;A-Star panth find ;2003.2.5 from vb6 EnableExplicit #wd=15 ;width #Xc=20 #Yc=20 #obstruct = 0 #channel = 1 Structure AStarNode pos.Point ;该节点的坐标 father.Point G.i H.i style.i ;类型,是否可行走 EndStructure Declare.i AStar() Declare AddOpenList(*pos.AStarNode) Declare DelOpenList(*pos.AStarNode) Declare AddCloseList(*pos.AStarNode) Declare Neighbor_Search(*minFP.AStarNode,offsetX.i, offsetY.i) Declare.i CheckCloseNode(*node.AStarNode) Declare.i CheckNode(*node.AStarNode) Declare CreateAStarMap(Array maps.i(2),*startP.AStarNode, *endP.AStarNode) Declare OnLeftClick() Declare OnBtLeftClick() Declare OnBtCPLeftClick() Declare OnBtCMLeftClick() Declare OnChkBLeftClick() Declare ISstartOrEndPoint(px.i,py.i) Declare DrawMap() Global OpenNum.i ;开启列表中的总结点数-1 Global CloseNum.i ;关闭列表中的总结点数-1 Define ArrLength.l ;数组长度 Global minX.i,minY.i,maxX.i,maxY.i ;计算出来的地图尺寸 minX=0 minY=0 maxX=#Xc maxY=#Yc Global Dim MColor(4),PenColor,Choise.i,starts.i=0,ends.i=0 MColor(1)=$00A000 ;green MColor(2)=$F00000 ;blue MColor(3)=$0000F0 ;red MColor(4)=$00CCFF ;yellow PenColor=MColor(1) Choise=1 ArrLength = (maxX - minX) * (maxY - minY) - 1 Global Dim OpenList.AStarNode(ArrLength) ;开启表 Global Dim CloseList.AStarNode(ArrLength) ;关闭表 Global Dim AStarMap.AStarNode(maxX,maxY) ;地图 Global Dim maps.i(maxX,maxY), HavePath.i=#False Global AstartP.AStarNode ;起点 Global AendP.AStarNode ;终点 ;参数:要寻路的二维地图,寻路起点,寻路终点 ;返回值:1找到路径,路径存在AStarPath中 0未找到路径 Global Dim AStarPath.Point(ArrLength) ;路径 Global PathLength.i ;路径长度 Global Slant.i ;斜向 0 false ,1 true Define k.i,Event Define X.i,Y.i,XN.i,YN.i,oldSX,oldSY,oldEX,oldEY If OpenWindow(0, 100, 100, 460, 400, "PureBasic - A-Star Path", #PB_Window_SystemMenu|#PB_Window_ScreenCentered) FrameGadget(11, 335, 15,95, 150, "选项") OptionGadget(12, 350, 40, 40, 20, "平地") OptionGadget(13, 350, 65, 40, 20, "障碍") OptionGadget(14, 350, 90, 40, 20, "开始") OptionGadget(15, 350, 115,40, 20, "结束") CheckBoxGadget(16,350,140,40,20,"斜线") SetGadgetState(12, 1) ; set second option as active one BindGadgetEvent(12, @OnLeftClick(),#PB_EventType_LeftClick) ; Bind left click BindGadgetEvent(13, @OnLeftClick(),#PB_EventType_LeftClick) ; Bind left click BindGadgetEvent(14, @OnLeftClick(),#PB_EventType_LeftClick) ; Bind left click BindGadgetEvent(15, @OnLeftClick(),#PB_EventType_LeftClick) ; Bind left click ButtonGadget(17,340,185,80,30,"Find Path") ButtonGadget(18,340,235,80,30,"Clear Path") ButtonGadget(19,340,285,80,30,"Clear Map") BindGadgetEvent(17, @OnBtLeftClick(),#PB_EventType_LeftClick) ; Bind left click BindGadgetEvent(18, @OnBtCPLeftClick(),#PB_EventType_LeftClick) BindGadgetEvent(19, @OnBtCMLeftClick(),#PB_EventType_LeftClick) CanvasGadget(1,400,40,15,115) If StartDrawing(CanvasOutput(1)) Box(0,0,75,115,$EEEEEE);RGB(196,196,196)) Box(0, 0,15,15,MColor(1)) Box(0,25,15,15,MColor(2)) Box(0,50,15,15,MColor(3)) Box(0,75,15,15,MColor(4)) LineXY(0,105,15,115,$000000) StopDrawing() EndIf CanvasGadget(0, 10, 10, 301, 301) OnBtCMLeftClick() Repeat Event = WaitWindowEvent() If Event = #PB_Event_Gadget And EventGadget() = 0 If EventType() = #PB_EventType_LeftButtonDown Or (EventType() = #PB_EventType_MouseMove And GetGadgetAttribute(0, #PB_Canvas_Buttons) & #PB_Canvas_LeftButton) x = GetGadgetAttribute(0, #PB_Canvas_MouseX) y = GetGadgetAttribute(0, #PB_Canvas_MouseY) If (x<300 And x>0) And (y<300 And y>0) If StartDrawing(CanvasOutput(0)) XN=Int(x/#wd) YN=Int(y/#wd) Select Choise Case 1 ;#Tongdao ISstartOrEndPoint(XN,YN) maps(XN,YN)=#channel Case 2 ;#zhangai ISstartOrEndPoint(XN,YN) maps(XN,YN)=#obstruct Case 3 ISstartOrEndPoint(XN,YN) maps(XN,YN)=2 Box(oldSX*#wd+1,oldSY*#wd+1,13,13,MColor(1)) maps(oldSX,oldSY)=#channel oldSX=XN oldSY=YN starts=1 AstartP\pos\x=XN AstartP\pos\y=YN Case 4 ISstartOrEndPoint(XN,YN) maps(XN,YN)=3 Box(oldEX*#wd+1,oldEY*#wd+1,13,13,MColor(1)) maps(oldEX,oldEY)=#channel oldEX=XN oldEY=YN ends=1 AendP\pos\x=XN AendP\pos\y=YN EndSelect Box(Int(x/#wd)*#wd+1,Int(y/#wd)*#wd+1,13,13,PenColor) StopDrawing() EndIf EndIf EndIf EndIf Until Event = #PB_Event_CloseWindow ; If the user has pressed on the close button EndIf End Procedure.i AStar() Protected p.Point ;指针 Protected minFP.AStarNode ;最小F值的节点 Protected i.i ;找最小F值For循环的循环变量 Protected Result=0 ;初始化 OpenNum = -1: CloseNum = -1 PathLength = 0 Protected t.i=1 CreateAStarMap(maps(),@AstartP,@AendP) ;根据游戏地图创建本次寻路的A星地图 AddOpenList(@AstartP) ;将起点加入开启表 Repeat If OpenNum = -1 Result = 0 Break ;当开启列表为空时,退出循环(没有找到路径) EndIf ;把开启列表中G H值最小的点找出来(有多个相同最小值的话,找出靠前的那个) minFP = OpenList(0) For i = 0 To OpenNum If minFP\G + minFP\H > OpenList(i)\G + OpenList(i)\H ;找数组中最小数 minFP = OpenList(i) EndIf Next i ;把这个点从开启列表中删除,加入到关闭列表 DelOpenList(@minFP) AddCloseList(@minFP) ;搜索该点的邻居 Neighbor_Search(@minFP,0,-1) ;上 Neighbor_Search(@minFP, 0, 1) ;下 Neighbor_Search(@minFP,-1, 0) ;左 Neighbor_Search(@minFP, 1, 0) ;右 ;这里是八方寻路,用不上可以直接注释掉 If Slant = 1 Neighbor_Search(@minFP, -1, -1) ;上左 Neighbor_Search(@minFP, 1, -1) ;上右 Neighbor_Search(@minFP, -1, 1) ;下左 Neighbor_Search(@minFP, 1, 1) ;下右 EndIf If CheckCloseNode(@AendP) = #True ;如果终点在关闭列表中,就说明找到了通路,用回溯的方法记录路径 Result = 1 ;寻找回路 p = AendP\pos Repeat AStarPath(PathLength) = p PathLength = PathLength + 1 p = AStarMap(p\x,p\y)\father ;指针移动 If p\X = AstartP\pos\x And p\Y = AstartP\pos\y Break EndIf Until t=0 Break EndIf Until OpenNum=-1 ProcedureReturn Result ;Debug.Print AStarMap(0, 0).H: Debug.Print AStarMap(1, 1).H EndProcedure ;根据游戏地图创建AStar的寻路地图 Procedure CreateAStarMap(Array maps.i(2),*startP.AStarNode, *endP.AStarNode) Protected x.i, y.i ;ReDim AStarMap(maxX - minX, maxY - minY) '根据游戏地图确定寻路地图尺寸 ;生成寻路地图 For X = minX To maxX For Y = minY To maxY If Maps(X, Y) = 0 AStarMap(X, Y)\style = #obstruct AStarMap(X, Y)\G = 0 ;初始化成0,到需要的时候再重新计算 AStarMap(X, Y)\H = (Abs(X - *endP\pos\X) + Abs(Y - *endP\pos\Y)) * 10 ;对于相同的起点和终点,H为定值,我们需要在这里一次性计算好(曼哈顿距离) AStarMap(X, Y)\pos\X = X AStarMap(X, Y)\pos\Y = Y ElseIf Maps(X, Y) >= 1 AStarMap(X, Y)\style = #channel AStarMap(X, Y)\G = 0 AStarMap(X, Y)\H = (Abs(X - *endP\pos\X) + Abs(Y - *endP\pos\Y)) * 10 AStarMap(X, Y)\pos\X = X AStarMap(X, Y)\pos\Y = Y EndIf Next Y Next X EndProcedure ;参数:需要添加进来的节点(添加在线性表的尾部) Procedure AddOpenList(*pos.AStarNode) ;Debug OpenNum OpenNum = OpenNum + 1 ;总节点数 1 ;OpenList(OpenNum)=*pos;添加节点 OpenList(OpenNum)\father=*pos\father OpenList(OpenNum)\G=*pos\G OpenList(OpenNum)\H=*pos\H OpenList(OpenNum)\pos=*pos\pos OpenList(OpenNum)\style=*pos\style EndProcedure ;参数:需要删除的节点(删除后,将线性表尾部节点补充到删除后的空缺位置,为了减小时间复杂度) Procedure DelOpenList(*pos.AStarNode) Protected t.AStarNode ;临时节点,用于做变量交换 Protected c.AStarNode ;临时节点,用于清空对象 Protected i.i For i = 0 To OpenNum If OpenList(i)\pos\X =*pos\pos\X And OpenList(i)\pos\Y =*pos\pos\Y ;找到要删除的节点(目标节点) t = OpenList(OpenNum) ;t指向开启表中最后一个节点 OpenList(OpenNum) = c ;删除最后一个节点 OpenList(i) = t ;把最后一个节点覆盖到目标节点 OpenNum = OpenNum - 1 ;开启表长度-1 Break ;结束不必要的循环 EndIf Next i EndProcedure ;参数:需要添加进来的节点(添加在线性表的尾部) Procedure.i AddCloseList(*pos.AStarNode) CloseNum = CloseNum + 1 ;总节点数 1 ;CloseList(CloseNum) =*pos ;添加节点 CloseList(CloseNum)\father=*pos\father CloseList(CloseNum)\G=*pos\G CloseList(CloseNum)\H=*pos\H CloseList(CloseNum)\pos=*pos\pos CloseList(CloseNum)\style=*pos\style EndProcedure ;确认传入节点是否存在于开启表中 Procedure.i CheckNode(*node.AStarNode) Protected i.i Protected Result=#False For i = 0 To OpenNum If OpenList(i)\pos\X =*node\pos\X And OpenList(i)\pos\Y =*node\pos\Y ;找到了 Result = #True Break EndIf Next i If i>OpenNum Result = #False EndIf ProcedureReturn Result EndProcedure ;确认是否在关闭表里 Procedure CheckCloseNode(*node.AStarNode) Protected i.i Protected Result=#False For i = 0 To CloseNum If CloseList(i)\pos\X =*node\pos\X And CloseList(i)\pos\Y =*node\pos\Y ;找到了 Result =#True Break EndIf Next i If i>CloseNum Result = #False EndIf ProcedureReturn Result EndProcedure ;功能: ;更新开启表中的G值 Procedure UpdataG() Protected i.i For i = 0 To OpenNum If OpenList(i)\G <> AStarMap(OpenList(i)\pos\X, OpenList(i)\pos\Y)\G OpenList(i)\G = AStarMap(OpenList(i)\pos\X, OpenList(i)\pos\Y)\G EndIf Next i EndProcedure Procedure Neighbor_Search(*minFP.AStarNode,offsetX.i, offsetY.i) Protected AStep.i ;越界检测 If *minFP\pos\X + offsetX >=maxX Or *minFP\pos\X + offsetX < 0 Or *minFP\pos\Y + offsetY >=maxY Or *minFP\pos\Y + offsetY < 0 Goto exit1 EndIf If offsetX = 0 Or offsetY = 0 ;设置单位花费 AStep = 10 Else AStep = 14 EndIf ;如果该邻居不是障碍并且不在关闭表中 If AStarMap(*minFP\pos\X + offsetX, *minFP\pos\Y + offsetY)\style <>#obstruct And CheckCloseNode(AStarMap(*minFP\pos\X + offsetX,*minFP\pos\Y + offsetY)) =#False ;AStarMap(minFP.pos.x offsetX, minFP.pos.y offsetY).G = minFP.G AStep '给G赋值 If CheckNode(AStarMap(*minFP\pos\X + offsetX,*minFP\pos\Y + offsetY)) = #True ;存在于开启表中 If *minFP\G + AStep < AStarMap(*minFP\pos\X + offsetX,*minFP\pos\Y + offsetY)\G ;如果走新路径更短就更换父节点 AStarMap(*minFP\pos\X + offsetX,*minFP\pos\Y + offsetY)\G =*minFP\G + AStep AStarMap(*minFP\pos\X + offsetX,*minFP\pos\Y + offsetY)\father =*minFP\pos UpdataG() ;更新Openlist中的G值 EndIf Else ;不存在于开启表中 AStarMap(*minFP\pos\X + offsetX,*minFP\pos\Y + offsetY)\father =*minFP\pos ;设置该邻居的父节点为我们上面找到的最小节点(minFP) AStarMap(*minFP\pos\X + offsetX,*minFP\pos\Y + offsetY)\G =*minFP\G + AStep ;计算该点(邻居)的G值 AddOpenList(@AStarMap(*minFP\pos\X + offsetX,*minFP\pos\Y + offsetY)) ;把该点加入开启表中 EndIf EndIf exit1: EndProcedure Procedure OnLeftClick() If GetGadgetState(12) Choise=1 PenColor=MColor(1) EndIf If GetGadgetState(13) Choise=2 PenColor=MColor(2) EndIf If GetGadgetState(14) Choise=3 PenColor=MColor(3) EndIf If GetGadgetState(15) Choise=4 PenColor=MColor(4) EndIf EndProcedure Procedure ISstartOrEndPoint(px.i,py.i) If maps(px,py)=2 starts=0 EndIf If maps(px,py)=3 ends=0 EndIf EndProcedure Procedure OnBtLeftClick() Define i.i If starts=0 Or ends=0 MessageRequester("Warnning","No Start or Ending point!",#PB_MessageRequester_Ok|#PB_MessageRequester_Warning) Else If GetGadgetState(16)=#PB_Checkbox_Checked Slant=1 Else Slant=0 EndIf If AStar()=0 MessageRequester("Info","No Path find !",#PB_MessageRequester_Ok|#PB_MessageRequester_Info) Else If StartDrawing(CanvasOutput(0)) For i = 1 To PathLength - 1 Circle(AStarPath(i)\x*#wd+7, AStarPath(i)\y*#wd+7,5, $F000F0) Next i EndIf StopDrawing() HavePath=#True EndIf EndIf EndProcedure Procedure OnBtCPLeftClick() Define i.i If HavePath If StartDrawing(CanvasOutput(0)) For i = 1 To PathLength - 1 Circle(AStarPath(i)\x*#wd+7, AStarPath(i)\y*#wd+7,5, MColor(1)) Next i EndIf StopDrawing() HavePath=#False EndIf EndProcedure Procedure OnBtCMLeftClick() Define i.i,j.i For i=0 To maxX For j=0 To maxY maps(i,j)=#channel Next j Next i HavePath=#False starts=0 ends=0 DrawMap() EndProcedure Procedure DrawMap() Define k.i,Font1.i LoadFont(0, "Arial" , 28, #PB_Font_Bold) If StartDrawing(CanvasOutput(0)) Box(0,0,300,300,MColor(1)) For k=0 To 300 Step #wd Line(0, k, 300, 1,RGB(0,0,0)) Line(k,0,1,300,RGB(0,0,0)) Next k DrawingMode(#PB_2DDrawing_Transparent) FrontColor(RGB(200,200,255)) ; print the text to white ! DrawingFont(FontID(0)) DrawText(70, 80, "A graphic") DrawText(15,160,"of A-Star path !",RGB(220,120,160)) StopDrawing() ; This is absolutely needed when the drawing operations are finished !!! Never forget it ! EndIf EndProcedure
正月十五闲来无事,改编自VB6版本的。
标签:Star,PureBasic,AStarNode,minFP,pos,PB,EndIf,寻路,AStarMap From: https://www.cnblogs.com/PBprogram/p/17095010.html