feat: 寻路优化
This commit is contained in:
richarjiang
@@ -3,223 +3,246 @@ const { ccclass, property } = _decorator;
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// A*寻路节点
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export class PathNode {
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x: number;
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y: number;
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gCost: number = 0; // 从起点到当前点的实际代价
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hCost: number = 0; // 从当前点到终点的启发式代价
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fCost: number = 0; // 总代价 f = g + h
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parent: PathNode | null = null;
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walkable: boolean = true;
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x: number;
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y: number;
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gCost: number = 0; // 从起点到当前点的实际代价
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hCost: number = 0; // 从当前点到终点的启发式代价
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fCost: number = 0; // 总代价 f = g + h
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parent: PathNode | null = null;
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walkable: boolean = true;
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moveCost: number = 1.0; // 从父节点移动到此节点的代价
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constructor(x: number, y: number, walkable: boolean = true) {
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this.x = x;
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this.y = y;
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this.walkable = walkable;
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}
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constructor(x: number, y: number, walkable: boolean = true) {
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this.x = x;
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this.y = y;
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this.walkable = walkable;
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}
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calculateFCost() {
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this.fCost = this.gCost + this.hCost;
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}
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calculateFCost() {
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this.fCost = this.gCost + this.hCost;
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}
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}
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@ccclass('AStarPathfinding')
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export class AStarPathfinding extends Component {
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private grid: PathNode[][] = [];
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private gridWidth: number = 0;
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private gridHeight: number = 0;
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private grid: PathNode[][] = [];
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private gridWidth: number = 0;
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private gridHeight: number = 0;
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/**
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* 初始化寻路网格
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* @param width 网格宽度
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* @param height 网格高度
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* @param walkableData 可行走数据，0表示不可行走，1表示可行走
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*/
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initializeGrid(width: number, height: number, walkableData: number[][]) {
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this.gridWidth = width;
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this.gridHeight = height;
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this.grid = [];
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/**
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* 初始化寻路网格
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* @param width 网格宽度
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* @param height 网格高度
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* @param walkableData 可行走数据，0表示不可行走，1表示可行走
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*/
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initializeGrid(width: number, height: number, walkableData: number[][]) {
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this.gridWidth = width;
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this.gridHeight = height;
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this.grid = [];
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for (let x = 0; x < width; x++) {
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this.grid[x] = [];
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for (let y = 0; y < height; y++) {
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const walkable = walkableData[y] && walkableData[y][x] === 1;
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this.grid[x][y] = new PathNode(x, y, walkable);
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}
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}
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for (let x = 0; x < width; x++) {
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this.grid[x] = [];
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for (let y = 0; y < height; y++) {
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const walkable = walkableData[y] && walkableData[y][x] === 1;
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this.grid[x][y] = new PathNode(x, y, walkable);
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}
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}
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}
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/**
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* 使用A*算法寻找路径
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* @param startX 起点X坐标
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* @param startY 起点Y坐标
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* @param targetX 终点X坐标
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* @param targetY 终点Y坐标
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* @returns 路径点数组，如果找不到路径返回空数组
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*/
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findPath(startX: number, startY: number, targetX: number, targetY: number): Vec2[] {
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// 验证起点和终点是否有效
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if (!this.isValidPosition(startX, startY) || !this.isValidPosition(targetX, targetY)) {
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console.warn('起点或终点坐标无效');
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return [];
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}
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/**
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* 使用A*算法寻找路径
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* @param startX 起点X坐标
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* @param startY 起点Y坐标
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* @param targetX 终点X坐标
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* @param targetY 终点Y坐标
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* @returns 路径点数组，如果找不到路径返回空数组
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*/
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findPath(startX: number, startY: number, targetX: number, targetY: number): Vec2[] {
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// 验证起点和终点是否有效
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if (!this.isValidPosition(startX, startY) || !this.isValidPosition(targetX, targetY)) {
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console.warn('起点或终点坐标无效');
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return [];
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}
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if (!this.grid[startX][startY].walkable || !this.grid[targetX][targetY].walkable) {
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console.warn('起点或终点不可行走');
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return [];
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}
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if (startX === targetX && startY === targetY) {
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return [new Vec2(startX, startY)];
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}
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// 重置所有节点
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this.resetNodes();
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const startNode = this.grid[startX][startY];
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const targetNode = this.grid[targetX][targetY];
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const openSet: PathNode[] = [];
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const closedSet: PathNode[] = [];
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openSet.push(startNode);
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while (openSet.length > 0) {
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// 找到f值最小的节点
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let currentNode = openSet[0];
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for (let i = 1; i < openSet.length; i++) {
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if (openSet[i].fCost < currentNode.fCost ||
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(openSet[i].fCost === currentNode.fCost && openSet[i].hCost < currentNode.hCost)) {
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currentNode = openSet[i];
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}
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}
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// 从开放列表移除当前节点，添加到关闭列表
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openSet.splice(openSet.indexOf(currentNode), 1);
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closedSet.push(currentNode);
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// 如果到达目标节点，重建路径
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if (currentNode === targetNode) {
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return this.retracePath(startNode, targetNode);
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}
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// 检查相邻节点
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const neighbors = this.getNeighbors(currentNode);
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for (const neighbor of neighbors) {
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if (!neighbor.walkable || closedSet.indexOf(neighbor) !== -1) {
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continue;
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}
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const newGCost = currentNode.gCost + this.getDistance(currentNode, neighbor);
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if (newGCost < neighbor.gCost || openSet.indexOf(neighbor) === -1) {
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neighbor.gCost = newGCost;
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neighbor.hCost = this.getDistance(neighbor, targetNode);
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neighbor.calculateFCost();
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neighbor.parent = currentNode;
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if (openSet.indexOf(neighbor) === -1) {
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openSet.push(neighbor);
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}
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}
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}
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}
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// 没有找到路径
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return [];
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if (!this.grid[startX][startY].walkable || !this.grid[targetX][targetY].walkable) {
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console.warn('起点或终点不可行走');
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return [];
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}
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/**
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* 获取节点的相邻节点（4方向）
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*/
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private getNeighbors(node: PathNode): PathNode[] {
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const neighbors: PathNode[] = [];
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if (startX === targetX && startY === targetY) {
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return [new Vec2(startX, startY)];
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}
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// 四个方向：上、下、左、右
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const directions = [
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{ x: 0, y: 1 }, // 上
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{ x: 0, y: -1 }, // 下
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{ x: -1, y: 0 }, // 左
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{ x: 1, y: 0 } // 右
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];
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// 重置所有节点
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this.resetNodes();
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for (const dir of directions) {
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const checkX = node.x + dir.x;
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const checkY = node.y + dir.y;
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const startNode = this.grid[startX][startY];
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const targetNode = this.grid[targetX][targetY];
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if (this.isValidPosition(checkX, checkY)) {
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neighbors.push(this.grid[checkX][checkY]);
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}
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const openSet: PathNode[] = [];
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const closedSet: PathNode[] = [];
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openSet.push(startNode);
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while (openSet.length > 0) {
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// 找到f值最小的节点
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let currentNode = openSet[0];
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for (let i = 1; i < openSet.length; i++) {
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if (openSet[i].fCost < currentNode.fCost ||
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(openSet[i].fCost === currentNode.fCost && openSet[i].hCost < currentNode.hCost)) {
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currentNode = openSet[i];
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}
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}
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// 从开放列表移除当前节点，添加到关闭列表
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openSet.splice(openSet.indexOf(currentNode), 1);
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closedSet.push(currentNode);
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// 如果到达目标节点，重建路径
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if (currentNode === targetNode) {
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return this.retracePath(startNode, targetNode);
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}
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// 检查相邻节点
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const neighbors = this.getNeighbors(currentNode);
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for (const neighbor of neighbors) {
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if (!neighbor.walkable || closedSet.indexOf(neighbor) !== -1) {
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continue;
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}
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return neighbors;
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}
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const newGCost = currentNode.gCost + neighbor.moveCost;
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/**
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* 获取两个节点之间的距离（曼哈顿距离）
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*/
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private getDistance(nodeA: PathNode, nodeB: PathNode): number {
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const distX = Math.abs(nodeA.x - nodeB.x);
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const distY = Math.abs(nodeA.y - nodeB.y);
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return distX + distY;
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}
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if (newGCost < neighbor.gCost || openSet.indexOf(neighbor) === -1) {
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neighbor.gCost = newGCost;
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neighbor.hCost = this.getDistance(neighbor, targetNode);
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neighbor.calculateFCost();
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neighbor.parent = currentNode;
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/**
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* 重建路径
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*/
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private retracePath(startNode: PathNode, endNode: PathNode): Vec2[] {
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const path: Vec2[] = [];
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let currentNode = endNode;
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while (currentNode !== startNode) {
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path.push(new Vec2(currentNode.x, currentNode.y));
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currentNode = currentNode.parent!;
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if (openSet.indexOf(neighbor) === -1) {
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openSet.push(neighbor);
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}
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}
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path.push(new Vec2(startNode.x, startNode.y));
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path.reverse();
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return path;
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}
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}
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/**
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* 重置所有节点的寻路参数
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*/
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private resetNodes() {
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for (let x = 0; x < this.gridWidth; x++) {
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for (let y = 0; y < this.gridHeight; y++) {
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const node = this.grid[x][y];
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node.gCost = 0;
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node.hCost = 0;
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node.fCost = 0;
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node.parent = null;
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}
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// 没有找到路径
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return [];
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}
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/**
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* 获取节点的相邻节点（8方向）
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*/
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private getNeighbors(node: PathNode): PathNode[] {
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const neighbors: PathNode[] = [];
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// 八个方向：上、下、左、右、左上、右上、左下、右下
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const directions = [
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{ x: 0, y: 1, cost: 1.0 }, // 上
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{ x: 0, y: -1, cost: 1.0 }, // 下
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{ x: -1, y: 0, cost: 1.0 }, // 左
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{ x: 1, y: 0, cost: 1.0 }, // 右
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{ x: -1, y: 1, cost: 1.414 }, // 左上
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{ x: 1, y: 1, cost: 1.414 }, // 右上
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{ x: -1, y: -1, cost: 1.414 },// 左下
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{ x: 1, y: -1, cost: 1.414 } // 右下
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];
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for (const dir of directions) {
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const checkX = node.x + dir.x;
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const checkY = node.y + dir.y;
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if (this.isValidPosition(checkX, checkY)) {
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const neighbor = this.grid[checkX][checkY];
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// 为对角线移动添加额外检查，防止穿过墙角
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if (dir.cost > 1.0) {
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// 检查对角线移动时，相邻的两个直角方向是否可行走
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const xCheck = this.grid[node.x + dir.x][node.y];
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const yCheck = this.grid[node.x][node.y + dir.y];
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if (!xCheck.walkable || !yCheck.walkable) {
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continue; // 如果相邻的直角方向不可行走，则不能进行对角线移动
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}
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}
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neighbor.moveCost = dir.cost;
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neighbors.push(neighbor);
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}
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}
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/**
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* 检查位置是否有效
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*/
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private isValidPosition(x: number, y: number): boolean {
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return x >= 0 && x < this.gridWidth && y >= 0 && y < this.gridHeight;
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return neighbors;
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}
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/**
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* 获取两个节点之间的距离（欧几里得距离，支持对角线移动）
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*/
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private getDistance(nodeA: PathNode, nodeB: PathNode): number {
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const distX = Math.abs(nodeA.x - nodeB.x);
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const distY = Math.abs(nodeA.y - nodeB.y);
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// 使用欧几里得距离，更适合对角线移动
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// 对角线距离约为1.414，直线距离为1
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if (distX === distY) {
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return distX * 1.414; // 对角线移动
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} else {
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return distX + distY; // 曼哈顿距离
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}
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}
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/**
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* 重建路径
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*/
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private retracePath(startNode: PathNode, endNode: PathNode): Vec2[] {
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const path: Vec2[] = [];
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let currentNode = endNode;
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while (currentNode !== startNode) {
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path.push(new Vec2(currentNode.x, currentNode.y));
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currentNode = currentNode.parent!;
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}
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/**
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* 设置节点的可行走状态
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*/
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setWalkable(x: number, y: number, walkable: boolean) {
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if (this.isValidPosition(x, y)) {
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this.grid[x][y].walkable = walkable;
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}
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}
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path.push(new Vec2(startNode.x, startNode.y));
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path.reverse();
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/**
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* 获取节点是否可行走
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*/
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isWalkable(x: number, y: number): boolean {
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if (!this.isValidPosition(x, y)) {
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return false;
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}
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return this.grid[x][y].walkable;
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return path;
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}
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/**
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* 重置所有节点的寻路参数
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*/
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private resetNodes() {
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for (let x = 0; x < this.gridWidth; x++) {
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for (let y = 0; y < this.gridHeight; y++) {
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const node = this.grid[x][y];
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node.gCost = 0;
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node.hCost = 0;
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node.fCost = 0;
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node.parent = null;
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}
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}
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}
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/**
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* 检查位置是否有效
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*/
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private isValidPosition(x: number, y: number): boolean {
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return x >= 0 && x < this.gridWidth && y >= 0 && y < this.gridHeight;
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}
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/**
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* 设置节点的可行走状态
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*/
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setWalkable(x: number, y: number, walkable: boolean) {
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if (this.isValidPosition(x, y)) {
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this.grid[x][y].walkable = walkable;
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}
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}
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/**
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* 获取节点是否可行走
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*/
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isWalkable(x: number, y: number): boolean {
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if (!this.isValidPosition(x, y)) {
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return false;
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}
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return this.grid[x][y].walkable;
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}
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}
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