如何在MONO 3D寻找最短路路径

最新推荐文章于 2024-02-03 12:33:38 发布

TWaver数字孪生

最新推荐文章于 2024-02-03 12:33:38 发布

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本文链接：https://blog.csdn.net/twaver/article/details/41675507

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前段时间有个客户说他们想在我们的3D的机房中找从A点到B点的最短路径，然而在2D中确实有很多成熟的寻路算法，其中A*是最为常见的，而这个Demo也是用的A*算法，以下计算的是从左上角到右下角的最短路径：

具体的实现方式是，先将地板进行了分割，分成一个数组，然后再计算该点上是否有3D的对象，若是有，就置成该点不能通过的标记，否则就表示该点可以通过（如果你分割的越细那么算的就越精确，但是算的当然也就慢一些，关键看你的要求），以下是分割地板的代码：

 
var size = {x: 100, y: 100}; // 100*100
 
var topLeft = {x: 228, y: 53};
 
var width = 524;
 
var height = 400;
 
var dw = width / size.x;
 
var dh = height / size.y;
 
var start;
 
var end;
 
var graph;
 
function to2d() {
 
    var nodes = [];
 
    for (var i = 0; i < size.x; i++) {
 
        var nodeRow = [];
 
        var x = topLeft.x + dw * i
 
        for (var j = 0; j < size.y; j++) {
 
            var y = topLeft.y + dh * j;
 
            if (isHasObj(x, y)) { //判断该点上是否有物体
 
                nodeRow.push(0);
 
            } else {
 
                nodeRow.push(1);
 
            }
 
        }
 
        nodes.push(nodeRow);
 
    }
 
    graph = new Graph(nodes, {
 
        closest: null,
 
        diagonal: false
 
    });
 
 
 
    //这里是找一条从(0,0)到(79,80)的路径。
 
    start = graph.grid[0][0];
 
    drawPath(79, 80);
 
}

分割好地板后就相当于将3D中的寻路转换成了2D中的寻路，此时就可以直接使用A*算法来进行寻路了，这里的A*寻路算法如下：

 
function  search(graph, start, end, options) {
 
        astar.init(graph);
 
 
 
        options = options || {};
 
        var heuristic = options.heuristic || astar.heuristics.manhattan,
 
            closest = options.closest || false;
 
 
 
        var openHeap = getHeap(),
 
            closestNode = start; // set the start node to be the closest if required
 
 
 
        start.h = heuristic(start, end);
 
 
 
        openHeap.push(start);
 
 
 
        while(openHeap.size() > 0) {
 
 
 
            var currentNode = openHeap.pop();
 
 
 
            if(currentNode === end) {
 
                return pathTo(currentNode);
 
            }
 
 
 
            // Normal case -- move currentNode from open to closed, process each of its neighbors.
 
            currentNode.closed = true;
 
 
 
            // Find all neighbors for the current node.
 
            var neighbors = graph.neighbors(currentNode);
 
 
 
            for (var i = 0, il = neighbors.length; i < il; ++i) {
 
                var neighbor = neighbors[i];
 
 
 
                if (neighbor.closed || neighbor.isWall()) {
 
                    // Not a valid node to process, skip to next neighbor.
 
                    continue;
 
                }
 
                var gScore = currentNode.g + neighbor.getCost(currentNode),
 
                    beenVisited = neighbor.visited;
 
 
 
                if (!beenVisited || gScore < neighbor.g) {
 
 
 
                    neighbor.visited = true;
 
                    neighbor.parent = currentNode;
 
                    neighbor.h = neighbor.h || heuristic(neighbor, end);
 
                    neighbor.g = gScore;
 
                    neighbor.f = neighbor.g + neighbor.h;
 
 
 
                    if (closest) {
 
                        
 
                        if (neighbor.h < closestNode.h || (neighbor.h === closestNode.h && neighbor.g < closestNode.g)) {
 
                            closestNode = neighbor;
 
                        }
 
                    }
 
 
 
                    if (!beenVisited) {
 
                        // Pushing to heap will put it in proper place based on the 'f' value.
 
                        openHeap.push(neighbor);
 
                    }
 
                    else {
 
                       openHeap.rescoreElement(neighbor);
 
                    }
 
                }
 
            }
 
        }
 
 
 
        if (closest) {
 
            return pathTo(closestNode);
 
        }
 
 
 
        return [];
 
    }

看似实现了，如果你细心的话，你可以会发现在3D中存在类似像门那样的可以穿过的物体，或者说有两层楼，那这就不好转换了，确实是存在这样的问题，但是我们可以改进isHasObj这个方法，假如我们寻路的是一个人的话，那么我们人是有高度的，设置高度为man.height，我们判断某点上是否存在物体的话，然后在该点上“发射”一条Ray的方式（具体实现牵涉到一些数学知识，这里不多讲，下次可以单独弄了blog讲解），然后会返回的参数中有一个“距离”的属性，该属性就是我们地板上的点到该点上面那个物体的距离，因此我们可以通过这个距离来和man的身高的关系来确定该点是否可以通过，代码如下：

 
function isHasObj(x, y) {
 
    var obj = getElementsByPosition(x, y);
 
    if (obj && obj.length > 1) { //length > 1, bc is must a obj that is shapenode
 
        for (var i = 0; i < obj.length; i++) {
 
            if (obj[i] && !(obj[i].element instanceof mono.ShapeNode) && obj[i].element != man) {
 
                if (isCheckHeight) {
 
                    console.log("x:" + x + ";y:" + y + ";distance:" + obj[i].distance);
 
                    if (obj[i].distance < (man.height + 10)) {
 
                        return true;
 
                    } else {
 
                        return false;
 
                    }
 
                } else {
 
                    return true;
 
                }
 
            }
 
        }
 
    }
 
    return false;
 
}