A*寻路 SLG 战棋寻路 控制台代码

using System;
using System.Collections.Generic;

namespace ConsoleApplication1
{
    class Program
    {
        static void Main(string[] args)
        {
            test mytest = new test();
            //定义出发位置
            Point startingPoint = new Point();
            startingPoint.x = 1;
            startingPoint.y = 3;
            //定义目的地
            Point destination = new Point();
            destination.x = 5;
            destination.y = 0;
            //定义移动力
            int power = 10;
            DateTime time1 = DateTime.Now;
            mytest.FindWay(startingPoint, destination, power);
            DateTime time2 = DateTime.Now;
            mytest.PrintMap(startingPoint, destination);
            Console.WriteLine("用时：" + (time2 - time1));
        }
    }
    class test
    {
        //数值表示移动力消耗
       public byte[,] R = new byte[10, 10]{
            { 8, 8, 8, 8, 8, 1, 1, 1, 3, 1 },
            { 8, 1, 1, 1, 1, 1, 1, 1, 6, 1 },
            { 8, 8, 1, 8, 8, 1, 1, 2, 1, 1 },
            { 8, 8, 8, 8, 8, 1, 1, 1, 1, 1 },
            { 8, 8, 8, 2, 8, 1, 1, 1, 1, 1 },
            { 1, 8, 1, 2, 8, 1, 1, 3, 1, 1 },
            { 1, 1, 1, 1, 8, 1, 2, 1, 1, 2 },
            { 1, 2, 5, 1, 8, 1, 2, 1, 1, 1 },
            { 1, 1, 7, 1, 1, 1, 2, 2, 1, 1 },
            { 1, 1, 1, 1, 1, 2, 2, 3, 1, 1 }};

        //最终路径
        List<Point> way = new List<Point>();
        //开启列表
        List<Point> Open_List = new List<Point>();
        //关闭列表
        List<Point> Close_List = new List<Point>();
        //从开启列表查找F值最小的节点
        private Point GetMinFFromOpenList()
        {
            Point Pmin = null;
            foreach (Point p in Open_List) if (Pmin == null || Pmin.G + Pmin.H > p.G + p.H) Pmin = p;
            return Pmin;
        }
        //判断关闭列表是否包含一个坐标的点
        private bool IsInCloseList(int x, int y)
        {
            foreach (Point p in Close_List) if (p.x == x && p.y == y) return true;
            return false;
        }
        //判断开启列表是否包含一个坐标的点
        private bool IsInOpenList(int x, int y)
        {
            foreach (Point p in Open_List) if (p.x == x && p.y == y) return true;
            return false;
        }
        //从开启列表返回对应坐标的点
        private Point GetPointFromOpenList(int x, int y)
        {
            foreach (Point p in Open_List) if (p.x == x && p.y == y) return p;
            return null;
        }
        //检查当前节点附近的节点
        private void CheckGrid(Point nowPoint, Point startingPoint, Point destination)
        {
            for (int xt = nowPoint.x - 1; xt <= nowPoint.x + 1; xt++)
            {
                for (int yt = nowPoint.y - 1; yt <= nowPoint.y + 1; yt++)
                {
                    //排除超过边界、不相干和关闭列表中的点
                    if (!(xt >= 0 && xt < R.GetLength(0) && yt >= 0 && yt < R.GetLength(1))) continue;
                    if (IsInCloseList(xt, yt)) continue;
                    if (!(xt == nowPoint.x && yt - 1 == nowPoint.y) && !(xt - 1 == nowPoint.x && yt == nowPoint.y) && !(xt + 1 == nowPoint.x && yt == nowPoint.y) && !(xt == nowPoint.x && yt + 1 == nowPoint.y))
                        continue;

                    if (IsInOpenList(xt, yt))
                    {
                        Point pt = GetPointFromOpenList(xt, yt);
                        int G_new = nowPoint.G + R[pt.x, pt.y];
                        if (G_new < pt.G)
                        {
                            Open_List.Remove(pt);
                            pt.father = nowPoint;
                            pt.G = G_new;
                            Open_List.Add(pt);
                        }
                    }
                    else //不在开启列表中
                    {
                        Point pt = new Point();
                        pt.x = xt;
                        pt.y = yt;
                        pt.father = nowPoint;
                        pt.G = pt.father.G + R[pt.x, pt.y];
                        pt.H = Math.Abs(pt.x - destination.x) + Math.Abs(pt.y - destination.y);
                        Open_List.Add(pt);
                    }
                }
            }
        }
        public void FindWay(Point startingPoint, Point destination, int power)
        {
            Open_List.Add(startingPoint);
            while (!(IsInOpenList(destination.x, destination.y))) //当终点存在开启列表中就意味着寻路结束了
            {
                Point nowPoint = GetMinFFromOpenList();
                Open_List.Remove(nowPoint);
                Close_List.Add(nowPoint);
                CheckGrid(nowPoint, startingPoint, destination);
            }
            Point p = GetPointFromOpenList(destination.x, destination.y);
            List<Point> temp = new List<Point>();
            while (p.father != null)
            {
                temp.Add(p);
                p = p.father;
            }
            temp.Reverse();
            foreach (Point pt in temp)
            {
                if (pt.G > power) break;
                way.Add(pt);
            }
        }
        public void PrintMap(Point startingPoint, Point destination)
        {
            for (int x = 0; x < 10; x++)
            {
                for (int y = 0; y < 10; y++)
                {
                    if (x == startingPoint.x && y == startingPoint.y) Console.Write("▲");
                    else if (x == destination.x && y == destination.y) Console.Write("▲");
                    else if (Contains(x,y)) Console.Write("★");
                    else Console.Write("□");
                }
                Console.Write("\n");
            }
        }
        private Boolean Contains(int x, int y)
        {
            foreach (Point p in way)
                if (p.x == x && p.y == y) return true;
            return false;
        }
    }
    class Point
    {
        public Point() { }
        public int G;
        public int H;
        public int x;
        public int y;
        public Point father;
    }
}