java a算法_Java A* 算法

a start 从这篇教程学的

作者是个很细心的人 讲得很细

http://www..com/alamiye010/archive/2009/06/17/1505339.html

package ljh.game.geom;

import java.util.ArrayList;

import java.util.Arrays;

import java.util.List;

public class AStarFinder {

public class Node

{

public Node(int x,int y)

{

this.x = x;

this.y = y;

}

public int x,y;

public Node parent;

public int G;

public int H;

public int F;

public boolean equals(int x,int y)

{

return this.x==x&&this.y==y;

}

}

/**

* 开闭 集合

*/

public ArrayList OpenList = new ArrayList();

public ArrayList CloseList = new ArrayList();

/**

* 方向

*/

private final static int[] XMove = {0,-1,0,1,-1,-1,1,1};

private final static int[] YMove = {-1,0,1,0,1,-1,-1,1};

/**

* @param map 地图 数据

* @param sx 开始 x 坐标

* @param sy 开始 y 坐标

* @param ex 结束 x 坐标

* @param ey 结束 y 坐标

* @param isPass 可通过的 数据集

* @return 路线

*/

public ArrayList find(int[][] map,int sx,int sy,int ex,int ey,int[] isPass)

{

Node start = new Node(sx,sy);

Node end = new Node(ex, ey);

Node node = start;

CloseList.add(node);

boolean flag=true;

while(flag)

{

for(int i=0;i<4;i++)

{

int fx = node.x+XMove[i];

int fy = node.y+YMove[i];

if(fx >=map.length &&fy>=map[0].length)

{

continue;

}

if(end.equals(fx, fy))

{

end.parent = node;

flag = false;

break;

}

if(containClose(fx, fy))

{

continue;

}

if(containOpen(fx, fy))

{

Node node3 = getOpen(fx, fy);

if(node.G + 10 < node3.G)

{

node3.parent = node;

node3.G =node.G + 10;

node3.F = node3.G + node3.H;

}

continue;

}

if(Arrays.binarySearch(isPass,map[fy][fx]) >= 0)

{

Node node2 = new Node(fx, fy);

node2.parent = node;

node2.G = node.G + 10;

//采用manhattan启发算法 两点中的直角 距离

node2.H = Math.abs((ex-fx+ey-fy)*10);

node2.F = node2.G + node2.H;

OpenList.add(node2);

}

}

if(flag==false)

{

break;

}

if(OpenList.size()==0)

{

return null;

}

node = MinF(OpenList);

OpenList.remove(node);

CloseList.add(node);

}

ArrayList Path = new ArrayList();

node = end;

while(node.parent!=null)

{

Path.add(node);

node = node.parent;

}

return Path;

}

public Node MinF(List list)

{

Node min= list.get(0);

for(int i = 0; i

{

if(list.get(i).F<=min.F)

{

min = list.get(i);

}

}

return min;

}

public boolean containOpen(int x,int y)

{

for(Node node : OpenList)

{

if(node.equals(x,y))

{

return true;

}

}

return false;

}

public Node getOpen(int x,int y)

{

for(Node node : OpenList)

{

if(node.equals(x,y))

{

return node;

}

}

return null;

}

public boolean containClose(int x,int y)

{

for(Node node : CloseList)

{

if(node.equals(x,y))

{

return true;

}

}

return false;

}

}