unity演示三个步骤。
A星算法基本原理
什么是寻路算法
寻路算法是在指定地图中，NPC可以根据起始点和目标点，计算出一条比较合理的链接路线（通常需要最短路径）；在地图中，路点可以分为两种，一种是普通路点，一种是障碍路点（墙、水、坑等），算法的目的就是要绕过障碍物，使得NPC尽可能的走最短路线到达目标点(targetPoint)。
对于最基本的A星寻路算法，是把一张地图分为一个二维数组，每一个格子代表一个路点；或者如下图如所示，将一张地图分为一个一个的格子，格子为正方形，下方的绿色格子周围有8个相邻的格子；
算法的思路
对于上述九宫格图，假设最小方格的边长是10,那么从绿色格子出发，到达红色格子的距离为
200
\sqrt{200}
200，这里可以简化为14，因为这样可以简化算法的计算难度（浮点数比整数的计算复杂）；到达黄色格子的距离为10；
每一个路点都有一个评估值F，其中
F
=
G
+
H
F = G + H
F=G+H，G值是起点移动到指定方格的移动代价，H是指定的方格移动到终点的估算成本，H值的计算方式有如下两种：
方式一：计算横向和纵向移动的距离，不能斜着走；
方式二：比如该点和目标点为对角顶点组成的举行的边长是a 和 b，那么H值是
m
i
n
(
a
,
b
)
×
14
+
a
b
s
(
a
−
b
)
×
10
min(a, b) \times 14 + abs(a - b) \times 10
min(a,b)×14+abs(a−b)×10
，
本文算法选择的是方式二，H值的计算需要注意的地方是，不需要考虑障碍物，只需考虑起始点和目标点即可。对于F、G、H三个评估值的什么这么命名，我也不清楚，猜测是就和我们平时用来替代临时变量用的i、j、k一样，仅仅是26英文字母中连续的三个而已，方便记忆😎;
这个算法需要两个数组，openList和closeList，openList里面存放的是当前状态可以到达的路点，closeList存放不能到达的路点和已经经过判断的路点；具体步骤如下：
- 从当前选中路点a出发，总共有8个路点可能到达，假设可到达的节点为b，如果b是障碍点，则直接加入closeList；如果b在openList中，当且仅当b的G值小于点a的G值时，更新b的G值，并且将路点b的父节点设置为当前a；如果b在closeList中，则跳过该点的判断。否者初始化G值和H值，并将该节点b加入到openlist列表中；最后将初始路点a移出openlist。
- 如果目标点进入了openList，则遍历停止，找到可到达路径，由于每个节点都保存着到达自己的父节点，所以拿到目标点，一直拿到它的父节点就可以找到到达路径；如果openList为空时还没找都目标路点，则不可到达，算法结束；否则进入下一个步骤；
- 遍历openList的路点，选出F值最小的那个点，如果有多个最小值，可以选择第一个最小值，也可以选择多个最小值中的最后一个，最后的表现就是到达目标点的最短路径可能有多条；然后把这个点当做选中路点，进行步骤1；
算法实现
这里列出算法用的大部分代码，其中最关键的就是RefreshFind函数和AddOpenlistNode函数，执行的就是算法的关键部分----遍历openList然后不断的进行判断，直到找到目标路点或者openList为空，如果有不理解的地方，请留言。
脚本1————cconst.cs
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
namespace AStar
{
public static class cconst
{
public static int NormalTile = 0;
public static int WaterTile = 1;
public static int DestinationTile = 2;
public static int MarkTile = 3;
public static int FindTile = 4;
public static int StartTile = 5;
public static int RowLineNum = 16; // 行数
public static int ColLineNum = 32; // 列数
public static Vector2 startPos = new Vector2(-617, 298);
public static float itemRate = 1.0f;
public static float width = 40 * itemRate;
public static float height = 40 * itemRate;
public static int SlideDis = 14;
public static int UnSlideDis = 10;
public static int slideValNum = 4;
public static List<Vector2> UnSlideDisVal = new List<Vector2> { new Vector2(-1, 0), new Vector2(0, 1), new Vector2(1, 0), new Vector2(0, -1) };
public static List<Vector2> SlideDisVal = new List<Vector2> { new Vector2(-1, -1), new Vector2(-1, 1), new Vector2(1, 1), new Vector2(1, -1) };
//障碍点类型
public static int BattleNum = 5;
public static int BattleTypeNum = 3;
public static Dictionary<int, List<List<int>>> BattleTypeDic = new Dictionary<int, List<List<int>>>
{
{ 0, new List<List<int>>{ new List<int> {1,0,0 }, new List<int> { 1,1,0 }, new List<int> { 1,1,1 },new List<int> { 1,1,1 }, new List<int> { 1,1,0 }, new List<int> { 1,0,0 } } },
{ 1, new List<List<int>>{ new List<int> {1,1,1,1}, new List<int> {1,1,1 }, new List<int> { 1, 1, 1,1,1 } } },
{ 2, new List<List<int>>{ new List<int> {1,0, 0, 0, }, new List<int> {1,1,1,1 }, new List<int> {0,0,0,1 }, new List<int> { 0, 0, 0, 1 } } },
};
}
}
脚本2————AStar.cs
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
namespace AStar
{
public class GObject
{
public GameObject gameobject;
public int objType;
GameObject fValText;
GameObject gValText;
GameObject hValText;
GameObject textPanel;
public GObject(GameObject _gameobject, int _type)
{
gameobject = _gameobject;
objType = _type;
textPanel = _gameobject.transform.Find("Panel").gameObject;
fValText = textPanel.transform.Find("FText").gameObject;
gValText = textPanel.transform.Find("GText").gameObject;
hValText = textPanel.transform.Find("HText").gameObject;
textPanel.SetActive(false);
}
public bool IsObstacle
{
get { return objType == cconst.WaterTile; }
}
public void UpdateDis(int g, int h)
{
textPanel.SetActive(true);
gValText.GetComponent<Text>().text = g.ToString();
hValText.GetComponent<Text>().text = h.ToString();
int f = g + h;
fValText.GetComponent<Text>().text = f.ToString();
}
public bool Visible
{
set { gameobject.SetActive(value);
if(!value)
{
textPanel.SetActive(false);
}
}
get { return gameobject.activeSelf; }
}
public void SetParent(Transform transform)
{
gameobject.transform.SetParent(transform);
}
public Vector2 localPosition
{
set { gameobject.transform.localPosition = value; }
get { return gameobject.transform.localPosition; }
}
}
public class Node
{
public Node parent;
public GObject gameobject;
int idx = 0;
public Node(GObject obj, int _idx) { gameobject = obj; idx = _idx; }
int g = 0;
int h = 0;
public int Idx
{
get { return idx; }
}
public int F
{
get { return G + H; }
}
public int G
{
get { return g; }
set { g = value; }
}
public int H
{
get { return h; }
set { h = value;}
}
public int xIdx
{
get { return idx / cconst.ColLineNum; }
}
public int yIdx
{
get { return idx % cconst.ColLineNum; }
}
public void UpdateGVal(int gVal)
{
if(gVal < G)
{
G = gVal;
}
}
public void UpdateLocalPosition()
{
int rowIdx = xIdx;
int colIdx = yIdx;
float posX = cconst.startPos.x + colIdx * cconst.width;
float posY = cconst.startPos.y - rowIdx * cconst.height;
gameobject.localPosition = new Vector2(posX, posY);
}
public void UpdateDescDis()
{
gameobject.UpdateDis(G, H);
}
public void UpdateDescDis(Node node)
{
G = node.G;
H = node.H;
gameobject.UpdateDis(G, H);
}
public void SetParrent(Node node)
{
parent = node;
}
public bool Visible
{
set { gameobject.gameobject.SetActive(value); }
get { return gameobject.gameobject.activeSelf; }
}
}
public class AStarTest : MonoBehaviour
{
// Start is called before the first frame update
public List<int> map;
public Dictionary<int, string> mapTypeDic;
public Dictionary<int, GObject> mapTypeObjDic;
public Dictionary<int, GObject> idxObjDic;
GameObject normalTile;
GameObject waterTile;
GameObject destinationTile;
GameObject markTile;
GameObject findTile;
GameObject startTile;
public int startIdx;
public int targetIdx;
public List<int> battleList;
public List<Node> openList;
public Dictionary<int, Node> openListIdxDic;
public List<Node> closeList;
public Dictionary<int, Node> closeListIdxDic;
public List<GObject> totalObjList;
public Dictionary<int, Stack<GObject>> nodeDicPool;
Node targetNode;
Node markTargetNode;
public List<Node> markNodeList;
public Coroutine curCoroutine;
void Start()
{
idxObjDic = new Dictionary<int, GObject>();
nodeDicPool = new Dictionary<int, Stack<GObject>>();
mapTypeDic = new Dictionary<int, string> {
{0, "normalTile" },
{1, "waterTile" },
{2, "targetTile" },
{3, "markTile" },
{4, "findTile" },
{5, "startTile" },
};
normalTile = Resources.Load<GameObject>("Prefab/" + mapTypeDic[cconst.NormalTile]);
waterTile = Resources.Load<GameObject>("Prefab/" + mapTypeDic[cconst.WaterTile]);
destinationTile = Resources.Load<GameObject>("Prefab/" + mapTypeDic[cconst.DestinationTile]);
markTile = Resources.Load<GameObject>("Prefab/" + mapTypeDic[cconst.MarkTile]);
findTile = Resources.Load<GameObject>("Prefab/" + mapTypeDic[cconst.FindTile]);
startTile = Resources.Load<GameObject>("Prefab/" + mapTypeDic[cconst.StartTile]);
mapTypeObjDic = new Dictionary<int, GObject>
{
{cconst.NormalTile, new GObject(normalTile,cconst.NormalTile)},
{cconst.WaterTile, new GObject(waterTile,cconst.WaterTile)},
{cconst.DestinationTile, new GObject(destinationTile,cconst.DestinationTile)},
{cconst.MarkTile, new GObject(markTile,cconst.MarkTile)},
{cconst.FindTile, new GObject(findTile,cconst.FindTile)},
{cconst.StartTile, new GObject(startTile,cconst.StartTile)},
};
InitData();
}
public void InitData()
{
transform.DetachChildren();
int _totalIdx = cconst.RowLineNum * cconst.ColLineNum;
//初始化乜有障碍物的地图
map = new List<int>();
for (int i = 0; i < cconst.RowLineNum; ++i)
for (int j = 0; j < cconst.ColLineNum; ++j)
{
map.Add(cconst.NormalTile);
}
//初始化地图障碍物
battleList = new List<int>();
for (int i = 0; i < cconst.BattleNum; i++)
{
int curBattleType = Random.Range(0, 100) % cconst.BattleTypeNum;
int curBattleStartIdx = Random.Range(0, _totalIdx);
List<List<int>> curBattleList = cconst.BattleTypeDic[curBattleType];
int curBattleRow = curBattleStartIdx / cconst.ColLineNum;
int curBattleCol = curBattleStartIdx % cconst.ColLineNum;
curBattleRow = Mathf.Min(curBattleRow, cconst.RowLineNum - curBattleList.Count - 1);
curBattleCol = Mathf.Min(curBattleCol, cconst.ColLineNum - curBattleList[0].Count - 1);
for(int j = 0; j< curBattleList.Count; ++j)
for(int k=0; k<curBattleList[j].Count; ++k)
{
if(curBattleList[j][k] > 0)
{
int curCalIdx = (curBattleRow + j) * cconst.ColLineNum + (curBattleCol + k);
map[curCalIdx] = cconst.WaterTile;
battleList.Add(curCalIdx);
}
}
}
//初始化起始点
startIdx = Random.Range(0, _totalIdx / 2);
while (battleList.Contains(startIdx))
{
startIdx = Random.Range(0, _totalIdx / 2);
}
//初始化目标点
targetIdx = Random.Range(_totalIdx / 2, _totalIdx);
while (battleList.Contains(targetIdx) || startIdx == targetIdx)
{
targetIdx = Random.Range(_totalIdx / 2, _totalIdx);
}
totalObjList = new List<GObject>();
map[startIdx] = cconst.StartTile;
map[targetIdx] = cconst.DestinationTile;
InitMapRes();
// ---------------- A*
openList = new List<Node>();
openListIdxDic = new Dictionary<int, Node>();
closeList = new List<Node>();
closeListIdxDic = new Dictionary<int, Node>();
markNodeList = new List<Node>();
targetNode = new Node(idxObjDic[targetIdx], targetIdx);
markTargetNode = null;
InitAStarStart();
curCoroutine = StartCoroutine(FindNextPoint());
}
public IEnumerator FindNextPoint()
{
RefreshFind();
yield return new WaitForSeconds(0.05f);
if (!openListIdxDic.ContainsKey(targetNode.Idx))
{
curCoroutine = StartCoroutine(FindNextPoint()); //目标点没在dic里面，继续执行
}
else
{
markTargetNode = openListIdxDic[targetNode.Idx];
curCoroutine = StartCoroutine(ShowFindPath(markTargetNode));
Debug.Log("find the way to the target !!!");
}
}
void InitMapRes()
{
int _totalIdx = cconst.RowLineNum * cconst.ColLineNum;
for (int i=0; i< _totalIdx; ++i)
{
int rowIdx = i / cconst.ColLineNum;
int colIdx = i % cconst.ColLineNum;
var obj = GetTypeObject(map[i]);
idxObjDic[i] = obj;
float posX = cconst.startPos.x + colIdx * cconst.width;
float posY = cconst.startPos.y - rowIdx * cconst.height;
obj.localPosition = new Vector2(posX, posY);
}
}
void InitAStarStart()
{
GObject startObj = idxObjDic[startIdx];
Node startNode = new Node(startObj, startIdx);
AddOpenlistNode(startNode);
}
void AddOpenlistNode(Node node) //出发点是node，遍历其周围8个点，更细其F、G、H值
{
if(openListIdxDic.ContainsKey(targetNode.Idx))
{
Debug.Log("find the way to the target !!!");
return;
}
int xIdx = node.xIdx;
int yIdx = node.yIdx;
List<Vector2> curDisVal;
int curValDis;
for (int i =0; i<2; i++)
{
if(i == 0)
{
curDisVal = cconst.UnSlideDisVal;
curValDis = cconst.UnSlideDis;
}
else
{
curDisVal = cconst.SlideDisVal;
curValDis = cconst.SlideDis;
}
for (int j = 0; j < cconst.slideValNum; ++j)
{
var addVal = curDisVal[j];
var curXIdx = xIdx + (int)addVal.x;
var curYIdx = yIdx + (int)addVal.y;
if (curXIdx < 0 || curXIdx >= cconst.RowLineNum || curYIdx < 0 || curYIdx >= cconst.ColLineNum) continue;
int cur_Idx = curXIdx * cconst.ColLineNum + curYIdx;
if (closeListIdxDic.ContainsKey(cur_Idx)) continue;
Node curNode = null;
if (openListIdxDic.ContainsKey(cur_Idx))
{
curNode = openListIdxDic[cur_Idx];
int cur_G = node.G + curValDis;
if (curNode.G > cur_G)
{
curNode.SetParrent(node);
curNode.UpdateGVal(cur_G);
}
}
else
{
GObject gobject = GetTypeObject(cconst.FindTile);
float posX = cconst.startPos.x + curYIdx * cconst.width;
float posY = cconst.startPos.y - curXIdx * cconst.height;
gobject.localPosition = new Vector2(posX, posY);
curNode = new Node(gobject, cur_Idx);
if (idxObjDic[curXIdx * cconst.ColLineNum + curYIdx].IsObstacle)
{
closeListIdxDic[cur_Idx] = curNode;
curNode.gameobject.gameobject.SetActive(false);
return;
}
curNode.SetParrent(node);
openList.Add(curNode);
openListIdxDic[cur_Idx] = curNode;
curNode.G = node.G + curValDis;
SetHVal(curNode);
}
curNode.UpdateDescDis();
}
}
closeListIdxDic[node.Idx] = node;
closeList.Add(node);
}
// Update is called once per frame
void Update()
{
if(Input.GetKeyDown(KeyCode.A))
{
//dosomething
}
}
void DoNextOperation()
{
StopCoroutine(curCoroutine);
foreach (var obj in totalObjList)
{
obj.Visible = false;
Stack<GObject> tmpList;
if (nodeDicPool.ContainsKey(obj.objType))
{
tmpList = nodeDicPool[obj.objType];
tmpList.Push(obj);
}
else
{
tmpList = new Stack<GObject>();
tmpList.Push(obj);
}
nodeDicPool[obj.objType] = tmpList;
}
InitData();
}
void RefreshFind()
{
Node findNode = null;
int tmpMax = int.MaxValue;
if(openList.Count == 0)
{
Debug.Log("can not find the way to the target !!!");
DoNextOperation();
return;
}
foreach(var node in openList)
{
if (node.F < tmpMax)
{
tmpMax = node.F;
findNode = node;
}
}
if (findNode == null) return;
GObject gobject = GetTypeObject(cconst.MarkTile);
Node curNode = new Node(gobject, findNode.Idx);
curNode.UpdateLocalPosition();
curNode.UpdateDescDis(findNode);
markNodeList.Add(curNode);
openList.Remove(findNode);
AddOpenlistNode(findNode);
}
IEnumerator ShowFindPath(Node targetNode)
{
foreach (var _node in markNodeList)
{
_node.Visible = false;
}
Node temp_node = targetNode;
while(temp_node != null)
{
int curTile = cconst.MarkTile;
if(temp_node.Idx == startIdx)
{
curTile = cconst.StartTile;
}
else if(temp_node.Idx == targetIdx)
{
curTile = cconst.DestinationTile;
}
GObject gobject = GetTypeObject(curTile);
Node curNode = new Node(gobject, temp_node.Idx);
curNode.Visible = true;
curNode.UpdateLocalPosition();
temp_node = temp_node.parent;
yield return new WaitForSeconds(0.2f);
}
yield return new WaitForSeconds(0.5f);
DoNextOperation();
}
void SetHVal(Node node)
{
int xDelVal = Mathf.Abs(node.xIdx - targetNode.xIdx);
int yDelVal = Mathf.Abs(node.yIdx - targetNode.yIdx);
node.H = Mathf.Min(xDelVal, yDelVal) * cconst.SlideDis + Mathf.Abs(xDelVal - yDelVal) * cconst.UnSlideDis;
}
GObject GetTypeObject(int objType)
{
if(nodeDicPool.ContainsKey(objType))
{
var typeStack = nodeDicPool[objType];
if(typeStack.Count > 0)
{
var obj = typeStack.Pop();
obj.SetParent(transform);
nodeDicPool[objType] = typeStack;
obj.Visible = true;
totalObjList.Add(obj);
return obj;
}
else
{
GameObject gameObject = Instantiate(mapTypeObjDic[objType].gameobject);
gameObject.transform.SetParent(transform);
GObject obj = new GObject(gameObject, objType);
totalObjList.Add(obj);
return obj;
}
}
else
{
GameObject gameObject = Instantiate(mapTypeObjDic[objType].gameobject);
gameObject.transform.SetParent(transform);
GObject obj = new GObject(gameObject, objType);
obj.Visible = true;
totalObjList.Add(obj);
return obj;
}
}
}
}
Unity演示
这里的演示样例，都是跑的同一份代码，每次循环都是随机出发点、目的点、障碍物。
演示样例一
演示样例二
演示样例三
演示样例四
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