在j2me平台用A*实现自动寻路

本文链接：https://blog.csdn.net/zlm1234/article/details/4091605

package tools;
import java.util.Vector;

import main.Map;
import main.Node;

/*
* 看不明白的话发邮箱到 alex917@live.cn 或者叫 qq：376313600
*/

public class A {

public A(){

}
  public Vector v;


  Vector chkList = new Vector();
  Vector openList = new Vector();
  public static byte[][] map ;

  public static void init_MapData(byte[] bs ,int col,int row){
   map=null;
   map=new byte[col][row];
   for(int i=0;i<col;i++){
    for(int j=0;j<row;j++){
     map[j][i]=bs[i*col+j];
    }
   }
  }

public Vector getPath (int x0,int y0,int x1,int y1){

   System.out.println("getPath()");
   int add=0;
   this.openList=null;
   this.openList=new Vector();
   this.chkList=null;
   this.chkList=new Vector();

   Vector tp = new Vector();
   try{

    Vector open = this.openList;
    byte[][] map = this.map;

    if(map[x0][y0]>=Map.start_canotpass || map[x1][y1]>=Map.start_canotpass){
     return tp;
    }
    int _sh = getH(x0,y0,x1,y1);
    open.addElement(new Node(_sh,0,_sh,x0,y0,null));
    int oll=0;
    Node nowNode=null;

    while(0<(oll=open.size())){
     add++;
     Node maxNode;
     int minIndex=0;
     int minf=10000000;


     for(int i=0;i<oll;i++){
      maxNode = ((Node)open.elementAt(i));
      if(minf>maxNode.f){
       minf = maxNode.f;
       minIndex = i;

      }
     }

     nowNode =(Node) open.elementAt(minIndex);
     open.removeElementAt(minIndex);
     chkList.addElement(nowNode);

     if(nowNode.x==x1 && nowNode.y==y1){
      while(nowNode.p!=null){
       tp.addElement(nowNode);
       nowNode = nowNode.p;
      }
      tp.addElement(nowNode);
      break;
     }
     updateNode(nowNode,x1,y1);


    }

   }catch(Exception e){
    e.printStackTrace();
    return null;
   }
   System.out.println("不能到达的地点");
    return tp;

  }
  private int getG(int x0,int y0,int x1,int y1){
   if(Math.abs(x0-x1)==1 && Math.abs(y0-y1)==1){
    return 14;
   }else{
    return 10;
   }
  }
  private int getH(int x0,int y0,int x1,int y1){
   int xDistance = Math.abs(x0-x1);
   int yDistance = Math.abs(y0-y1);
   if(xDistance > yDistance){
    return (14*yDistance + 10*(xDistance-yDistance));
   }else{
    return (14*xDistance + 10*(yDistance-xDistance));
   }
  }


  private void updateNode (Node _node,int x1,int y1){
   System.out.println("setNode()");
    byte[][] map = this.map;
    int x = _node.x;
    int y = _node.y;
    int g = _node.g;
    int t = x-1;
    int b = x+1;
    int l = y-1;
    int r = y+1;
    int maxX = map.length;
    int maxY = map[0].length;

    if(t>=0 && map[t][y]<Map.start_canotpass) {
     this.chkNode(_node,x,y,g,x-1,y,x1,y1);//2
    }else{
     System.out.println("不能到达的地点 2");
    }

    if(l>=0 && map[x][l]<Map.start_canotpass){
     this.chkNode(_node,x,y,g,x,y-1,x1,y1);//4
    }else{
     System.out.println("不能到达的地点 4");
    }
    if(r<maxY && map[x][r]<Map.start_canotpass) {
     this.chkNode(_node,x,y,g,x,y+1,x1,y1);//6
    }else{

     System.out.println("不能到达的地点 6");
    }

    if(b<maxX && map[b][y]<Map.start_canotpass){
     this.chkNode(_node,x,y,g,x+1,y,x1,y1);//8
    }else{
     System.out.println("不能到达的地点 8");
    }


  }
  private void chkNode (Node _fnode,int _x0,int _y0,int _g,int _x1,int _y1,int _x2,int _y2){

    Vector open = this.openList;
    Vector chk = this.chkList;
    Node _Node = null;

    if(chk.size()>0){

     Node p;
     for(int i=0;i<chk.size();i++){
      p=(Node)chk.elementAt(i);
      if(_x1==p.x&&_y1==p.y){
       _Node=p;
       return;
      }
     }

    }
    if(open.size()>0){
     Node p;
     for(int i=0;i<open.size();i++){
      p=(Node)open.elementAt(i);
      if(_x1==p.x&&_y1==p.y){
       _Node=p;
       break;
      }
     }

    }


    if(_Node==null){

     _Node = new Node(0,0,0,_x1,_y1,_fnode);

     open.addElement(_Node) ;

     chk.addElement(_Node);

     _Node.g = _g + this.getG(_x0,_y0,_x1,_y1);
     _Node.h = this.getH(_x1,_y1,_x2,_y2);
     _Node.f = _Node.g + _Node.h;

    }else{

     int _CNG = _g + this.getG(_x0,_y0,_x1,_y1);

     if(_Node.g>_CNG){
      _Node.g = _CNG;
      _Node.f = _Node.g + _Node.h;
      _Node.p = _fnode;
     }

    }

  }