A*算法Lua实现

##一.寻路

--3个任务

local class = require "middleclass"
Point = class('Point')
function Point:initialize(x,y)
    self.x = x
    self.y = y
end

function Point:__tostring()
    return 'Point:[' .. tostring(self.x) .. ',' .. tostring(self.y) .. ']'
end

--从图中建造数据模型
aStar = {
--0表示可走
--1表示不可走
{0,0,0,0,0,0,0},
{0,0,0,1,0,0,0},
{0,0,0,1,0,0,0},
{0,0,0,1,0,0,0},
{0,0,0,0,0,0,0},
}

startPoint = Point(3,2)
endPoint = Point(3,6)
local openTab,closeTab = {},{}
function openTab:__tostring() 
	local ret = ""
	 for k = 1 ,#self do
		ret = ret ..  tostring(self[k]) 
	 end
	  return ret
end 
setmetatable(openTab,openTab)

function nextPos(aStar,point)
	--遍历上下左右添加到开启表
	local tmp = {Point(point.x,point.y - 1),Point(point.x,point.y + 1),
	Point(point.x - 1 ,point.y ),Point(point.x + 1,point.y)
	}
	if point.x == endPoint.x and point.y == endPoint.y then
		--print("结束")
		openTab[#openTab + 1] = point
		if #openTab < 10 then
			print(openTab)
		end 
		table.remove(openTab)
		return
	else	
		for i = 1,4 do
			--处于边界内并且可走
			if tmp[i].x >= 1 and tmp[i].x <= 5 and tmp[i].y >= 1 and tmp[i].y <= 7 and  aStar[tmp[i].x][tmp[i].y] == 0 then
				aStar[point.x][point.y] = 1 --当前位置设置不可走
				openTab[#openTab + 1] = point
				nextPos(aStar,tmp[i]) --选择下一个位置
				table.remove(openTab)
				aStar[point.x][point.y] = 0
			else
				-- 不可走的舍弃,裁枝
			end  
		end 
	end
end

nextPos(aStar,startPoint)