A*算法

写的有点简单主要是不想浪费时间

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;

namespace lianxi
{
    public partial class Form1 : Form
    {
        //状态 0未探索 1开启 2关闭 3障碍物

        public static Pane[,] panes = new Pane[29, 29];
        //存储开启列表
        public static List<Pane> list = new List<Pane>();
        //存储路径
        public List<Pane> lx = new List<Pane>();
        public Form1()
        {
            InitializeComponent();
            this.DoubleBuffered = true;
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            for (int i = 0; i < 29; i++)
            {
                for (int j = 0; j < 29; j++)
                {
                    panes[i, j] = new Pane(i, j);
                }
            }

            //指定起点和终点以及障碍物
            panes[10, 10].zt = 1;
            panes[13, 8].zt = 3;
            panes[13, 9].zt = 3;
            panes[13, 10].zt = 3;
            panes[13, 11].zt = 3;
            panes[13, 12].zt = 3;
            panes[13, 7].zt = 3;
            panes[13, 13].zt = 3;
            panes[13, 14].zt = 3;
            panes[13, 6].zt = 3;
            //终点 20，10  起点 10，10
            list.Add(panes[10, 10]);
            chazhao();
            if (panes[20, 10].pan != null)
            {
                luxian(panes[20, 10]);
            }
            else
            {
                MessageBox.Show("死路");
            }
        }

        protected override void OnPaint(PaintEventArgs e)
        {
            base.OnPaint(e);
            Graphics g = e.Graphics;
            Pen p1 = new Pen(Color.Gray);
            for (int i = 0; i < 30; i++)
            {
                g.DrawLine(p1, 0, 10 * i, 300, i * 10);
            }
            for (int i = 0; i < 30; i++)
            {
                g.DrawLine(p1, 10 * i, 0, 10 * i, 300);
            }
            for (int i = 0; i < lx.Count; i++)
            {
                Pane pane = lx[i];
                g.FillRectangle(Brushes.Green, pane.X * 10, pane.Y * 10, 10, 10);
            }
            g.FillRectangle(Brushes.Red, 100, 100, 10, 10);
            g.FillRectangle(Brushes.Red, 200, 100, 10, 10);
            g.FillRectangle(Brushes.Blue, 130, 70, 10, 10);
            g.FillRectangle(Brushes.Blue, 130, 80, 10, 10);
            g.FillRectangle(Brushes.Blue, 130, 90, 10, 10);
            g.FillRectangle(Brushes.Blue, 130, 100, 10, 10);
            g.FillRectangle(Brushes.Blue, 130, 110, 10, 10);
            g.FillRectangle(Brushes.Blue, 130, 120, 10, 10);
            g.FillRectangle(Brushes.Blue, 130, 130, 10, 10);
            for (int i = 0; i < list.Count; i++)
            {
                Pane pane = list[i];
                g.FillRectangle(Brushes.Yellow, pane.X * 10, pane.Y * 10, 10, 10);
            }
        }
        public void luxian(Pane pane)
        {
            if (pane != null)
            {
                lx.Add(pane);
                luxian(pane.pan);
            }
        }
        public void chazhao()
        {
            while (true)
            {
                Pane pane = null;
                if (list.Count > 0)
                {
                    pane = list[0];
                    int index = 0;
                    for (int i = 1; i < list.Count; i++)
                    {
                        if (list[i].G + list[i].H < pane.G + pane.H)
                        {
                            pane = list[i];
                            index = i;
                        }
                    }
                    list.RemoveAt(index);
                    panes[pane.X, pane.Y].zt = 2;
                    if (panes[20, 10].zt == 2)
                    {
                        break;
                    }
                }
                else
                {
                    break;
                }
                lookup(pane);
            }
        }
        public void lookup(Pane pane)
        {
            int x = pane.X;
            int y = pane.Y;
            for (int i = 0; i < 8; i++)
            {
                switch (i)
                {
                    case 0://上
                        if (y <= 0)
                        {
                            break;
                        }
                        open(pane, x, y - 1,10);
                        break;
                    case 1://下
                        if (y >= 28)
                        {
                            break;
                        }
                        open(pane, x, y + 1, 10);
                        break;
                    case 2://左
                        if (x <= 0)
                        {
                            break;
                        }
                        open(pane, x - 1, y, 10);
                        break;
                    case 3://右
                        if (x >= 28)
                        {
                            break;
                        }
                        open(pane, x + 1, y, 10);
                        break;
                    case 4://左上
                        if (x <= 0 || y <= 0)
                        {
                            break;
                        }
                        open(pane, x - 1, y - 1, 10);
                        break;
                    case 5://右上
                        if (x >= 28 || y <= 0)
                        {
                            break;
                        }
                        open(pane, x + 1, y - 1, 10);
                        break;
                    case 6://左下
                        if (y >= 28 || x <= 0)
                        {
                            break;
                        }
                        open(pane, x - 1, y + 1, 10);
                        break;
                    case 7://右下
                        if (y >= 28 || x >= 28)
                        {
                            break;
                        }
                        open(pane, x + 1, y + 1, 10);
                        break;
                }
            }
        }
        public void open(Pane pane,int x,int y,int number)
        {
            Pane p = panes[x, y];
            if (p.zt == 2 || p.zt == 3)
            {
                return;
            }
            else if (p.zt == 1)//状态为已开启
            {
                if (pane.G + pane.H + number < p.G + p.H)
                {
                    panes[x, y].pan = pane;
                }
            }
            else//状态为未探索
            {
                panes[x, y].zt = 1;
                panes[x, y].G = pane.G + number;
                panes[x, y].H = (20 - x) * (20 - x) + (10 - y) * (10 - y);
                panes[x, y].pan = pane;
                list.Add(panes[x, y]);
            }
        }
    }
}

 

 

 

 

 

using System;
using System.Collections.Generic;
using System.Text;

namespace lianxi
{
    public class Pane
    {
        //状态 0未探索 1开启 2关闭 3障碍物 4起点 5终点
        public int zt = 0;
        //父节点
        public Pane pan = null;
        //G
        public int G = 0;
        //H
        public int H = 0;
        //X
        public int X;
        //Y
        public int Y;

        public Pane(int x, int y)
        {
            this.X = x;
            this.Y = y;
        }
    }
}

请高手跟我指点哈哦

新手如果有什么不懂得可以问我哈