如何在Cocos2D游戏中实现A*寻路算法(四)

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检查我们的起点和终点

现在前奏已经结束了,让我们用新的实现替换moveToward方法.

我们将从瓦片坐标系中取得现有开始位置(点A)和目标位置(点B)开始.然后我们将检查是否需要计算路径,并且最终测试目标位置是否为可达的(在我们的例子中只有墙是不可达的).

将moveToard方法替换为如下代码:

- (void)moveToward:(CGPoint)target
{       
    // Get current tile coordinate and desired tile coord
    CGPoint fromTileCoord = [_layer tileCoordForPosition:self.position];
    CGPoint toTileCoord = [_layer tileCoordForPosition:target];

    // Check that there is a path to compute ;-)
    if (CGPointEqualToPoint(fromTileCoord, toTileCoord)) {
        NSLog(@"You're already there! :P");
        return;
    }

    // Must check that the desired location is walkable
    // In our case it's really easy, because only wall are unwalkable
    if ([_layer isWallAtTileCoord:toTileCoord]) {
        [[SimpleAudioEngine sharedEngine] playEffect:@"hitWall.wav"];
        return;
    }   

    NSLog(@"From: %@", NSStringFromCGPoint(fromTileCoord));
    NSLog(@"To: %@", NSStringFromCGPoint(toTileCoord));
}

编译运行并且点击地图.如果你没有在墙上点击的话,在控制台中你将看到”from”等于{24,0},这时猫咪的位置.你将同样注意到”to”的坐标系的x和y值在[0;24]之间,这是用来在地图坐标系中表示你在什么位置点击.

实现A*算法

根据我们的算法,第一步是将当前位置添加到开放列表中.

我们同样需要3个帮助方法:

1. 一个方法将ShortestPathStep插入到开放列表中合适的位置上(根据F值排序).
2. 一个方法计算一个瓦块到其邻居瓦块的移动花费.
3. 一个方法去计算瓦块的H值,依据”城区”算法.

打开CatSprite.m做出如下修改:

// In "private properties and methods" section
- (void)insertInOpenSteps:(ShortestPathStep *)step;
- (int)computeHScoreFromCoord:(CGPoint)fromCoord toCoord:(CGPoint)toCoord;
- (int)costToMoveFromStep:(ShortestPathStep *)fromStep toAdjacentStep:(ShortestPathStep *)toStep;

// Add these new methods after moveToward

// Insert a path step (ShortestPathStep) in the ordered open steps list (spOpenSteps)
- (void)insertInOpenSteps:(ShortestPathStep *)step
{
    int stepFScore = [step fScore]; // Compute the step's F score
    int count = [self.spOpenSteps count];
    int i = 0; // This will be the index at which we will insert the step
    for (; i < count; i++) {
        if (stepFScore <= [[self.spOpenSteps objectAtIndex:i] fScore]) { // If the step's F score is lower or equals to the step at index i
            // Then we found the index at which we have to insert the new step
            // Basically we want the list sorted by F score
            break;
        }
    }
    // Insert the new step at the determined index to preserve the F score ordering
    [self.spOpenSteps insertObject:step atIndex:i];
}

// Compute the H score from a position to another (from the current position to the final desired position
- (int)computeHScoreFromCoord:(CGPoint)fromCoord toCoord:(CGPoint)toCoord
{
    // Here we use the Manhattan method, which calculates the total number of step moved horizontally and vertically to reach the
    // final desired step from the current step, ignoring any obstacles that may be in the way
    return abs(toCoord.x - fromCoord.x) + abs(toCoord.y - fromCoord.y);
}

// Compute the cost of moving from a step to an adjacent one
- (int)costToMoveFromStep:(ShortestPathStep *)fromStep toAdjacentStep:(ShortestPathStep *)toStep
{
    // Because we can't move diagonally and because terrain is just walkable or unwalkable the cost is always the same.
    // But it have to be different if we can move diagonally and/or if there is swamps, hills, etc...
    return 1;
}

上面代码中的注释应该解释的足够详细了,请花时间把它们读一遍.

接下来,我们需要一个方法去取得指定瓦块的所有可到达的邻居瓦块.因为在这个游戏中HelloWorldLayer管理着地图,我们需要将方法添加都其中去.

打开HelloWorldLayer.h,在@interface之后增加方法的定义:

- (NSArray *)walkableAdjacentTilesCoordForTileCoord:(CGPoint)tileCoord;

然后添加实现代码到HelloWorldLayer.m中去:

- (NSArray *)walkableAdjacentTilesCoordForTileCoord:(CGPoint)tileCoord
{
    NSMutableArray *tmp = [NSMutableArray arrayWithCapacity:4];

    // Top
    CGPoint p = CGPointMake(tileCoord.x, tileCoord.y - 1);
    if ([self isValidTileCoord:p] && ![self isWallAtTileCoord:p]) {
        [tmp addObject:[NSValue valueWithCGPoint:p]];
    }

    // Left
    p = CGPointMake(tileCoord.x - 1, tileCoord.y);
    if ([self isValidTileCoord:p] && ![self isWallAtTileCoord:p]) {
        [tmp addObject:[NSValue valueWithCGPoint:p]];
    }

    // Bottom
    p = CGPointMake(tileCoord.x, tileCoord.y + 1);
    if ([self isValidTileCoord:p] && ![self isWallAtTileCoord:p]) {
        [tmp addObject:[NSValue valueWithCGPoint:p]];
    }

    // Right
    p = CGPointMake(tileCoord.x + 1, tileCoord.y);
    if ([self isValidTileCoord:p] && ![self isWallAtTileCoord:p]) {
        [tmp addObject:[NSValue valueWithCGPoint:p]];
    }

    return [NSArray arrayWithArray:tmp];
}

现在我们已经有了这些帮助方法,我们可以继续在CatSprite.m中实现我们的moveToward方法.添加如下的代码到moveToward方法的最后:

BOOL pathFound = NO;
self.spOpenSteps = [[[NSMutableArray alloc] init] autorelease];
self.spClosedSteps = [[[NSMutableArray alloc] init] autorelease];

// Start by adding the from position to the open list
[self insertInOpenSteps:[[[ShortestPathStep alloc] initWithPosition:fromTileCoord] autorelease]];

do {
    // Get the lowest F cost step
    // Because the list is ordered, the first step is always the one with the lowest F cost
    ShortestPathStep *currentStep = [self.spOpenSteps objectAtIndex:0];

    // Add the current step to the closed set
    [self.spClosedSteps addObject:currentStep];

    // Remove it from the open list
    // Note that if we wanted to first removing from the open list, care should be taken to the memory
    [self.spOpenSteps removeObjectAtIndex:0];

    // If the currentStep is the desired tile coordinate, we are done!
    if (CGPointEqualToPoint(currentStep.position, toTileCoord)) {

        pathFound = YES;
        ShortestPathStep *tmpStep = currentStep;
        NSLog(@"PATH FOUND :");
        do {
            NSLog(@"%@", tmpStep);
            tmpStep = tmpStep.parent; // Go backward
        } while (tmpStep != nil); // Until there is not more parent

        self.spOpenSteps = nil; // Set to nil to release unused memory
        self.spClosedSteps = nil; // Set to nil to release unused memory
        break;
    }

    // Get the adjacent tiles coord of the current step
    NSArray *adjSteps = [_layer walkableAdjacentTilesCoordForTileCoord:currentStep.position];
    for (NSValue *v in adjSteps) {
        ShortestPathStep *step = [[ShortestPathStep alloc] initWithPosition:[v CGPointValue]];

        // Check if the step isn't already in the closed set 
        if ([self.spClosedSteps containsObject:step]) {
            [step release]; // Must releasing it to not leaking memory ;-)
            continue; // Ignore it
        }       

        // Compute the cost from the current step to that step
        int moveCost = [self costToMoveFromStep:currentStep toAdjacentStep:step];

        // Check if the step is already in the open list
        NSUInteger index = [self.spOpenSteps indexOfObject:step];

        if (index == NSNotFound) { // Not on the open list, so add it

            // Set the current step as the parent
            step.parent = currentStep;

            // The G score is equal to the parent G score + the cost to move from the parent to it
            step.gScore = currentStep.gScore + moveCost;

            // Compute the H score which is the estimated movement cost to move from that step to the desired tile coordinate
            step.hScore = [self computeHScoreFromCoord:step.position toCoord:toTileCoord];

            // Adding it with the function which is preserving the list ordered by F score
            [self insertInOpenSteps:step];

            // Done, now release the step
            [step release];
        }
        else { // Already in the open list

            [step release]; // Release the freshly created one
            step = [self.spOpenSteps objectAtIndex:index]; // To retrieve the old one (which has its scores already computed ;-)

            // Check to see if the G score for that step is lower if we use the current step to get there
            if ((currentStep.gScore + moveCost) < step.gScore) {

                // The G score is equal to the parent G score + the cost to move from the parent to it
                step.gScore = currentStep.gScore + moveCost;

                // Because the G Score has changed, the F score may have changed too
                // So to keep the open list ordered we have to remove the step, and re-insert it with
                // the insert function which is preserving the list ordered by F score

                // We have to retain it before removing it from the list
                [step retain];

                // Now we can removing it from the list without be afraid that it can be released
                [self.spOpenSteps removeObjectAtIndex:index];

                // Re-insert it with the function which is preserving the list ordered by F score
                [self insertInOpenSteps:step];

                // Now we can release it because the oredered list retain it
                [step release];
            }
        }
    }

} while ([self.spOpenSteps count] > 0);

if (!pathFound) { // No path found
    [[SimpleAudioEngine sharedEngine] playEffect:@"hitWall.wav"];
}

再一次,上面代码中的注释应该对于每一点工作起了很好的解释作用.所以当你添加代码和阅读过注释之后,尝试去编译运行app!

如果你点击如下图所示的瓦片:

你应该在控制台中看到如下显示:

<ShortestPathStep: 0x6a336b0>  pos=[22;3]  g=9  h=0  f=9
<ShortestPathStep: 0x6a33570>  pos=[21;3]  g=8  h=1  f=9
<ShortestPathStep: 0x6a33400>  pos=[20;3]  g=7  h=2  f=9
<ShortestPathStep: 0x6a328c0>  pos=[20;2]  g=6  h=3  f=9
<ShortestPathStep: 0x6a32750>  pos=[20;1]  g=5  h=4  f=9
<ShortestPathStep: 0x6a7b940>  pos=[21;1]  g=4  h=3  f=7
<ShortestPathStep: 0x6a7b810>  pos=[22;1]  g=3  h=2  f=5
<ShortestPathStep: 0x6a7b700>  pos=[23;1]  g=2  h=3  f=5
<ShortestPathStep: 0x6a86150>  pos=[24;1]  g=1  h=4  f=5
<ShortestPathStep: 0x6a321c0>  pos=[24;0]  g=0  h=0  f=0

别忘了路径是反向建立起来的,所以你必须从后向前读.我建议你尝试去在地图上实际匹配这些瓦块,这样你就可以明白最短路径实际是如何工作的!