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16年专业研发|中文alexa排名第一的CMS品牌-基于dotNET core、功能强大，集成站群、微信开发、小程序与ERP及OA办公系统，支持国际语言和多民族语言，世界五百强与大型门户专用高端网站内核CMS系统
196 lines (161 loc) • 6.82 kB
JavaScript
/* 结点对象 */
var point = function(options) {
this.x = options.x;
this.y = options.y;
this.parent = options.parent;
this.G = options.G;
this.H = options.H;
this.value = options.value;
}
point.prototype = {
/* 获取通过当前所选结点到该结点的G值 */
caculateG: function(point) {
point.G = point.G || 0;
if (point.x != this.x && point.y != this.y) {
return point.G + 14; //在所选点斜方向，耗散值加14
}
else {
return point.G + 10; //在所选点垂直方向，耗散值加10
}
},
/* 根据结束结点计算该点的H值 */
updateH: function(endPoint) {
this.H = (Math.abs(endPoint.x - this.x) + Math.abs(endPoint.y - this.y)) * 10;
},
/* 根据G和H值计算该点的F值 */
updateF: function() {
this.F = this.G + this.H;
}
}
var aStarManager = (function() {
var openArr = [];
var closeArr = [];
var path = [];
var isInOpen = function(point) {
for (var i = 0, len = openArr.length; i < len; i++) {
if (openArr[i] == point) {
return true;
}
}
return false;
}
var isInClose = function(point) {
for (var i = 0, len = closeArr.length; i < len; i++) {
if (closeArr[i] == point) {
return true;
}
}
return false;
}
/* 获取开始列表中F值最小的结点 */
var getPointWithMinF = function() {
var minPoint;
for (var i = 0, len = openArr.length; i < len; i++) {
if (!minPoint || openArr[i].F < minPoint.F) {
minPoint = openArr[i];
}
}
return minPoint;
}
var addToClose = function(point) {
if (isInOpen(point)) {//如果在开始列表中，则把结点从开始列表中删除，再添加到关闭列表中
deleteFromOpen(point);
}
closeArr.push(point);
}
var deleteFromOpen = function(point) {
for (var i = 0, len = openArr.length; i < len; i++) {
if (openArr[i] == point) {
openArr.splice(i, 1);
break;
}
}
}
/* 保存路径 */
var savePath = function(point) {
path.unshift(point);
if (point.parent) {
arguments.callee(point.parent);
}
}
/* 判断该点是否围墙 */
var isWall = function(point, wallValueArr) {
for (var i = 0, len = wallValueArr.length; i < len; i++) {
if (wallValueArr[i] == point.value) {
return true;
}
}
return false;
}
/* 开始寻路 */
var handle = function(point) {
var beginX = point.x - 1;
var beginY = point.y - 1;
var endX = point.x + 1;
var endY = point.y + 1;
var pointsArr = this.pointsArr;
addToClose(point); //把传入的当前结点放进关闭列表
for (var i = beginY; i <= endY; i++) {//遍历传入结点的四周的结点
for (var j = beginX; j <= endX; j++) {
if (pointsArr[i] && pointsArr[i][j] && !isInClose(pointsArr[i][j])) {//如果该位置结点存在并且不是传入的结点
if (!isWall(pointsArr[i][j], this.wallValueArr)) {//不是障碍物
if (isWall(pointsArr[i][point.x], this.wallValueArr) || isWall(pointsArr[point.y][j], this.wallValueArr)) {//拐角规则，如果检测某点四周的点时，该点和四周上某点之间隔着一个障碍物，则忽略该点，暂不添加到开始列表
continue;
}
var G = pointsArr[i][j].caculateG(point);
if (isInOpen(pointsArr[i][j])) {//如果在开始列表，则根据传入的指定点计算是否改变G值
if (pointsArr[i][j].G > G) {//如果该结点的G值大于由传入结点计算出的G值，则该结点父指针指向传入结点
pointsArr[i][j].G = G;
pointsArr[i][j].updateF();
pointsArr[i][j].parent = point;
}
}
else if (!isInClose(pointsArr[i][j])) {//如果不在开始列表也不在关闭列表，则根据传入的指定点计算该点G值，并把该结点父节点指针指向传入结点
pointsArr[i][j].G = G;
pointsArr[i][j].updateH(this.endPoint);
pointsArr[i][j].updateF();
pointsArr[i][j].parent = point;
openArr.push(pointsArr[i][j]); //添加到开始列表
}
}
else {//如果是障碍物，则添加到关闭列表
addToClose(pointsArr[i][j]);
}
}
}
}
if (point != this.endPoint) {//如果被选中结点不是终点结点
var nextPoint = getPointWithMinF(); //获取开始列表中F值最小的结点
arguments.callee.call(this, nextPoint); //递归重复上述操作
}
else {
savePath(point); //如果当前结点是终点结点并且该结点被添加到关闭列表，则保存路径，寻路结束
}
}
return {//为墙的组
init: function(map, startPointPos, endPointPos, wallValueArr) {
this.wallValueArr = wallValueArr;
this.pointsArr = [];
openArr = [];
closeArr = [];
path = [];
for (var i = 0, len = map.length; i < len; i++) {//列
var row = map[i];
this.pointsArr[i] = [];
for (var j = 0, len2 = row.length; j < len2; j++) {//行
this.pointsArr[i][j] = new point({ x: j, y: i, value: row[j] }); //初始化point对象数组
if (i == startPointPos[1] && j == startPointPos[0]) {
this.startPoint = this.pointsArr[i][j];
}
else if (i == endPointPos[1] && j == endPointPos[0]) {
this.endPoint = this.pointsArr[i][j];
}
}
}
},
getPath: function() {
handle.call(this, this.startPoint);
return path;
}
}
})();