├── .gitignore ├── NewProject1.rar ├── README.md ├── README.md.bak ├── assets ├── Scene.meta ├── Scene │ ├── helloworld.fire │ └── helloworld.fire.meta ├── Script.meta ├── Script │ ├── AutoFindPath.js │ ├── AutoFindPath.js.meta │ ├── HelloWorld.js │ ├── HelloWorld.js.meta │ ├── canvasControl.js │ └── canvasControl.js.meta ├── Texture.meta ├── Texture │ ├── HelloWorld.png │ ├── HelloWorld.png.meta │ ├── gz.png │ ├── gz.png.meta │ ├── singleColor.png │ └── singleColor.png.meta ├── gz.prefab └── gz.prefab.meta ├── creator.d.ts ├── jsconfig.json ├── project.json ├── settings ├── builder.json ├── builder.panel.json └── project.json ├── template-banner.png └── template.json /.gitignore: -------------------------------------------------------------------------------- 1 | #///////////////////////////////////////////////////////////////////////////// 2 | # Fireball Projects 3 | #///////////////////////////////////////////////////////////////////////////// 4 | 5 | library/ 6 | temp/ 7 | local/ 8 | build/ 9 | 10 | #///////////////////////////////////////////////////////////////////////////// 11 | # Logs and databases 12 | #///////////////////////////////////////////////////////////////////////////// 13 | 14 | *.log 15 | *.sql 16 | *.sqlite 17 | 18 | #///////////////////////////////////////////////////////////////////////////// 19 | # files for debugger 20 | #///////////////////////////////////////////////////////////////////////////// 21 | 22 | *.sln 23 | *.csproj 24 | *.pidb 25 | *.unityproj 26 | *.suo 27 | 28 | #///////////////////////////////////////////////////////////////////////////// 29 | # OS generated files 30 | #///////////////////////////////////////////////////////////////////////////// 31 | 32 | .DS_Store 33 | ehthumbs.db 34 | Thumbs.db 35 | 36 | #///////////////////////////////////////////////////////////////////////////// 37 | # exvim files 38 | #///////////////////////////////////////////////////////////////////////////// 39 | 40 | *UnityVS.meta 41 | *.err 42 | *.err.meta 43 | *.exvim 44 | *.exvim.meta 45 | *.vimentry 46 | *.vimentry.meta 47 | *.vimproject 48 | *.vimproject.meta 49 | .vimfiles.*/ 50 | .exvim.*/ 51 | quick_gen_project_*_autogen.bat 52 | quick_gen_project_*_autogen.bat.meta 53 | quick_gen_project_*_autogen.sh 54 | quick_gen_project_*_autogen.sh.meta 55 | .exvim.app 56 | 57 | #///////////////////////////////////////////////////////////////////////////// 58 | # webstorm files 59 | #///////////////////////////////////////////////////////////////////////////// 60 | 61 | .idea/ 62 | 63 | #////////////////////////// 64 | # VS Code 65 | #////////////////////////// 66 | 67 | .vscode/ -------------------------------------------------------------------------------- /NewProject1.rar: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/microcisco/astar/bb4a1c191618919e6633a54002442fd6fc869230/NewProject1.rar -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # astar 2 | 3 | ## 最近更新 4 | + 新增了JPS（跳点寻路），欢迎大家提issue 5 | https://github.com/microcisco/jpsFindPath 6 | + 新增了TS版本，进一步的优化代码，以及进一步的简化用法，欢迎大家提issue 7 | https://github.com/microcisco/astartForTS 8 | --- 9 | 10 | 商业项目放心使用，有问题会及时更新！ 11 | 最近要用到寻路算法，偷懒网上搜了一批，尼玛惨不忍睹，各种bug，没办法，自己动手丰衣足食。 12 | 本版本优化了两个地方，第一个是将经典的递归改成了循环避免了堆栈溢出，第二个是优化了路径尽量走直线。 13 | 14 | 关于用法 15 | 工程项目是cocos create的，其他项目直接调用 /assets/Script/AutoFindPath.js下的getPath即可参数和返回值如下, 另外点对象的结构如下(x: 0, y: 0) 16 | /** 17 | * 18 | * @param {object} bron 出生点 19 | * @param {object} obstacles 障碍物数组 20 | * @param {object} target 目标 21 | * @param {object} map 地图 22 | * @param {object} girdLength 格子长度 23 | * @return{Array} route 路径点数组(空数组为死路) 24 | * */ 25 | 26 | 最后我的注释写的非常详细，如果大家发现bug欢迎提issues 27 | 28 | 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-------------------------------------------------------------------------------- 1 | /** 2 | * 3 | * @param {object} bron 出生点 4 | * @param {object} obstacles 障碍物数组 5 | * @param {object} target 目标 6 | * @param {object} map 地图 7 | * @param {object} girdLength 格子长度 8 | * @return{Array} route 路径点数组(空数组为死路) 9 | * */ 10 | function getPath(bron, obstacles, target, map, girdLength) { 11 | var noWay = false; //死路 12 | var route = [bron]; //最佳路径 13 | var open = []; 14 | var closed = []; 15 | var fastTable = {}; //地图坐标的字典 16 | 17 | //生成地图坐标的字典 18 | map.forEach(function (t) { 19 | fastTable[t.x + '' + t.y] = t; 20 | }); 21 | //处理参数 22 | var params = formatParams(bron, obstacles, target, map); 23 | bron = params.bron; 24 | obstacles = params.obstacles; 25 | target = params.target; 26 | //处理出生点值 27 | bron.G = 0; 28 | bron.H = H(bron, target, girdLength); 29 | bron.F = F(bron); 30 | //更改当前作用点 31 | var nowGird = bron; 32 | //将障碍物加到closed列表 33 | obstacles.forEach(function (t) { 34 | closed.push(t); 35 | }); 36 | //先把出生点放到closed列表中 37 | closeFn(closed, bron); 38 | //开始BFS所有 39 | for (; closed.indexOf(target) < 0;) { 40 | //把可以走的格子放到open列表 41 | try { 42 | openFn(open, closed, nowGird, girdLength, fastTable); 43 | } catch (e) { 44 | noWay = true; 45 | } 46 | if (noWay) { 47 | return route; 48 | } 49 | //计算open列表中格子的G H F值 50 | caleF(open, map, nowGird, target, bron, girdLength); 51 | //根据F值排序 52 | open.sort(function (t1, t2) { 53 | return t1.F - t2.F; 54 | }); 55 | //优化尽量走直线 56 | var tmp = null; 57 | open[0].p = calcP(open[0]); 58 | for(var i = 1; i < open.length; ++i) { 59 | if(open[0].F > open[i].F) { 60 | break; 61 | } 62 | else { 63 | open[i].p = calcP(open[i]); 64 | if(open[i].p > open[0].p) { 65 | tmp = open[0]; 66 | open[0] = open[i]; 67 | open[i] = tmp; 68 | } 69 | } 70 | } 71 | //移动作用点 72 | nowGird = open.shift(); 73 | closeFn(closed, nowGird); 74 | } 75 | /////////////////////////////////////////////////////////////////////////显示最优路径中的一条 76 | var pathLink = target; 77 | while (true) { 78 | if (!pathLink.hasOwnProperty('parent')) { 79 | break; 80 | } 81 | route.unshift(pathLink.parent); 82 | pathLink = pathLink.parent; 83 | } 84 | //加上目标点 85 | route.push(target); 86 | return route; 87 | } 88 | 89 | /** 90 | * 获取移动量 (地形越难走移动量越大) 91 | * @param {object} now 当前点 92 | * @return {number} 93 | * */ 94 | function G(now) { 95 | return now.G + 1; 96 | } 97 | 98 | /** 99 | * 移动量估算值 (从当前方块到终点的移动量估算值) 100 | * @param {object} self 当前点 101 | * @param {object} target 目标点 102 | * @param {object} girdLength 格子长度 103 | * @return {number} 104 | * */ 105 | function H(self, target, girdLength) { 106 | return Math.abs(target.x - self.x) / girdLength + Math.abs(target.y - self.y) / girdLength; 107 | } 108 | 109 | /** 110 | * 和值 (等于G+H) 111 | * @param {object} self 当前点 112 | * */ 113 | function F(self) { 114 | return self.G + self.H; 115 | } 116 | 117 | /** 118 | * open函数 (添加到open列表) 119 | * @param {object} open open列表 120 | * @param {object} closed closed列表 121 | * @param {object} point 当前点 122 | * @param {object} girdLength 格子长度 123 | * @param {object} fastTable 快速查找表 124 | * */ 125 | function openFn(open, closed, point, girdLength, fastTable) { 126 | var results = []; 127 | if (fastTable[point.x + '' + (point.y + girdLength)]) { 128 | results.push(fastTable[point.x + '' + (point.y + girdLength)]); 129 | } 130 | if (fastTable[point.x + '' + (point.y - girdLength)]) { 131 | results.push(fastTable[point.x + '' + (point.y - girdLength)]); 132 | } 133 | if (fastTable[(point.x + girdLength) + '' + point.y]) { 134 | results.push(fastTable[(point.x + girdLength) + '' + point.y]); 135 | } 136 | if (fastTable[(point.x - girdLength) + '' + point.y]) { 137 | results.push(fastTable[(point.x - girdLength) + '' + point.y]); 138 | } 139 | results.forEach(function (t) { 140 | if (!canReach(open, closed, t)) { 141 | return; 142 | } 143 | open.push(t); 144 | }); 145 | } 146 | 147 | /** 148 | * close函数 (添加到close列表) 149 | * @param {object} closed closed列表 150 | * @param {object} item 待加入点 151 | * */ 152 | function closeFn(closed, item) { 153 | closed.push(item); 154 | } 155 | 156 | /** 157 | * 计算open列表中所有项F值 158 | * @param {object} open open列表 159 | * @param {object} map closed列表 160 | * @param {object} now 当前点 161 | * @param {object} target 目标点 162 | * @param {object} girdLength 格子长度 163 | * */ 164 | function caleF(open, map, now, target, bron, girdLength) { 165 | open.forEach(function (t) { 166 | if (!t.F) { 167 | //找出最优的G 168 | var k = []; 169 | var around = getAround(map, [], [], t, girdLength); 170 | around.forEach(function (t2) { 171 | if (t2.G >= 0) { 172 | k.push(t2); 173 | } 174 | }); 175 | k.sort(function (t1, t2) { 176 | return t1.F - t2.F; 177 | }); 178 | var shift = k.shift(); 179 | t.G = G(shift); 180 | //处理H值和F值 181 | t.H = H(t, target, girdLength); 182 | t.F = F(t); 183 | t.parent = shift; 184 | } 185 | }); 186 | } 187 | 188 | /** 189 | * 检测是否可以走 190 | * @param {object} open open列表 191 | * @param {object} close closed列表 192 | * @param {object} gird 检测的点 193 | * */ 194 | function canReach(open, close, gird) { 195 | var i, l; 196 | for (i = 0, l = open.length; i < open.length; ++i) { 197 | if (open.hasOwnProperty(i)) { 198 | if (open.indexOf(gird) > -1) { 199 | return false; 200 | } 201 | } 202 | } 203 | for (i = 0, l = close.length; i < close.length; ++i) { 204 | if (close.hasOwnProperty(i)) { 205 | if (close.indexOf(gird) > -1) { 206 | return false; 207 | } 208 | } 209 | } 210 | return true; 211 | } 212 | 213 | /** 214 | * 检测他四周的格子 215 | * @param {object} container 所有可选点的集合 216 | * @param {object} obstacles 障碍物 217 | * @param {object} route 已走的点 218 | * @param {object} point 原点 219 | * @param {object} girdLength 格子尺寸 220 | * */ 221 | function getAround(container, obstacles, route, point, girdLength) { 222 | var result = []; 223 | container.forEach(function (t) { 224 | if (obstacles.indexOf(t) >= 0) { 225 | return; 226 | } 227 | if (route.indexOf(t) >= 0) { 228 | return; 229 | } 230 | if ((Math.abs(t.x - point.x) <= girdLength && 231 | Math.abs(t.y - point.y) <= girdLength) && 232 | !(Math.abs(t.x - point.x) === girdLength && 233 | Math.abs(t.y - point.y) === girdLength) && 234 | t !== point 235 | ) { 236 | result.push(t); 237 | } 238 | }); 239 | return result; 240 | } 241 | 242 | /** 243 | * 格式化参数 244 | * @param {object} bron 出生点 245 | * @param {object} obstacles 障碍物数组 246 | * @param {object} target 目标 247 | * @param {object} map 地图 248 | * */ 249 | function formatParams(bron, obstacles, target, map) { 250 | var res = {bron: null, obstacles: [], target: null}; 251 | for (var i in map) { 252 | if (map.hasOwnProperty(i)) { 253 | //处理出生点 254 | if (map[i].x === bron.x && map[i].y === bron.y) { 255 | res.bron = map[i]; 256 | } 257 | //处理目标点 258 | if (map[i].x === target.x && map[i].y === target.y) { 259 | res.target = map[i]; 260 | } 261 | //处理障碍物 262 | obstacles.forEach(function (t) { 263 | if (t.x === map[i].x && map[i].y === t.y) { 264 | res.obstacles.push(map[i]); 265 | } 266 | }); 267 | } 268 | } 269 | return res; 270 | } 271 | 272 | /** 273 | * 计算P值（优化用） 274 | * @param {object} point 待计算点 275 | * */ 276 | function calcP(point) { 277 | var res = 0; 278 | if((point.parent && point.parent.x === point.x) || 279 | (point.parent && point.parent.y === point.y) 280 | ) { 281 | ++res; 282 | if((point.parent.parent && point.parent.parent.x === point.x) || 283 | (point.parent.parent && point.parent.parent.y === point.y) 284 | ) { 285 | ++res; 286 | } 287 | } 288 | return res; 289 | } 290 | 291 | module.exports = { 292 | getPath: getPath 293 | }; -------------------------------------------------------------------------------- /assets/Script/AutoFindPath.js.meta: -------------------------------------------------------------------------------- 1 | { 2 | "ver": "1.0.3", 3 | "uuid": "2fb3cbc7-7999-4926-bbe8-cf40b8e9233d", 4 | "isPlugin": false, 5 | "loadPluginInWeb": true, 6 | "loadPluginInNative": true, 7 | "loadPluginInEditor": false, 8 | "subMetas": {} 9 | } -------------------------------------------------------------------------------- /assets/Script/HelloWorld.js: -------------------------------------------------------------------------------- 1 | var authFindPath = require('AutoFindPath'); 2 | 3 | cc.Class({ 4 | extends: cc.Component, 5 | 6 | properties: { 7 | gird: { 8 | default: null, 9 | type: cc.Prefab 10 | }, 11 | canv: { 12 | default: null, 13 | type: cc.Node 14 | }, 15 | 16 | operatorAction: { 17 | default: 0 // 0: 无操作 1: 设置出生点 2: 设置障碍物 3: 设置目标点 4: 开始寻路 18 | } 19 | }, 20 | 21 | // use this for initialization 22 | onLoad: function () { 23 | 24 | var self = this; 25 | 26 | //地图脚本 27 | this.canvScript = this.canv.getComponent('canvasControl'); 28 | 29 | //初始化地图 30 | var winSize = cc.director.getWinSize(); 31 | var instantiate = cc.instantiate(this.gird); 32 | var widthNum = (winSize.width / instantiate.width); 33 | var heightNum = (winSize.height / instantiate.height); 34 | for(var i = 0; i < widthNum; ++i) { 35 | for(var j = 0; j < heightNum; ++j) { 36 | var _instantiate = cc.instantiate(this.gird); 37 | _instantiate.x = i * instantiate.width; 38 | _instantiate.y = j * instantiate.height; 39 | _instantiate.setTag(_instantiate.x + '' + _instantiate.y); 40 | this.node.addChild(_instantiate); 41 | } 42 | } 43 | 44 | //事件监听 45 | //出身点 46 | cc.find('Canvas/control/bron').on('mousedown', function ( event ) { 47 | self.canvScript.SetEdit1(1); 48 | self.operatorAction = 1; 49 | }.bind(this)); 50 | //障碍物 51 | cc.find('Canvas/control/obstacles').on('mousedown', function ( event ) { 52 | self.canvScript.SetEdit1(2); 53 | self.operatorAction = 2; 54 | }.bind(this)); 55 | //目标点 56 | cc.find('Canvas/control/target').on('mousedown', function ( event ) { 57 | self.canvScript.SetEdit1(3); 58 | self.operatorAction = 3; 59 | }.bind(this)); 60 | //开始寻路 61 | cc.find('Canvas/control/action').on('mousedown', function ( event ) { 62 | self.canvScript.SetEdit1(4); 63 | self.operatorAction = 4; 64 | 65 | var navigationInfo = self.getNavigationInfo(); 66 | var path = authFindPath.getPath(navigationInfo.bron, navigationInfo.obstacles, navigationInfo.target, navigationInfo.map, navigationInfo.girdLength); 67 | 68 | console.log(path); 69 | 70 | 71 | var index = 0; 72 | setInterval(function () { 73 | if(index === path.length) { 74 | return; 75 | } 76 | var t = path[index++]; 77 | var node = self.node.getChildByTag(t.x + '' + t.y); 78 | node.setColor(cc.color(255,230,150)); 79 | }, 200); 80 | 81 | 82 | /* 83 | path[1].forEach(function (t) { 84 | 85 | if(t.F) { 86 | var node = self.node.getChildByTag(t.x + '' + t.y); 87 | 88 | // node.setColor(cc.color(255,230,150)); 89 | 90 | node.getChildByName('tt').getComponent('cc.Label').string = t.F; 91 | 92 | } 93 | 94 | }); 95 | 96 | path[2].forEach(function (t) { 97 | 98 | if(t.F) { 99 | var node = self.node.getChildByTag(t.x + '' + t.y); 100 | 101 | node.setColor(cc.color(255,230,150)); 102 | 103 | 104 | } 105 | 106 | }); 107 | */ 108 | 109 | }.bind(this)); 110 | 111 | }, 112 | 113 | //获取导航信息 114 | getNavigationInfo: function () { 115 | var res = {bron: null, obstacles: [], target: null, map: [], girdLength: 0}; 116 | res.bron = new cc.Vec2(this.bron.x, this.bron.y); 117 | res.target = new cc.Vec2(this.target.x, this.target.y); 118 | res.girdLength = this.bron.width; 119 | this.obstacles.forEach(function (t) { 120 | res.obstacles.push(new cc.Vec2(t.x, t.y)) 121 | }); 122 | this.node.getChildren().forEach(function (t) { 123 | res.map.push(new cc.Vec2(t.x, t.y)); 124 | }); 125 | return res; 126 | }, 127 | 128 | //更新地图变化 129 | getMapNotify: function (position) { 130 | var gridObject = this.getGirdObject(position); 131 | 132 | 133 | 134 | //设置出生点 135 | if(this.operatorAction === 1) { 136 | //已经有出生点就清空 137 | if(this.bron) { 138 | this.bron.setColor(cc.color(255,255,255)); 139 | } 140 | this.bron = gridObject; 141 | gridObject.setColor(cc.color(0,255,0)); 142 | } 143 | //设置障碍物 144 | if(this.operatorAction === 2) { 145 | if(!this.obstacles) { 146 | this.obstacles = []; 147 | } 148 | this.obstacles.push(gridObject); 149 | gridObject.setColor(cc.color(0,0,0)); 150 | } 151 | //设置目标点 152 | if(this.operatorAction === 3) { 153 | //已经结束点就清空 154 | if(this.target) { 155 | this.target.setColor(cc.color(255,255,255)); 156 | } 157 | this.target = gridObject; 158 | gridObject.setColor(cc.color(255,165,0)); 159 | } 160 | }, 161 | 162 | //获取个字对象 163 | getGirdObject: function (position) { 164 | var children = this.node.getChildren(); 165 | for(var i = 0, l = children.length ; i < l; ++i) { 166 | if(children.hasOwnProperty(i)) { 167 | var t = children[i]; 168 | //包含该点 169 | if(cc.rectContainsPoint(t.getBoundingBox(), position)) { 170 | return t; 171 | } 172 | } 173 | } 174 | }, 175 | 176 | // called every frame 177 | update: function (dt) { 178 | 179 | } 180 | 181 | 182 | 183 | }); 184 | -------------------------------------------------------------------------------- /assets/Script/HelloWorld.js.meta: -------------------------------------------------------------------------------- 1 | { 2 | "ver": "1.0.3", 3 | "uuid": "280c3aec-6492-4a9d-9f51-a9b00b570b4a", 4 | "isPlugin": false, 5 | "loadPluginInWeb": true, 6 | "loadPluginInNative": true, 7 | "loadPluginInEditor": false, 8 | "subMetas": {} 9 | } -------------------------------------------------------------------------------- /assets/Script/canvasControl.js: -------------------------------------------------------------------------------- 1 | cc.Class({ 2 | extends: cc.Component, 3 | 4 | properties: { 5 | 6 | //用户点击地图后开启 7 | edit: { 8 | visible:false, 9 | default: false 10 | }, 11 | //用户点击编辑模式后开启 12 | edit1: { 13 | visible:false, 14 | default: 0 15 | }, 16 | map: { 17 | default: null, 18 | type: cc.Node 19 | } 20 | 21 | }, 22 | 23 | // use this for initialization 24 | onLoad: function () { 25 | 26 | //地图脚本 27 | this.mapScript = this.map.getComponent('HelloWorld'); 28 | 29 | var self = this; 30 | // 使用枚举类型来注册 31 | this.node.on(cc.Node.EventType.MOUSE_DOWN, function (event) { 32 | self.edit = true; 33 | //正在编辑模式 34 | if(self.edit && (this.edit1 !== 0 && this.edit1 !== 4) ) { 35 | self.notifyMapChange(event.getLocation()); 36 | } 37 | }, this); 38 | this.node.on(cc.Node.EventType.MOUSE_MOVE, function (event) { 39 | //正在编辑模式 40 | if(self.edit && (this.edit1 !== 0 && this.edit1 !== 4) ) { 41 | self.notifyMapChange(event.getLocation()); 42 | } 43 | }, this); 44 | this.node.on(cc.Node.EventType.MOUSE_UP, function (event) { 45 | self.edit = false; 46 | }, this); 47 | 48 | }, 49 | 50 | SetEdit1: function (state) { 51 | this.edit1 = state; 52 | }, 53 | 54 | //通知地图变化 55 | notifyMapChange: function (position) { 56 | this.mapScript.getMapNotify(position); 57 | } 58 | 59 | 60 | 61 | // update: function (dt) { 62 | 63 | // }, 64 | }); 65 | -------------------------------------------------------------------------------- /assets/Script/canvasControl.js.meta: 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