用java写算法_【使用Java编写的B*算法】

使用XP系统之家Java编写的B*算法

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

*/