c#版本的Astar算法.rar_AStar C#_astar unity_c# astar_c#寻路教程_unity A st

using System.Collections; using System.Collections.Generic; using UnityEngine; using Astar; namespace Astar { public class PathFinder : MonoBehaviour { List<Node> Open = new List<Node>(); List<Node> Close = new List<Node>(); List<Node> All = new List<Node>(); Node start; Node end; public static bool LOG { get { return false; } } public static float F { get { return 5; } } void Start() { Init(); } //初始化 void Init() { Open.Clear(); Close.Clear(); for (int x = 0; x < Map.width; x++) { for (int z = 0; z < Map.deep; z++) { All.Add(new Node(x, z)); } } } void Reset() { Open.Clear(); Close.Clear(); foreach (var node in All) { node.Reset(); Open.Add(node); } } public List<IntVector2> Find(IntVector2 from, IntVector2 to) { Reset(); if (LOG) Debug.Log("find start."); start = GetNode(from); start.cost = 0; start.f = 0; end = GetNode(to); int count = 0; while (Open.Count != 0) { var N = GetMinFNode(); if (LOG) Debug.Log("find step " + count + ":" + N.pos + " , f=" + N.f); var dirs = new IntVector2[4] { new IntVector2(0, 1), new IntVector2(0, -1), new IntVector2(1, 0), new IntVector2(-1, 0) }; foreach (var dir in dirs) { bool inclose; var X = GetNode(N.pos + dir, out inclose); //在地图外 if (X == null) { continue; } else if (X == end) { X.last = N; List<IntVector2> res = new List<IntVector2>(); var cur = end; while (cur.last != null) { res.Add(cur.pos); cur = cur.last; } res.Reverse(); return res; } //在Open内 //Debug.LogError("运行到这里了"); else if (!inclose) { UpdateFValue(N, X); continue; } //在Close内 else if (inclose) { bool reOpen = UpdateFValue(N, X); if (reOpen) { Open.Add(X); Close.Remove(X); } continue; } } Debug.DrawLine((Vector3)N.pos, (Vector3)N.pos + Vector3.up, Color.red, 1); Close.Add(N); Open.Remove(N); } return null; } /// <summary> /// 对X的值进行更新。 /// </summary> /// <param name="N">当前正在Close的点</param> /// <param name="X">刷新值的点</param> /// <returns>返回是否需要重新OPEN</returns> bool UpdateFValue(Node N, Node X) { if (X.cost > N.cost + 1) X.cost = N.cost + 1; if (X.left < 0) X.left = Node.distance(end, X); var newF = X.cost + X.left * F; if (newF < X.f) { X.f = newF; X.last = N; return true; } else return false; } Node GetNode(IntVector2 v, out bool inClose) { if (!Map.IsInMap(v)) { inClose = false; return null; } if (!Map.Walkable(v.x, v.z)) { inClose = false; return null; } for (int i = 0; i < Open.Count; i++) { if (Open[i].pos == v) { inClose = false; return Open[i]; } } for (int i = 0; i < Close.Count; i++) { if (Close[i].pos == v) { inClose = true; return Close[i]; } } Debug.Log("意料之外的情况"); inClose = false; return null; } Node GetNode(IntVector2 v) { bool useless; return GetNode(v, out useless); } Node GetMinFNode() { if (Open.Count == 0) return null; Node result = Open[0]; foreach (var node in Open) { if (node.f < result.f) { result = node; } } return result; } void Update() { if (Input.GetKeyDown(KeyCode.F)) { IntVector2 a = (IntVector2)GameObject.Find("a").transform.position; IntVector2 b = (IntVector2)GameObject.Find("b").transform.position; var path = Find(a, b); for (int i = 1; i < path.Count; i++) { Debug.DrawLine((Vector3)path[i - 1], (Vector3)path[i], Color.yellow, 3f); } path = PathFixer.Fix(path, 0.3f); for (int i = 1; i < path.Count; i++) { Debug.DrawLine((Vector3)path[i - 1] + Vector3.up * 0.2f, (Vector3)path[i] + Vector3.up * 0.2f, Color.red, 3f); } } } } }