此为用
C#写的
A*算法源代码
using System;
using System.Collections.Generic;
using System.Text;
using System.Drawing;
namespace EtSoft.AStarLib
{
public class AStar
{
private StarNodeCollection openList = new StarNodeCollection
();
private StarNodeCollection closeList = new StarNodeCollection
();
public StarNode currentNode = null;
#region 构造函数
/// <summary>
/// 使用指定的地图对象、起点和终点初始化A
星算法
/// </summary>
/// <param name="map">地图对象</param>
public AStar
(Map map
)
{
this.map = map;
}
/// <summary>
///
/// </summary>
/// <param name="map">地图对象</param>
/// <param name="start">起点坐标</param>
/// <param name="end">终点坐标</param>
public AStar
(Map map, Point start, Point end
)
: this
(map
)
{
this.start = new StarNode
(start
);
this.end = new StarNode
(end
);
openList.Add
(new StarNode
(start
));
//AddStartNodeToOpenList
(this.start
);
}
/// <summary>
///
/// </summary>
/// <param name="map">地图对象</param>
/// <param name="startX">起点X坐标</param>
/// <param name="startY">起点Y坐标</param>
/// <param name="endX">终点X坐标</param>
/// <param name="endY">终点Y坐标</param>
public AStar
(Map map, int startX, int startY, int endX, int endY
)
: this
(map, new Point
(startX, startY
), new Point
(endX, endY
))
{ }
#endregion
#region 属性
protected Map map;
/// <summary>
/// 地图数据
/// </summary>
public Map Map
{
get { return map; }
set { map = value; }
}
private StarNode start = null;
/// <summary>
/// 起点坐标，如果没有设置起点，返回null
/// </summary>
public StarNode Start
{
get
{
return start;
}
set
{
start = value;
openList.Clear
();
openList.Add
(start
);
//AddNodeToOpenList
(start
);
}
}
private StarNode end = null;
/// <summary>
/// 终点坐标，如果没有设置终点，返回null
/// </summary>
public StarNode End
{
get
{
return end;
}
set { end = value; }
}
private StarNodeCollection path;
/// <summary>
/// 返回路径节点集合，没有路径则返回null
/// </summary>
public StarNodeCollection Path
{
get { return path; }
}
private bool allDirection = false;
/// <summary>
/// true，允许八方向
寻路
/// </summary>
public bool AllDirection
{
get { return allDirection; }
set { allDirection = value; }
}
#endregion
/// <summary>
/// 开始
寻路
/// </summary>
public void StartSearchPath
()
{
if
(start == null
)
throw new InvalidNodeException
(InvalidNodeTypes.NoStart
);
if
(end == null
)
throw new InvalidNodeException
(InvalidNodeTypes.NoEnd
);
path = null;
openList.Clear
();
closeList.Clear
();
currentNode = start;
SearchPath
(currentNode
);
}
//
寻路递归，受保护的虚方法，允许在子类重写
寻路算法
protected virtual void SearchPath
(StarNode starNode
)
{
//currentNode = starNode;
openList.Remove
(starNode
);
closeList.Add
(starNode
);
AddNodeToOpenList
();
if
(closeList.Contains
(end
))
{
//如果终点在关闭列表中，找到路径
StarNode node=starNode.Parent;
path = new StarNodeCollection
();
do
{
path.Add
(node
);
node = node.Parent;
} while
(node != null && !node.Equals
(start
));
path.Reverse
();
return;
}
else if
(openList.Count == 0
)
{
//终点
不在关闭列表，开放列表已空，没有可通行的路径
return;
}
currentNode = GetNextNode
();
//迭代过程
SearchPath
(currentNode
);
}
/// <summary>
/// 获得当前节点的下一个最佳节点
/// </summary>
/// <returns></returns>
public StarNode GetNextNode
()
{
openList.SortByF
();
return openList[0];
}
/// <summary>
/// 把当前点周围可通过的点加入到开放列表中
/// </summary>
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