climb/assets/scripts/AStarPathfinding.ts

import { _decorator, Component, Vec2 } from 'cc';
const { ccclass, property } = _decorator;

// A*寻路节点
export class PathNode {
  x: number;
  y: number;
  gCost: number = 0;       // 从起点到当前点的实际代价
  hCost: number = 0;       // 从当前点到终点的启发式代价
  fCost: number = 0;       // 总代价 f = g + h
  parent: PathNode | null = null;
  walkable: boolean = true;
  moveCost: number = 1.0;  // 从父节点移动到此节点的代价

  constructor(x: number, y: number, walkable: boolean = true) {
    this.x = x;
    this.y = y;
    this.walkable = walkable;
  }

  calculateFCost() {
    this.fCost = this.gCost + this.hCost;
  }
}

@ccclass('AStarPathfinding')
export class AStarPathfinding extends Component {

  private grid: PathNode[][] = [];
  private gridWidth: number = 0;
  private gridHeight: number = 0;

  /**
   * 初始化寻路网格
   * @param width 网格宽度
   * @param height 网格高度
   * @param walkableData 可行走数据，0表示不可行走，1表示可行走
   */
  initializeGrid(width: number, height: number, walkableData: number[][]) {
    this.gridWidth = width;
    this.gridHeight = height;
    this.grid = [];

    for (let x = 0; x < width; x++) {
      this.grid[x] = [];
      for (let y = 0; y < height; y++) {
        const walkable = walkableData[y] && walkableData[y][x] === 1;
        this.grid[x][y] = new PathNode(x, y, walkable);
      }
    }
  }

  /**
   * 使用A*算法寻找路径
   * @param startX 起点X坐标
   * @param startY 起点Y坐标
   * @param targetX 终点X坐标
   * @param targetY 终点Y坐标
   * @returns 路径点数组，如果找不到路径返回空数组
   */
  findPath(startX: number, startY: number, targetX: number, targetY: number): Vec2[] {
    // 验证起点和终点是否有效
    if (!this.isValidPosition(startX, startY) || !this.isValidPosition(targetX, targetY)) {
      console.warn('起点或终点坐标无效');
      return [];
    }

    // 检查终点是否可行走
    if (!this.grid[targetX][targetY].walkable) {
      console.warn('终点不可行走');
      return [];
    }

    // 注意：起点可能不可行走，我们在TiledMapPathfinder中已经处理了这种情况
    // 这里不再检查起点是否可行走，允许从不可行走的起点开始寻路

    if (startX === targetX && startY === targetY) {
      return [new Vec2(startX, startY)];
    }

    // 重置所有节点
    this.resetNodes();

    const startNode = this.grid[startX][startY];
    const targetNode = this.grid[targetX][targetY];

    // 临时将起点设置为可行走，以便算法能够开始
    const originalStartWalkable = startNode.walkable;
    startNode.walkable = true;

    const openSet: PathNode[] = [];
    const closedSet: PathNode[] = [];

    openSet.push(startNode);

    while (openSet.length > 0) {
      // 找到f值最小的节点
      let currentNode = openSet[0];
      for (let i = 1; i < openSet.length; i++) {
        if (openSet[i].fCost < currentNode.fCost ||
          (openSet[i].fCost === currentNode.fCost && openSet[i].hCost < currentNode.hCost)) {
          currentNode = openSet[i];
        }
      }

      // 从开放列表移除当前节点，添加到关闭列表
      openSet.splice(openSet.indexOf(currentNode), 1);
      closedSet.push(currentNode);

      // 如果到达目标节点，重建路径
      if (currentNode === targetNode) {
        // 恢复起点的原始可行走状态
        startNode.walkable = originalStartWalkable;
        return this.retracePath(startNode, targetNode);
      }

      // 检查相邻节点
      const neighbors = this.getNeighbors(currentNode);
      for (const neighbor of neighbors) {
        // 如果当前节点不可行走，我们仍然允许它连接到可行走的相邻节点
        // 这样可以从不可行走的起点移动到可行走的区域
        if (!neighbor.walkable || closedSet.indexOf(neighbor) !== -1) {
          continue;
        }

        const newGCost = currentNode.gCost + neighbor.moveCost;

        if (newGCost < neighbor.gCost || openSet.indexOf(neighbor) === -1) {
          neighbor.gCost = newGCost;
          neighbor.hCost = this.getDistance(neighbor, targetNode);
          neighbor.calculateFCost();
          neighbor.parent = currentNode;

          if (openSet.indexOf(neighbor) === -1) {
            openSet.push(neighbor);
          }
        }
      }
    }

    // 恢复起点的原始可行走状态
    startNode.walkable = originalStartWalkable;

    // 没有找到路径
    return [];
  }

  /**
   * 获取节点的相邻节点（8方向）
   */
  private getNeighbors(node: PathNode): PathNode[] {
    const neighbors: PathNode[] = [];

    // 八个方向：上、下、左、右、左上、右上、左下、右下
    const directions = [
      { x: 0, y: 1, cost: 1.0 },    // 上
      { x: 0, y: -1, cost: 1.0 },   // 下
      { x: -1, y: 0, cost: 1.0 },   // 左
      { x: 1, y: 0, cost: 1.0 },    // 右
      { x: -1, y: 1, cost: 1.414 }, // 左上
      { x: 1, y: 1, cost: 1.414 },  // 右上
      { x: -1, y: -1, cost: 1.414 },// 左下
      { x: 1, y: -1, cost: 1.414 }  // 右下
    ];

    for (const dir of directions) {
      const checkX = node.x + dir.x;
      const checkY = node.y + dir.y;

      if (this.isValidPosition(checkX, checkY)) {
        const neighbor = this.grid[checkX][checkY];
        // 为对角线移动添加额外检查，防止穿过墙角
        if (dir.cost > 1.0) {
          // 检查对角线移动时，相邻的两个直角方向是否可行走
          const xCheck = this.grid[node.x + dir.x][node.y];
          const yCheck = this.grid[node.x][node.y + dir.y];
          if (!xCheck.walkable || !yCheck.walkable) {
            continue; // 如果相邻的直角方向不可行走，则不能进行对角线移动
          }
        }
        neighbor.moveCost = dir.cost;
        neighbors.push(neighbor);
      }
    }

    return neighbors;
  }

  /**
   * 获取两个节点之间的距离（欧几里得距离，支持对角线移动）
   */
  private getDistance(nodeA: PathNode, nodeB: PathNode): number {
    const distX = Math.abs(nodeA.x - nodeB.x);
    const distY = Math.abs(nodeA.y - nodeB.y);

    // 使用欧几里得距离，更适合对角线移动
    // 对角线距离约为1.414，直线距离为1
    if (distX === distY) {
      return distX * 1.414; // 对角线移动
    } else {
      return distX + distY; // 曼哈顿距离
    }
  }

  /**
   * 重建路径
   */
  private retracePath(startNode: PathNode, endNode: PathNode): Vec2[] {
    const path: Vec2[] = [];
    let currentNode = endNode;

    while (currentNode !== startNode) {
      path.push(new Vec2(currentNode.x, currentNode.y));
      currentNode = currentNode.parent!;
    }

    path.push(new Vec2(startNode.x, startNode.y));
    path.reverse();

    return path;
  }

  /**
   * 重置所有节点的寻路参数
   */
  private resetNodes() {
    for (let x = 0; x < this.gridWidth; x++) {
      for (let y = 0; y < this.gridHeight; y++) {
        const node = this.grid[x][y];
        node.gCost = 0;
        node.hCost = 0;
        node.fCost = 0;
        node.parent = null;
      }
    }
  }

  /**
   * 检查位置是否有效
   */
  private isValidPosition(x: number, y: number): boolean {
    return x >= 0 && x < this.gridWidth && y >= 0 && y < this.gridHeight;
  }

  /**
   * 设置节点的可行走状态
   */
  setWalkable(x: number, y: number, walkable: boolean) {
    if (this.isValidPosition(x, y)) {
      this.grid[x][y].walkable = walkable;
    }
  }

  /**
   * 获取节点是否可行走
   */
  isWalkable(x: number, y: number): boolean {
    if (!this.isValidPosition(x, y)) {
      return false;
    }
    return this.grid[x][y].walkable;
  }
}