A*寻路算法基于C#实现

    玩过即时战略，RPG等类型的游戏的朋友一定会知道，当我们用鼠标选取某些单位并命令其到达地图上确定的位置时，这些单位总是可以自动的选择最短的路径到达。这个时候我们就会联想到大名鼎鼎的A*寻路算法，下文简略介绍算法实现原理，并附上C#实现方法。

    算法原理请见：http://data.gameres.com/message.asp?TopicID=25439

 

代码

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Collections;

namespace ConsoleApplication2
{
class Program
{





static void Main( string [] args)
{



test mytest = new test();

// 定义出发位置
Point pa = new Point();
pa.x = 1 ;
pa.y = 1 ;

// 定义目的地
Point pb = new Point();
pb.x = 8 ;
pb.y = 8 ;

mytest.FindWay(pa, pb);

mytest.PrintMap();
Console.ReadLine();
}
}
class test
{

// 数组用1表示可通过，0表示障碍物
byte [,] R = new byte [ 10 , 10 ] {
{ 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 },
{ 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 },
{ 1 , 1 , 1 , 1 , 0 , 1 , 1 , 1 , 1 , 1 },
{ 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 },
{ 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 }

};



// 开启列表
List < Point > Open_List = new List < Point > ();

// 关闭列表
List < Point > Close_List = new List < Point > ();

// 从开启列表查找F值最小的节点
private Point GetMinFFromOpenList()
{
Point Pmin = null ;
foreach (Point p in Open_List) if (Pmin == null || Pmin.G + Pmin.H > p.G + p.H) Pmin = p;
return Pmin;
}

// 判断一个点是否为障碍物
private bool IsBar(Point p, byte [,] map)
{
if (map[p.y, p.x] == 0 ) return true ;
return false ;
}

// 判断关闭列表是否包含一个坐标的点
private bool IsInCloseList( int x, int y)
{
foreach (Point p in Close_List) if (p.x == x && p.y == y) return true ;
return false ;
}
// 从关闭列表返回对应坐标的点
private Point GetPointFromCloseList( int x, int y)
{
foreach (Point p in Close_List) if (p.x == x && p.y == y) return p;
return null ;
}

// 判断开启列表是否包含一个坐标的点
private bool IsInOpenList( int x, int y)
{
foreach (Point p in Open_List) if (p.x == x && p.y == y) return true ;
return false ;
}
// 从开启列表返回对应坐标的点
private Point GetPointFromOpenList( int x, int y)
{
foreach (Point p in Open_List) if (p.x == x && p.y == y) return p;
return null ;
}


// 计算某个点的G值
private int GetG(Point p)
{
if (p.father == null ) return 0 ;
if (p.x == p.father.x || p.y == p.father.y) return p.father.G + 10 ;
else return p.father.G + 14 ;
}

// 计算某个点的H值
private int GetH(Point p, Point pb)
{
return Math.Abs(p.x - pb.x) + Math.Abs(p.y - pb.y);
}

// 检查当前节点附近的节点
private void CheckP8(Point p0, byte [,] map, Point pa, ref Point pb)
{
for ( int xt = p0.x - 1 ; xt <= p0.x + 1 ; xt ++ )
{
for ( int yt = p0.y - 1 ; yt <= p0.y + 1 ; yt ++ )
{
// 排除超过边界和等于自身的点
if ((xt >= 0 && xt < 10 && yt >= 0 && yt < 10 ) && ! (xt == p0.x && yt == p0.y))
{
// 排除障碍点和关闭列表中的点
if (map[yt, xt] != 0 && ! IsInCloseList(xt, yt))
{
if (IsInOpenList(xt, yt))
{
Point pt = GetPointFromOpenList(xt, yt);
int G_new = 0 ;
if (p0.x == pt.x || p0.y == pt.y) G_new = p0.G + 10 ;
else G_new = p0.G + 14 ;
if (G_new < pt.G)
{
Open_List.Remove(pt);
pt.father = p0;
pt.G = G_new;
Open_List.Add(pt);
}
}
else
{
// 不在开启列表中
Point pt = new Point();
pt.x = xt;
pt.y = yt;
pt.father = p0;
pt.G = GetG(pt);
pt.H = GetH(pt, pb);
Open_List.Add(pt);
}
}
}
}
}
}



public void FindWay(Point pa, Point pb)
{

Open_List.Add(pa);
while ( ! (IsInOpenList(pb.x, pb.y) || Open_List.Count == 0 ))
{
Point p0 = GetMinFFromOpenList();
if (p0 == null ) return ;
Open_List.Remove(p0);
Close_List.Add(p0);
CheckP8(p0, R, pa, ref pb);
}


Point p = GetPointFromOpenList(pb.x, pb.y);
while (p.father != null )
{
p = p.father;
R[p.y, p.x] = 3 ;
}

}

public void SaveWay( Point pb)
{

Point p = pb;
while (p.father != null )
{
p = p.father;
R[p.y, p.x] = 3 ;
}
}

public void PrintMap()
{




for ( int a = 0 ; a < 10 ; a ++ )
{
for ( int b = 0 ; b < 10 ; b ++ )
{
if (R[a, b] == 1 ) Console.Write( " █ " );
else if (R[a, b] == 3 ) Console.Write( " ★ " );
else if (R[a, b] == 4 ) Console.Write( " ○ " );

else Console.Write( " " );
}
Console.Write( " \n " );
}

}


}

class Point
{
public int y;
public int x;
public int G;
public int H;

public Point()
{
}
public Point( int x0, int y0, int G0, int H0, Point F)
{
x = x0;
y = y0;
G = G0;
H = H0;
father = F;
}


public Point father;
}


}

 

 

 

转载于:https://www.cnblogs.com/lipan/archive/2010/07/01/1769420.html