java寻路算法_A*寻路算法(JavaScript实现)

div{

position: absolute;

width: 50px;

height: 50px;

margin: 1px 1px;

background-color: gray;

border: 1px dashed #cccccc;

}

body{

position: relative;

font-family: "微软雅黑";

}

header,

section

{

position: relative;

margin: 0 auto;

width: 998px;

}

A*寻路demo演示

输入地图列数(最大15列)：
请输入地图行数(最大15行)：
test...

function Point(){

this.x=0;

this.y=0;

this.G=0;//G值 开始点 到当前点的移动量

this.H=0;//H值　当前点移动目的地的移动量估算值

this.father=null;

};

Point.prototype={

Console:function(){

console.log("x:"+this.x+" and y:"+this.y);

},

Init:function(x,y,father){

this.x=x;

this.y=y;

this.father=father;

}

};

function AStar(){

//地图存放二维数组

this.map=[];

//行数

this.rowCount=0;

//列数

this.colCount=0;

//出发点

this.startPoint=new Point();

//终点

this.endPoint=new Point();

//存放Opint类的open数组

this.openList=[];

//存在Opint类的close数组

this.closeList=[];

};

AStar.prototype={

//是否为障碍物

IsBar:function(x,y){

if(this.map[x][y]==3){

console.log("bar...");

return true;

}

else{

console.log("no bar...")

return false;

}

},

//当前坐标是否在OpenList

IsInOpenList:function(x,y){

for(var i=0;i

if(this.openList[i].x==x&&this.openList[i].y==y){

return true;

}

}

return false;

},

//当前坐标是否在CloseList

IsInCloseList:function(x,y){

for(var i=0;i

if(this.closeList[i].x==x&&this.closeList[i].y==y){

return true;

}

}

return false;

},

//计算G值;(p是Point类)

GetG:function(p){

if(p.father==null){

return 0;

}

return p.father.G+1;

},

//计算H值

GetH:function(p,pb){

return Math.abs(p.x-pb.x)+Math.abs(p.y-pb.y);

},

//添加当前点的上下左右相邻的方格到Open列表中

AddNeiToOpenList:function(curPoint){

for(var x=curPoint.x-1;x<=curPoint.x+1;x++){

for(var y=curPoint.y-1;y<=curPoint.y+1;y++){

//排除自身以及超出下标的点

if((x>=0&&x=0&&y

//排除斜对角

if(Math.abs(x-curPoint.x)+Math.abs(y-curPoint.y)==1){

//不是障碍物且不在关闭列表中

if(this.IsBar(x,y)==false&&this.IsInCloseList(x,y)==false){

//不存在Open列表

if(this.IsInOpenList(x,y)==false){

var point=new Point();

point.x=x;

point.y=y;

point.father=curPoint;

point.G=this.GetG(point);

point.H=this.GetH(point,this.endPoint);

this.openList.push(point);

}

}

}

}

}

}

},

//在openlist集合中获取G+H为最小的Point点

GetMinFFromOpenList:function(){

var minPoint=null;

var index=0;

for(var i=0;i

if(minPoint==null||minPoint.G+minPoint.H>=this.openList[i].G+this.openList[i].H){

minPoint=this.openList[i];

index=i;

}

}

return{

minPoint:minPoint,

index:index

}

},

GetPointFromOpenList:function(x,y){

for(var i=0;i

if(this.openList[i].x==x&&this.openList[i].y==y){

return this.openList[i];

}

}

return null;

},

//开始寻找节点

FindPoint:function(){

console.log(this);

this.openList.push(this.startPoint);

while(this.IsInOpenList(this.endPoint.x,this.endPoint.y)==false||this.openList.length==0){

var curPoint=this.GetMinFFromOpenList().minPoint;

console.log("curPoint:"+curPoint);

var index=this.GetMinFFromOpenList().index;

if(curPoint==null){

console.log("没有路");

return;

}

this.openList.splice(index,1);

this.closeList.push(curPoint);

this.AddNeiToOpenList(curPoint);

}

var p=this.GetPointFromOpenList(this.endPoint.x,this.endPoint.y);

console.log(p+".....");

while(p.father!=null){

p= p.father;

console.log("father..");

this.map[p.x][p.y]=4;

}

//把终结点也设置成4

this.map[this.endPoint.x][this.endPoint.y]=4;

},

PrintMap:function(){

}

};

//地图类 map数组保存数字标识 :0 默认　1 开始点　2 结束点　3 障碍物

function Map(id){

this.map=[];

this.container=document.getElementById(id);

this.colCount=0;

this.rowCount=0;

}

Map.prototype={

init:function(colCount,rowCount){

this.colCount=colCount;

this.rowCount=rowCount;

for(var colIndex=0;colIndex

this.map.push([]);

for(var rowIndex=0;rowIndex

this.map[colIndex].push(0);

}

}

},

drawMap:function(callback){

for(var colIndex=0;colIndex

for(var rowIndex=0;rowIndex

var div=document.createElement("div");

div.style.top=colIndex*50+5+"px";

div.style.left=rowIndex*50+5+"px";

div.setAttribute("colIndex",colIndex);

div.setAttribute("rowIndex",rowIndex);

div.οnclick=callback;

this.container.appendChild(div);

}

}

},

drawPoints:function(){

var divs=this.container.children;

console.log(divs.length);

console.log(this.map);

var timer=1000;

for(var i=0;i

var colIndex=divs[i].getAttribute("colIndex");

var rowIndex=divs[i].getAttribute("rowIndex");

if(this.map[colIndex][rowIndex]==4){

divs[i].style.backgroundColor="red";

}

}

},

getPoint:function(colIndex,rowIndex){

return this.map[colIndex][rowIndex];

},

setStartPoint:function(colIndex,rowIndex){

this.map[colIndex][rowIndex]=1;

},

setEndPoint:function(colIndex,rowIndex){

this.map[colIndex][rowIndex]=2;

},

setBarPoint:function(colIndex,rowIndex){

this.map[colIndex][rowIndex]=3;

},

clearMap:function(){

this.map.splice(0,this.map.length);

this.container.innerHTML="";

}

}

var rowInput=document.querySelector("#rowInput");

var colInput=document.querySelector("#colInput");

var createMapBtn=document.querySelector("#createMapBtn");

var prompt=document.querySelector("#prompt");

var findPoint=document.querySelector("#findPoint");

var curMap=new Map("main");

var state=0;//状态标识　0选择开始节点标识　1选择结束节点标识 2选择障碍物标识

var aStar=new AStar();//寻路类

createMapBtn.οnclick=function(){

curMap.clearMap();

curMap.init(colInput.value,rowInput.value);

aStar.map=curMap.map;

aStar.colCount=colInput.value;

aStar.rowCount=rowInput.value;

curMap.drawMap(function(){

var colIndex=this.getAttribute("colIndex");

var rowIndex=this.getAttribute("rowIndex");

if(curMap.getPoint(colIndex,rowIndex)!=0){

return;

}

if(state==0){

this.style.backgroundColor="blue";

curMap.setStartPoint(colIndex,rowIndex);

aStar.startPoint.x=colIndex;

aStar.startPoint.y=rowIndex;

state=1;

prompt.innerHTML="请点击格子，设置终点";

}else if(state==1){

this.style.backgroundColor="yellow";

curMap.setEndPoint(colIndex,rowIndex);

aStar.endPoint.x=colIndex;

aStar.endPoint.y=rowIndex;

prompt.innerHTML="请点击格子，设置障碍物";

console.log(findPoint);

findPoint.style.display="block";

state=2;

}else if(state==2){

curMap.setBarPoint(colIndex,rowIndex);

this.style.backgroundColor="black";

}

});

prompt.innerHTML="请点击格子，设置起始点";

}

findPoint.οnclick=function(){

console.log(aStar.map);

aStar.FindPoint();

curMap.drawPoints();

}