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  • [A*算法]基于Unity实现A*算法(二)

    写在前面:上一篇当时是非常简单的了解一下A*,昨天还有一些问题没解决,就暂时把自己查阅的文坛摘抄了过来(毕竟人家写的比我要好的多 :> )

    今天终于解决了,就又写了这一篇,正好我自己再梳理一遍,把Unity的实现也记录一下(Unity版本:2019.3.7.f1)

    ====================================================================================

    • 一、Unity UI表现实现

      UI制作很简单,如下图

      

    1. Canvas

        

        UGUI画布(参考官网文档)

        我这边主要是在上面挂载一个寻路脚本CSPathFindManager_AStar.CS

      2.Panel

        

        这里我用的是UGUI创建的Panel,主要是用来生成寻路点,挂载生成脚本CopyManager.CS

      3.Node

        

        UGUI创建的Image,用的纯色,用来充当路径点,挂载路径点脚本CSNode.CS

      4.F/G/H/Pos/Index

        

        UGUI创建的Text,通过修改文件对齐方式,使他们的文字分别位于Node的上下左右和中间,用来方便显示相关的值

    二、Unity UI显示代码

      1 using System;
      2 using System.Collections;
      3 using System.Collections.Generic;
      4 using UnityEngine;
      5 
      6 public class CSPathFindManager : MonoBehaviour
      7 {
      8     internal CopyObjs copyObjs;
      9 
     10     public Vector2 CellSize = new Vector2();
     11 
     12     public List<CSNode> AllNodesList = new List<CSNode>();
     13     public List<CSNode> openNodeList = new List<CSNode>();
     14     public List<CSNode> closeNodeList = new List<CSNode>();
     15 
     16 
     17     public int notMoveNodeCount = 0;
     18     public CSNode curNode = null;
     19 
     20     public bool isEndFind = false;
     21 
     22     public bool isFinding = false;
     23 
     24     public bool isAutoFind = true;
     25 
     26     public bool canBevel = true;
     27 
     28     // Start is called before the first frame update
     29     void Start()
     30     {
     31         copyObjs = gameObject.GetComponentInChildren<CopyObjs>();
     32         if (copyObjs == null) return;
     33         InitAllPath();
     34     }
     35 
     36     // Update is called once per frame
     37     void Update()
     38     {
     39         if (Input.GetKeyDown(KeyCode.Space))
     40         {
     41             if (isAutoFind)
     42             {
     43                 isFinding = !isFinding;
     44             }
     45             else
     46             {
     47                 InitNearNodes();
     48             }
     49         }
     50 
     51         if (isFinding)
     52         {
     53             InitNearNodes();
     54         }
     55     }
     56 
     57     public virtual void InitAllPath()
     58     {
     59         AllNodesList.Clear();
     60         openNodeList.Clear();
     61         closeNodeList.Clear();
     62 
     63         if (copyObjs == null) return;
     64         copyObjs.MaxCount = (int)(CellSize.x * CellSize.y);
     65 
     66         int nodeIndex = 0;
     67         //System.Random tempRandom = new System.Random(GetRandomSeedbyGuid());
     68 
     69         for (int y = 0; y < CellSize.x; y++)
     70         {
     71             for (int x = 0; x < CellSize.y; x++)
     72             {
     73                 CSNode tempNode = copyObjs.copyObjList[nodeIndex].GetComponent<CSNode>();
     74                 tempNode.SetPos(x, y);
     75 
     76                 if (tempNode.curMoveState == EnumMoveState.NULL)
     77                 {
     78                     tempNode.SetMoveState(EnumMoveState.moveing);
     79                 }
     80 
     81                 AllNodesList.Add(tempNode);
     82                 nodeIndex++;
     83             }
     84         }
     85     }
     86 
     87     public virtual List<CSNode> GetNearNode(CSNode node)
     88     {
     89         List<CSNode> tempNode = AllNodesList.FindAll(temp => IsChild(node, temp));
     90 
     91         if (tempNode != null) tempNode.Remove(node);
     92         return tempNode;
     93     }
     94 
     95     public virtual bool IsChild(CSNode parentNode, CSNode childNode)
     96     {
     97         if (parentNode == null || childNode == null) return false;
     98         if (canBevel)
     99         {
    100             return Mathf.Abs(childNode.pos.y - parentNode.pos.y) <= 1 && Mathf.Abs(childNode.pos.x - parentNode.pos.x) <= 1;
    101         }
    102         else
    103         {
    104             return (childNode.pos.x == parentNode.pos.x && Mathf.Abs(childNode.pos.y - parentNode.pos.y) == 1) || (childNode.pos.y == parentNode.pos.y && Mathf.Abs(childNode.pos.x - parentNode.pos.x) == 1);
    105         }
    106     }
    107 
    108 
    109     public virtual int GetGValue(CSNode startNode, CSNode targetNode)
    110     {
    111         int gV;
    112         if (targetNode.pos.x == startNode.pos.x || targetNode.pos.y == startNode.pos.y) gV = 10;
    113         int absX = (int)Mathf.Abs(targetNode.pos.x - startNode.pos.x);
    114         int absY = (int)Mathf.Abs(targetNode.pos.y - startNode.pos.y);
    115         if (canBevel)
    116         {
    117             if (absX > absY)
    118             {
    119                 gV = 14 * absY + 10 * (absX - absY);
    120             }
    121             else
    122             {
    123                 gV = 14 * absX + 10 * (absY - absX);
    124             }
    125         }
    126         else
    127         {
    128             gV = 10 * absX + 10 * absY;
    129         }
    130         return gV + startNode.GValue;
    131     }
    132 
    133     public virtual int GetHValue(CSNode node)
    134     {
    135         if (CSNode.FinialNode == null) return 99;
    136         return (int)Mathf.Abs(node.pos.x - CSNode.FinialNode.pos.x) * 10 + (int)Mathf.Abs(node.pos.y - CSNode.FinialNode.pos.y) * 10;
    137     }
    138 
    139     public virtual void InitNearNodes()
    140     { }
    141 
    142     //int GetRandomSeedbyGuid()
    143     //{
    144     //    return new Guid().GetHashCode();
    145     //}
    146 
    147     public virtual void ReSetPath()
    148     {
    149         curNode = null;
    150         for (int i = 0; i < openNodeList.Count; i++)
    151         {
    152             openNodeList[i].SetIndex(0);
    153             openNodeList[i].parent = null;
    154         }
    155         openNodeList.Clear();
    156         for (int i = 0; i < closeNodeList.Count; i++)
    157         {
    158             if ((int)closeNodeList[i].curMoveState > 4 && (int)closeNodeList[i].curMoveState < 8) closeNodeList[i].SetMoveState(EnumMoveState.moveing);
    159             closeNodeList[i].parent = null;
    160         }
    161         closeNodeList.Clear();
    162         isEndFind = false;
    163     }
    164 
    165 
    166     public virtual CSNode GetMinNode(List<CSNode> nodes)
    167     {
    168         if (nodes == null || nodes.Count == 0) return null;
    169         nodes.Sort((x, y) => x.FValue.CompareTo(y.FValue));
    170         return nodes[0];
    171     }
    172 
    173     public virtual void RemoveNotMoveNode(ref List<CSNode> tempNearList)
    174     {
    175         List<CSNode> notMoveNode = tempNearList.FindAll(temp => temp.curMoveState == EnumMoveState.notmove);
    176         tempNearList.RemoveAll(temp => temp.curMoveState == EnumMoveState.notmove);
    177         for (int i = 0; i < notMoveNode.Count; i++)
    178         {
    179             if (notMoveNode[i].pos.y == curNode.pos.y || notMoveNode[i].pos.x == curNode.pos.x) tempNearList.RemoveAll(temp => temp.pos.y != curNode.pos.y && temp.pos.x != curNode.pos.x && (temp.pos.x == notMoveNode[i].pos.x || temp.pos.y == notMoveNode[i].pos.y));
    180             tempNearList.Remove(notMoveNode[i]);
    181         }
    182     }
    183 }
    CSPathFindManager.CS
     1 using System;
     2 using System.Collections;
     3 using System.Collections.Generic;
     4 using System.Linq;
     5 using UnityEngine;
     6 
     7 public class CSPathFindManager_AStar : CSPathFindManager
     8 {
     9 
    10 
    11     public override void InitNearNodes()
    12     {
    13         if (CSNode.StartNode == null || CSNode.FinialNode == null)
    14         {
    15             isFinding = false;
    16             return;
    17         }
    18         if (!isEndFind)
    19         {
    20             if (curNode == null)
    21             {
    22                 curNode = CSNode.StartNode;
    23                 curNode.SetIndex(0);
    24             }
    25             else if (curNode != CSNode.FinialNode)
    26             {
    27                 curNode = GetMinNode(openNodeList);
    28 
    29                 curNode.SetIndex(curNode.parent.Index + 1);
    30             }
    31             else
    32             {
    33                 isEndFind = true;
    34             }
    35         }
    36 
    37         if(isEndFind)
    38         {
    39             if (curNode!= null && curNode.parent != null && curNode.parent != CSNode.StartNode)
    40             {
    41                 curNode = curNode.parent;
    42                 curNode.SetMoveState(EnumMoveState.best);
    43             }
    44             else
    45             {
    46                 isFinding = false;
    47 
    48                 Debug.LogError("找到了!");
    49             }
    50             return;
    51         }
    52         if (curNode.curMoveState == EnumMoveState.moveing) curNode.SetMoveState(EnumMoveState.select);
    53         if (AllNodesList == null) return;
    54         for (int i = 0; i < closeNodeList.Count; i++)
    55         {
    56             if (closeNodeList[i].curMoveState == EnumMoveState.select) closeNodeList[i].SetMoveState(EnumMoveState.path);
    57         }
    58         closeNodeList.Add(curNode);
    59         openNodeList.Remove(curNode);
    60         List<CSNode> tempNearList = GetNearNode(curNode);
    61         tempNearList.RemoveAll(temp => closeNodeList.Contains(temp));
    62         RemoveNotMoveNode(ref tempNearList);
    63 
    64         for (int i = 0; i < tempNearList.Count; i++)
    65         {
    66             if (tempNearList[i].parent == null || tempNearList[i].parent.Index >= curNode.Index)
    67             {
    68                 if (tempNearList[i].parent!= null && tempNearList[i].parent.Index == curNode.Index)
    69                 {
    70                     int gV1 = GetGValue(curNode, tempNearList[i]);
    71                     int gV2 = GetGValue(tempNearList[i].parent, tempNearList[i]);
    72                     if (gV1 > gV2)
    73                     {
    74                         continue;
    75                     }
    76                 }
    77                 tempNearList[i].parent = curNode;
    78                 int gV = GetGValue(tempNearList[i].parent, tempNearList[i]);
    79                 int hV = GetHValue(tempNearList[i]);
    80                 tempNearList[i].SetNodeInfo(gV, hV);
    81             }
    82         }
    83 
    84         openNodeList.AddRange(tempNearList.FindAll(temp=>!closeNodeList.Contains(temp) && !openNodeList.Contains(temp)));
    85 
    86         //for (int i = 0; i < openNodeList.Count; i++)
    87         //{
    88         //    int gV = GetGValue(openNodeList[i].parent, openNodeList[i]);
    89         //    int hV = GetHValue(openNodeList[i]);
    90         //    openNodeList[i].SetNodeInfo(gV, hV);
    91         //}
    92         if (openNodeList.Count == 0)
    93         {
    94             isFinding = false;
    95             Debug.LogError("死路!");
    96         }
    97     }
    98 }
    CSPathFindManager_AStar
      1 using System;
      2 using System.Collections;
      3 using System.Collections.Generic;
      4 using UnityEngine;
      5 using UnityEngine.EventSystems;
      6 using UnityEngine.UI;
      7 
      8 public enum EnumMoveState
      9 {
     10     NULL,
     11     moveing,
     12     notmove,
     13     start,
     14     finial,
     15     path,
     16     select,
     17     best,
     18 }
     19 
     20 public class CSNode : MonoBehaviour
     21 {
     22 
     23     private Text F;
     24     private Text G;
     25     private Text H;
     26     private Text PosText;
     27     private Text IndexText;
     28     private Image movePoint;
     29 
     30     public Vector2 pos;
     31     public int FValue;
     32     public int GValue;
     33     public int HValue;
     34     public int Index;
     35 
     36     public CSNode parent;
     37     public EnumMoveState curMoveState;
     38 
     39     private EventTrigger eventTrigger;
     40     private CSPathFindManager cSPathFindManager;
     41 
     42     public static CSNode StartNode;
     43     public static CSNode FinialNode;
     44     public static List<CSNode> NotMoveNodeList = new List<CSNode>();
     45 
     46     public CSNode(int _x,int _y)
     47     {
     48         pos.x = _x;
     49         pos.y = _y;
     50     }
     51 
     52     public static Dictionary<EnumMoveState, Color> pointColorDic = new Dictionary<EnumMoveState, Color>()
     53     {
     54         { EnumMoveState.moveing,Color.white},
     55         { EnumMoveState.notmove,Color.red},
     56         { EnumMoveState.start,Color.blue},
     57         { EnumMoveState.finial,Color.yellow},
     58         { EnumMoveState.path,Color.gray},
     59         { EnumMoveState.select,Color.cyan},
     60         { EnumMoveState.best,Color.green},
     61     };
     62     // Start is called before the first frame update
     63     void Awake()
     64     {
     65         F = transform.Find("F").GetComponent<Text>();
     66         G = transform.Find("G").GetComponent<Text>();
     67         H = transform.Find("H").GetComponent<Text>();
     68         PosText = transform.Find("Pos").GetComponent<Text>();
     69         IndexText = transform.Find("Index").GetComponent<Text>();
     70         movePoint = GetComponent<Image>();
     71         eventTrigger = gameObject.GetComponent<EventTrigger>();
     72         if (eventTrigger == null) eventTrigger = gameObject.AddComponent<EventTrigger>();
     73         List<EventTrigger.Entry> entryList = eventTrigger.triggers;
     74         if (entryList == null) entryList = new List<EventTrigger.Entry>();
     75         EventTrigger.Entry tempEntry = new EventTrigger.Entry();
     76         bool isExist = false;
     77         for (int i = 0; i < entryList.Count; i++)
     78         {
     79             if (entryList[i].eventID == EventTriggerType.PointerDown)
     80             {
     81                 tempEntry = entryList[i];
     82                 isExist = true;
     83                 break;
     84             }
     85         }
     86         tempEntry.callback.AddListener(OnClick);
     87         if (!isExist)
     88         {
     89             tempEntry.eventID = EventTriggerType.PointerDown;
     90             entryList.Add(tempEntry);
     91         }
     92         cSPathFindManager = GetComponentInParent<CSPathFindManager>();
     93     }
     94 
     95     private void OnClick(BaseEventData arg0)
     96     {
     97         SetMoveState((EnumMoveState)SetNextType());
     98         cSPathFindManager.ReSetPath();
     99     }
    100 
    101     public int SetNextType()
    102     {
    103         int tempType = ((int)curMoveState + 1) % 8;
    104         if (tempType < 1 || tempType > 4) tempType = 1;
    105         return tempType;
    106     }
    107 
    108     // Update is called once per frame
    109     void Update()
    110     {
    111         
    112     }
    113 
    114     public void SetMoveState(EnumMoveState state)
    115     {
    116         if (state != curMoveState)
    117         {
    118             ResetNodeInfo(curMoveState, true);
    119             ResetNodeInfo(state,false);
    120             curMoveState = state;
    121             if (movePoint) movePoint.color = pointColorDic[state];
    122 
    123         }
    124     }
    125 
    126     public void ResetNodeInfo(EnumMoveState state,bool isDel = false)
    127     {
    128         switch (state)
    129         {
    130             case EnumMoveState.notmove:
    131                 if (isDel)
    132                 {
    133                     NotMoveNodeList.Remove(this);
    134                 }
    135                 else
    136                 {
    137                     if (NotMoveNodeList.Contains(this)) NotMoveNodeList.Add(this);
    138                 }
    139                 break;
    140             case EnumMoveState.start:
    141                 if (isDel)
    142                 {
    143                     if (StartNode == this)
    144                     {
    145                         StartNode = null;
    146                     }
    147                 }
    148                 else
    149                 {
    150                     if (StartNode != this)
    151                     {
    152                         if(StartNode != null)StartNode.SetMoveState(EnumMoveState.moveing);
    153                         StartNode = this;
    154                     }
    155                 }
    156                 break;
    157             case EnumMoveState.finial:
    158                 if (isDel)
    159                 {
    160                     if (FinialNode == this)
    161                     {
    162                         FinialNode = null;
    163                     }
    164                 }
    165                 else
    166                 {
    167                     if (FinialNode != this)
    168                     {
    169                         if (FinialNode != null) FinialNode.SetMoveState(EnumMoveState.moveing);
    170                         FinialNode = this;
    171                     }
    172                 }
    173                 break;
    174             default:
    175                 break;
    176         }
    177         //Debug.LogErrorFormat("当前状态:{0}; 是否删除:{3} 起点:{1}; 终点:{2}",state,StartNode,FinialNode,isDel);
    178     }
    179 
    180     public void SetNodeInfo(int _G,int _H)
    181     {
    182         FValue = _G + _H;
    183         GValue = _G;
    184         HValue = _H;
    185         if (F) F.text = (_G + _H).ToString();
    186         if (G) G.text = _G.ToString();
    187         if (H) H.text = _H.ToString();
    188     }
    189 
    190     internal void SetPos(int _x, int _y)
    191     {
    192         pos.x = _x;
    193         pos.y = _y;
    194         if (PosText) PosText.text = string.Format("{0},{1}", _x, _y);
    195     }
    196 
    197     internal void SetIndex(int index)
    198     {
    199         Index = index;
    200         if (IndexText) IndexText.text = string.Format("{0}", index);
    201     }
    202 }
    CSNode

    三、寻路算法

      寻路算法逻辑都在CSPathFindManager_AStar

      1.获取当前点cueNode

       

      初始化当前点为出发点,之后为从搜索列表openNodeList中FValue(下面会有介绍)最小的节点,并为其设置当前索引值为父节点的索引值+1

      2.获取FValue最小节点(GetMinNode)

        列表排序,取第一个

        

      3.获取当前点的子节点

      

         设置当前点的UI表现为选中状态

        遍历挑选出来的列表,将其UI表现设置为已挑选过状态

        将当前点加入已挑选列表

        获取当前点的子节点,删选掉已挑选过的节点,(在RemoveNotMoveNode里面处理不可走点的删选)

      4.为上面获取到的子节点赋值

        这块就是昨天我困扰很久的地方,下面是我曾踩过的坑

        (1).在这里遍历子节点,为他们赋值GValue是相对于当前点的移动距离

        (2).把所有子节点加入搜索列表,再为列表里面的所有节点赋值GValue为当前相对于当前点的移动距离

        (3).把所有子节点加入搜索列表,再为列表里面的所有节点赋值GValue为当前相对于起点的移动距离

        我这么修改是因为下面这种情况:

          

        后来我改了第四种方式,并将获取G的方式改为子节点到中转点的G+中转点到起点的G

        (4). 在这里遍历子节点,判断如果自己点的父节点不存在或者父节点的索引值大于当前点的索引点,将当前点设为子节点的当前父节点,为他们赋值GValue是当前点为中转点的移动距离

          

        结果一样,因为这里索引值是相同的,于是我又加了=

        (5). 在这里遍历子节点,判断如果自己点的父节点不存在或者父节点的索引值大于或等于当前点的索引点,将当前点设为子节点的当前父节点,为他们赋值GValue是当前点为中转点的移动距离

          

          就在我以为没问题的时候 :>

          

          在我一步一步看选点顺序的时候,发现也没毛病,但总有哪里不对劲 :>

          后来我发现,他是在搜索点里面去找F值最小的,但是主要就是在第5遍修改后加的==判断,当索引一样的时候,该子节点在当前点的斜方向上,G值可能会更大

          (6).在这里遍历子节点,判断如果自己点的父节点不存在或者父节点的索引值大于当前点的索引点,将当前点设为子节点的当前父节点,为他们赋值GValue是当前点为中转点的移动距离;而当索引值相等时,比较分别以当前点和父节点为中转点的G值

        

        nice!!!! :>

        

        

    ====================================================================================

    我估计上面几种困扰可能也是我理解不够造成的,走过路过的还请不吝赐教。:>

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  • 原文地址:https://www.cnblogs.com/lovewaits/p/12931930.html
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