using?System.Collections;
using?System.Collections.Generic;
using?UnityEngine;

public?class?AStarAlgorithm?
{
????private?const?int?mGridWidth?=?20;????
????private?const?int?mGridHeight?=?10;

????//使用二維數(shù)組存儲(chǔ)點(diǎn)網(wǎng)格????
????public?AStarPoint[]?mPointGrid?=?new?AStarPoint[mGridWidthmGridHeight];
????//存儲(chǔ)路徑方格子
????public?List?mPathPosList?=?new?List（）;

????private?static?AStarAlgorithm?_instance;
????public?static?AStarAlgorithm?GetInsatnce
????{
????????get
????????{
????????????if?（_instance?==?null）
????????????{
????????????????_instance?=?new?AStarAlgorithm（）;
????????????}

????????????return?_instance;
????????}
????}

????public?AStarAlgorithm（）
????{
????????InitPoint（）;
????}

????//在網(wǎng)格上設(shè)置點(diǎn)的信息
????private?void?InitPoint（）
????{
????????for?（int?i?=?0;?i?????????{
????????????for?（int?j?=?0;?j?????????????{????????????????
????????????????mPointGrid[i?j]?=?new?AStarPoint（i?j）;
????????????}
????????}

????????//設(shè)置障礙物
????????mPointGrid[4?2].mIsObstacle?=?true;
????????mPointGrid[4?3].mIsObstacle?=?true;
????????mPointGrid[4?4].mIsObstacle?=?true;
????????mPointGrid[4?5].mIsObstacle?=?true;
????????mPointGrid[4?6].mIsObstacle?=?true;

????????mPointGrid[9?2].mIsObstacle?=?true;
????????mPointGrid[9?3].mIsObstacle?=?true;
????????mPointGrid[9?4].mIsObstacle?=?true;
????????mPointGrid[9?5].mIsObstacle?=?true;
????????mPointGrid[9?6].mIsObstacle?=?true;

????????mPointGrid[14?2].mIsObstacle?=?true;
????????mPointGrid[14?3].mIsObstacle?=?true;
????????mPointGrid[14?4].mIsObstacle?=?true;
????????mPointGrid[14?5].mIsObstacle?=?true;
????????mPointGrid[14?6].mIsObstacle?=?true;

????????//顯示障礙物
????????for?（int?x?=?0;?x?????????{
????????????for?（int?y?=?0;?y?????????????{
????????????????if?（mPointGrid[x?y].mIsObstacle）
????????????????{
????????????????????CreatePath（x?y?Color.blue）;
????????????????}
????????????}
????????}
????}

????public?void?ClearGrid（）
????{
????????for?（int?x?=?0;?x?????????{
????????????for?（int?y?=?0;?y?????????????{
????????????????if?（!mPointGrid[x?y].mIsObstacle）
????????????????{
????????????????????if?（mPointGrid[x?y].mGameobject?!=?null）
????????????????????{
????????????????????????Gameobject.Destroy（mPointGrid[x?y].mGameobject）;
????????????????????????mPointGrid[x?y].mGameobject?=?null;

????????????????????????//重新設(shè)置父節(jié)點(diǎn)
????????????????????????mPointGrid[x?y].mParentPoint?=?null;
????????????????????}
????????????????}
????????????}
????????}
????}

????//尋路
????public?List?FindPath（AStarPoint?mStartPoint?AStarPoint?mEndPoint）
????{
????????if?（mEndPoint.mIsObstacle?||?mStartPoint.mPosition?==?mEndPoint.mPosition）
????????{
????????????return??null;
????????}

????????//開啟列表
????????List?openPointList?=?new?List（）;
????????//關(guān)閉列表
????????List?closePointList?=?new?List（）;

????????openP

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-11-03?23:46??AStarXunLuSuanFa\
?????目錄???????????0??2017-11-03?23:23??AStarXunLuSuanFa\.vs\
?????目錄???????????0??2017-11-03?23:23??AStarXunLuSuanFa\.vs\AStarXunLuSuanFa\
?????目錄???????????0??2017-11-03?23:46??AStarXunLuSuanFa\.vs\AStarXunLuSuanFa\v15\
?????文件???????33792??2017-11-03?23:46??AStarXunLuSuanFa\.vs\AStarXunLuSuanFa\v15\.suo
?????目錄???????????0??2017-11-03?16:11??AStarXunLuSuanFa\.vs\Game?AI?Programming?Project\
?????目錄???????????0??2017-11-03?16:11??AStarXunLuSuanFa\.vs\Game?AI?Programming?Project\v15\
?????文件???????97280??2017-11-03?16:09??AStarXunLuSuanFa\.vs\Game?AI?Programming?Project\v15\.suo
?????目錄???????????0??2017-11-03?16:11??AStarXunLuSuanFa\.vs\Game?AI?Programming?Project\v15\sqlite3\
?????文件??????663552??2017-11-03?16:09??AStarXunLuSuanFa\.vs\Game?AI?Programming?Project\v15\sqlite3\storage.ide
?????目錄???????????0??2017-11-03?23:46??AStarXunLuSuanFa\Assets\
?????文件??????433664??2017-11-03?16:26??AStarXunLuSuanFa\Assets\AStar尋路.doc
?????文件?????????175??2017-11-03?17:22??AStarXunLuSuanFa\Assets\AStar尋路.doc.meta
?????文件??????449560??2017-11-03?16:09??AStarXunLuSuanFa\Assets\AStar尋路.pdf
?????文件?????????175??2017-11-03?16:09??AStarXunLuSuanFa\Assets\AStar尋路.pdf.meta
?????目錄???????????0??2017-11-03?16:11??AStarXunLuSuanFa\Assets\Materials\
?????文件?????????191??2017-11-03?16:09??AStarXunLuSuanFa\Assets\Materials.meta
?????文件????????5016??2017-11-03?16:09??AStarXunLuSuanFa\Assets\Materials\Black.mat
?????文件?????????207??2017-11-03?16:09??AStarXunLuSuanFa\Assets\Materials\Black.mat.meta
?????文件????????5016??2017-11-03?16:09??AStarXunLuSuanFa\Assets\Materials\Plane.mat
?????文件?????????208??2017-11-03?16:09??AStarXunLuSuanFa\Assets\Materials\Plane.mat.meta
?????目錄???????????0??2017-11-03?16:11??AStarXunLuSuanFa\Assets\MyTextProject\
?????文件?????????192??2017-11-03?16:09??AStarXunLuSuanFa\Assets\MyTextProject.meta
?????目錄???????????0??2017-11-03?23:46??AStarXunLuSuanFa\Assets\MyTextProject\Scenes\
?????文件?????????192??2017-11-03?16:09??AStarXunLuSuanFa\Assets\MyTextProject\Scenes.meta
?????文件???????15512??2017-11-03?23:46??AStarXunLuSuanFa\Assets\MyTextProject\Scenes\AStar.unity
?????文件?????????175??2017-11-03?16:09??AStarXunLuSuanFa\Assets\MyTextProject\Scenes\AStar.unity.meta
?????文件???????18496??2017-11-03?16:09??AStarXunLuSuanFa\Assets\MyTextProject\Scenes\FMS.unity
?????文件?????????175??2017-11-03?16:09??AStarXunLuSuanFa\Assets\MyTextProject\Scenes\FMS.unity.meta
?????目錄???????????0??2017-11-03?16:11??AStarXunLuSuanFa\Assets\MyTextProject\scripts\
?????文件?????????192??2017-11-03?16:09??AStarXunLuSuanFa\Assets\MyTextProject\scripts.meta
............此處省略576個(gè)文件信息