pathfinder算法 java代码_BstarPathFinder.java

package rpg.stage.path;

import java.util.ArrayList;

import java.util.HashSet;

import java.util.Iterator;

import rpg.objs.Point;

public class BFinding {

public BFinding() {

}

protected HashSet openList = new HashSet();

protected HashSet leftList = new HashSet();

protected HashSet rightList = new HashSet();

protected HashSet closeList = new HashSet();

public synchronized ArrayList find(Point start,Point end,boolean canPenetrate){

if(end == null){

return new ArrayList();

}

if(start == null){

return new ArrayList();

}

end.clear();

start.clear();

openList.clear();

openList.add(start);

leftList.clear();

rightList.clear();

closeList.clear();

int count = 0;

while(!openList.isEmpty() || !leftList.isEmpty() || !rightList.isEmpty()){

count ++;

if(count>1000)

break;

Iterator it = openList.iterator();

if(it.hasNext()){

Point p = it.next();

it.remove();

if(sideNext(p,end,0,canPenetrate))break;

}

it = leftList.iterator();

if(it.hasNext()){

Point p = it.next();

it.remove();

if(sideNext(p,end,1,canPenetrate))break;

}

it = rightList.iterator();

if(it.hasNext()){

Point p = it.next();

it.remove();

if(sideNext(p,end,-1,canPenetrate))break;

}

}

final ArrayList list = new ArrayList();

while(end.parent!=null){

list.add(0,new int[]{end.x,end.y});

end = end.parent;

}

return list;

}

/**

*

* @param p

* @param end 目标点

* @param side 0 direct -1 right 1 left

* @param canPenetrate 可否穿透

*/

protected boolean sideNext(Point p,Point end,int side,boolean canPenetrate){

int dir = Point.getDirSimple(p, end);

Point nextp = null;

if(closeList.contains(p)){

nextp = nextPassPointSide(p,end,-1,canPenetrate);

if(nextp != null){

if(nextp == end){

nextp.parent = p;

return true;

}

if(this.closeList.contains(nextp))

// return sideNext(nextp, end, side, canPenetrate);

return false;

else if(!this.leftList.contains(nextp))

addToSearch(p,nextp,this.rightList);

}

nextp = nextPassPointSide(p,end,1,canPenetrate);

if(nextp != null){

if(nextp == end){

nextp.parent = p;

return true;

}

if(this.closeList.contains(nextp))

// return sideNext(nextp, end, side, canPenetrate);

return false;

else if(!this.rightList.contains(nextp))

addToSearch(p,nextp,this.leftList);

}

return false;

}

this.closeList.add(p);

if(side == 0){

if(p.canWalkDir(dir,canPenetrate)){//下一个点可以走

nextp = p.getPassPointByDir(dir);

if(nextp == end){

nextp.parent = p;

return true;

}

if(!this.closeList.contains(nextp)){

addToSearch(p,nextp,this.openList);

}

}

else//不可走，就分支出两个围绕探索点

{

nextp = nextPassPointSide(p,end,-1,canPenetrate);

if(nextp == end){

nextp.parent = p;

return true;

}

if(nextp != null){

if(this.closeList.contains(nextp))

return sideNext(nextp, end, side, canPenetrate);

// return false;

else if(!this.leftList.contains(nextp))

addToSearch(p,nextp,this.rightList);

}

nextp = nextPassPointSide(p,end,1,canPenetrate);

if(nextp == end){

nextp.parent = p;

return true;

}

if(nextp != null){

if(this.closeList.contains(nextp))

return sideNext(nextp, end, side, canPenetrate);

// return false;

else if(!this.rightList.contains(nextp))

addToSearch(p,nextp,this.leftList);

}

}

}

else if(side>0){

nextp = p.getPassPointByDir(dir);

if(nextp == end){

nextp.parent = p;

return true;

}

if(nextp != null && !this.closeList.contains(nextp)){

addToSearch(p,nextp,this.openList);

}

else

{

nextp = nextPassPointSide(p,end,1,canPenetrate);

if(nextp == end){

nextp.parent = p;

return true;

}

if(nextp != null && !this.closeList.contains(nextp) && !this.rightList.contains(nextp)){

addToSearch(p,nextp,this.leftList);

}

}

}

else if(side<0){

nextp = p.getPassPointByDir(dir);

if(nextp == end){

nextp.parent = p;

return true;

}

if(nextp != null && !this.closeList.contains(nextp)){

addToSearch(p,nextp,this.openList);

}

else

{

nextp = nextPassPointSide(p,end,-1,canPenetrate);

if(nextp == end){

nextp.parent = p;

return true;

}

if(nextp != null && !this.closeList.contains(nextp) && !this.leftList.contains(nextp)){

addToSearch(p,nextp,this.rightList);

}

}

}

return false;

}

protected void addToSearch(Point parent,Point next,HashSet list){

next.clear();

next.parent = parent;

list.add(next);

}

/**

*

* @param p

* @param side >0 或者 <0

* @param canPenetrate

* @return

*/

protected Point nextPassPointSide(Point p,Point end,int side,boolean canPenetrate){

int dir = Point.getDirSimple(p, end);

Point nextp = null;

if(side<0){

while(side>=-7)

{

dir = Point.rightdir(dir);

if(p.canWalkDir(dir,canPenetrate)){

nextp = p.getPassPointByDir(dir);

if(!this.closeList.contains(nextp)){

break;

}

}

side--;

}

}

else

{

while(side<=7){

dir = Point.leftdir(dir);

if(p.canWalkDir(dir,canPenetrate)){

nextp = p.getPassPointByDir(dir);

if(!this.closeList.contains(nextp)){

break;

}

}

side++;

}

}

return nextp;

}

}

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