python a星算法_A星算法JavaScript版本

建立一个curr代表当前点初始为null，和currIndex序列号初始为0

let currIndex = 0;

let curr = null;

for(let i = 0; i < openList.length; i++) {

if(openList[i].f < openList[currIndex].f) {

currIndex = i;

}

}

curr = openList[currIndex];

if(curr === endSopt) {

drawPath(curr);

return true;

}

removeFromArray(openList, curr);

closedList.push(curr);

3.遍历curr的neighbors，将合适点的parent设为curr

for(let i = 0; i < curr.neighbors.length; i++) {

let neighbor = curr.neighbors[i];

if(!closedList.includes(neighbor) && !neighbor.wall) {

let tmpF = curr.g + getG(curr, neighbor) + getH(neighbor);

let newPath = false; // 是否是更好的路线

if(openList.includes(neighbor)) {

if(tmpF <= neighbor.f) {

neighbor.f = tmpF;

newPath = true;

}

} else {

neighbor.g = curr.g + getG(curr, neighbor);

neighbor.h = getH(neighbor);

neighbor.f = neighbor.g + neighbor.h;

newPath = true;

openList.push(neighbor);

}

if(newPath) {

neighbor.parent = curr;

}

}

}

4.递归这个函数，当点和终点一致时，返回这个点，然后递归它的parent属性，则能找到路线