1：效果如图

2：思路：采用的是广度优先遍历

3：算法代码如下：

调用接口：

AStar aStar = new AStar();//定义A*类

aStar.Init(MapTool.mapWidth, MapTool.mapHeight, map);//初始化接口

List

算法代码：

using System.Collections;

using System.Collections.Generic;

using UnityEngine;

public class AStar

{

public int witdh; //二维表宽度

public int heigh; //二维表高度

private bool[,] map; //二维表 true代表可走 false代表不可走

private bool[,] mapTemp;

private bool isSearchOver = false;

private mapPosition targetPosition;

///

///二位表宽度

///二维表高度

///二维地图

public void Init(int witdh, int heigh, bool[,] map)

{

this.witdh = witdh;

this.heigh = heigh;

this.map = map;

}

///

///起点

///终点

///

public List

{

this.isSearchOver = false;

this.mapTemp = new bool[witdh, heigh];

for(int i=0;i<witdh;i++)< p="">

{

for(int j=0;j<heigh;j++)< p="">

{

this.mapTemp[i, j] = this.map[i, j];

}

}

SerachPathList(new List

if(isSearchOver)

{

List

while(true)

{

mapPosition position = new mapPosition(targetPosition.x, targetPosition.y);

path.Add(position);

if (targetPosition.lastPosition!=null)

{

targetPosition = targetPosition.lastPosition;

}

else

{

break;

}

}

return path;

}

return null;

}

#region A* 广度优先遍历

private void SerachPathList(List

{

if (!isSearchOver)

{

List

for (int i = 0; i < from.Count; i++)

{

if (!isSearchOver)

{

List

if(list!=null)

for(int j=0;j< list.Count;j++)

{

mapList.Add(list[j]);

}

}

}

if (!isSearchOver && mapList.Count>0)

{

SerachPathList(mapList,to);

}

}

}

private List

{

if(isSearchOver)

{

return null;

}

if(from.x == to.x&&from.y== to.y)

{

this.isSearchOver = true;

this.targetPosition = from;

return null;

}

//上

List

mapPosition from_up = new mapPosition(from.x, from.y + 1);

if (CanMove(from_up))

{

this.mapTemp[from_up.x, from_up.y] = false;

from_up.lastPosition = from;

nextPathList.Add(from_up);

}

//下

mapPosition from_down = new mapPosition(from.x, from.y - 1);

if (CanMove(from_down))

{

this.mapTemp[from_down.x, from_down.y] = false;

from_down.lastPosition = from;

nextPathList.Add(from_down);

}

//左

mapPosition from_left = new mapPosition(from.x - 1, from.y);

if (CanMove(from_left))

{

this.mapTemp[from_left.x, from_left.y] = false;

from_left.lastPosition = from;

nextPathList.Add(from_left);

}

//右

mapPosition from_right = new mapPosition(from.x + 1, from.y);

if (CanMove(from_right))

{

this.mapTemp[from_right.x, from_right.y] = false;

from_right.lastPosition = from;

nextPathList.Add(from_right);

}

return nextPathList;

}

#endregion

private bool CanMove(mapPosition pos)

{

if(pos.x<0|| pos.x>=witdh || pos.y<0||pos.y>=heigh || !this.mapTemp[pos.x, pos.y])

{

return false;

}

else

{

return true;

}

}

}

public class mapPosition

{

public mapPosition(int x, int y, mapPosition lastPosition = null)

{

this.x = x;

this.y = y;

this.lastPosition = lastPosition;

}

public mapPosition lastPosition = null;

public int x;

public int y;

}

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作者：unity游侠

链接：https://blog.csdn.net/y90o08u28/article/details/107208304

来源：CSDN
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