新增a*寻路

demo/libs/framework/framework.d.ts

@@ -17,6 +17,61 @@ declare interface Array<T> {
     groupBy(keySelector: Function): Array<T>;
     sum(selector: any): any;
 }
+declare class PriorityQueueNode {
+    priority: number;
+    insertionIndex: number;
+    queueIndex: number;
+}
+declare class AStarPathfinder {
+    static search<T>(graph: IAstarGraph<T>, start: T, goal: T): T[];
+    private static hasKey;
+    private static getKey;
+    static recontructPath<T>(cameFrom: Map<T, T>, start: T, goal: T): T[];
+}
+declare class AStarNode<T> extends PriorityQueueNode {
+    data: T;
+    constructor(data: T);
+}
+declare class AstarGridGraph implements IAstarGraph<Point> {
+    dirs: Point[];
+    walls: Point[];
+    weightedNodes: Point[];
+    defaultWeight: number;
+    weightedNodeWeight: number;
+    private _width;
+    private _height;
+    private _neighbors;
+    constructor(width: number, height: number);
+    isNodeInBounds(node: Point): boolean;
+    isNodePassable(node: Point): boolean;
+    search(start: Point, goal: Point): Point[];
+    getNeighbors(node: Point): Point[];
+    cost(from: Point, to: Point): number;
+    heuristic(node: Point, goal: Point): number;
+}
+interface IAstarGraph<T> {
+    getNeighbors(node: T): Array<T>;
+    cost(from: T, to: T): number;
+    heuristic(node: T, goal: T): any;
+}
+declare class PriorityQueue<T extends PriorityQueueNode> {
+    private _numNodes;
+    private _nodes;
+    private _numNodesEverEnqueued;
+    constructor(maxNodes: number);
+    clear(): void;
+    readonly count: number;
+    contains(node: T): boolean;
+    enqueue(node: T, priority: number): void;
+    dequeue(): T;
+    remove(node: T): void;
+    isValidQueue(): boolean;
+    private onNodeUpdated;
+    private cascadeDown;
+    private cascadeUp;
+    private swap;
+    private hasHigherPriority;
+}
 declare abstract class Component {
     entity: Entity;
     displayRender: egret.DisplayObject;
@@ -338,6 +393,11 @@ declare class Matrix2D {
     static createRotation(radians: number, result?: Matrix2D): Matrix2D;
     static createScale(xScale: number, yScale: number, result?: Matrix2D): Matrix2D;
 }
+declare class Point {
+    x: number;
+    y: number;
+    constructor(x: number, y: number);
+}
 declare class Vector2 {
     x: number;
     y: number;

demo/libs/framework/framework.js

@@ -238,6 +238,262 @@ Array.prototype.sum = function (selector) {
     }
     return sum(this, selector);
 };
+var PriorityQueueNode = (function () {
+    function PriorityQueueNode() {
+        this.priority = 0;
+        this.insertionIndex = 0;
+        this.queueIndex = 0;
+    }
+    return PriorityQueueNode;
+}());
+var AStarPathfinder = (function () {
+    function AStarPathfinder() {
+    }
+    AStarPathfinder.search = function (graph, start, goal) {
+        var _this = this;
+        var foundPath = false;
+        var cameFrom = new Map();
+        cameFrom.set(start, start);
+        var costSoFar = new Map();
+        var frontier = new PriorityQueue(1000);
+        frontier.enqueue(new AStarNode(start), 0);
+        costSoFar.set(start, 0);
+        var _loop_2 = function () {
+            var current = frontier.dequeue();
+            if (JSON.stringify(current.data) == JSON.stringify(goal)) {
+                foundPath = true;
+                return "break";
+            }
+            graph.getNeighbors(current.data).forEach(function (next) {
+                var newCost = costSoFar.get(current.data) + graph.cost(current.data, next);
+                if (!_this.hasKey(costSoFar, next) || newCost < costSoFar.get(next)) {
+                    costSoFar.set(next, newCost);
+                    var priority = newCost + graph.heuristic(next, goal);
+                    frontier.enqueue(new AStarNode(next), priority);
+                    cameFrom.set(next, current.data);
+                }
+            });
+        };
+        while (frontier.count > 0) {
+            var state_1 = _loop_2();
+            if (state_1 === "break")
+                break;
+        }
+        return foundPath ? this.recontructPath(cameFrom, start, goal) : null;
+    };
+    AStarPathfinder.hasKey = function (map, compareKey) {
+        var iterator = map.keys();
+        var r;
+        while (r = iterator.next(), !r.done) {
+            if (JSON.stringify(r.value) == JSON.stringify(compareKey))
+                return true;
+        }
+        return false;
+    };
+    AStarPathfinder.getKey = function (map, compareKey) {
+        var iterator = map.keys();
+        var valueIterator = map.values();
+        var r;
+        var v;
+        while (r = iterator.next(), v = valueIterator.next(), !r.done) {
+            if (JSON.stringify(r.value) == JSON.stringify(compareKey))
+                return v.value;
+        }
+        return null;
+    };
+    AStarPathfinder.recontructPath = function (cameFrom, start, goal) {
+        var path = [];
+        var current = goal;
+        path.push(goal);
+        while (current != start) {
+            current = this.getKey(cameFrom, current);
+            path.push(current);
+        }
+        path.reverse();
+        return path;
+    };
+    return AStarPathfinder;
+}());
+var AStarNode = (function (_super) {
+    __extends(AStarNode, _super);
+    function AStarNode(data) {
+        var _this = _super.call(this) || this;
+        _this.data = data;
+        return _this;
+    }
+    return AStarNode;
+}(PriorityQueueNode));
+var AstarGridGraph = (function () {
+    function AstarGridGraph(width, height) {
+        this.dirs = [
+            new Point(1, 0),
+            new Point(0, -1),
+            new Point(-1, 0),
+            new Point(0, 1)
+        ];
+        this.walls = [];
+        this.weightedNodes = [];
+        this.defaultWeight = 1;
+        this.weightedNodeWeight = 5;
+        this._neighbors = new Array(4);
+        this._width = width;
+        this._height = height;
+    }
+    AstarGridGraph.prototype.isNodeInBounds = function (node) {
+        return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._height;
+    };
+    AstarGridGraph.prototype.isNodePassable = function (node) {
+        return !this.walls.contains(node);
+    };
+    AstarGridGraph.prototype.search = function (start, goal) {
+        return AStarPathfinder.search(this, start, goal);
+    };
+    AstarGridGraph.prototype.getNeighbors = function (node) {
+        var _this = this;
+        this._neighbors.length = 0;
+        this.dirs.forEach(function (dir) {
+            var next = new Point(node.x + dir.x, node.y + dir.y);
+            if (_this.isNodeInBounds(next) && _this.isNodePassable(next))
+                _this._neighbors.push(next);
+        });
+        return this._neighbors;
+    };
+    AstarGridGraph.prototype.cost = function (from, to) {
+        return this.weightedNodes.find(function (p) { return JSON.stringify(p) == JSON.stringify(to); }) ? this.weightedNodeWeight : this.defaultWeight;
+    };
+    AstarGridGraph.prototype.heuristic = function (node, goal) {
+        return Math.abs(node.x - goal.x) + Math.abs(node.y - goal.y);
+    };
+    return AstarGridGraph;
+}());
+var PriorityQueue = (function () {
+    function PriorityQueue(maxNodes) {
+        this._numNodes = 0;
+        this._nodes = new Array(maxNodes + 1);
+        this._numNodesEverEnqueued = 0;
+    }
+    PriorityQueue.prototype.clear = function () {
+        this._nodes.splice(1, this._numNodes);
+        this._numNodes = 0;
+    };
+    Object.defineProperty(PriorityQueue.prototype, "count", {
+        get: function () {
+            return this._numNodes;
+        },
+        enumerable: true,
+        configurable: true
+    });
+    PriorityQueue.prototype.contains = function (node) {
+        return (this._nodes[node.queueIndex] == node);
+    };
+    PriorityQueue.prototype.enqueue = function (node, priority) {
+        node.priority = priority;
+        this._numNodes++;
+        this._nodes[this._numNodes] = node;
+        node.queueIndex = this._numNodes;
+        node.insertionIndex = this._numNodesEverEnqueued++;
+        this.cascadeUp(this._nodes[this._numNodes]);
+    };
+    PriorityQueue.prototype.dequeue = function () {
+        var returnMe = this._nodes[1];
+        this.remove(returnMe);
+        return returnMe;
+    };
+    PriorityQueue.prototype.remove = function (node) {
+        if (node.queueIndex == this._numNodes) {
+            this._nodes[this._numNodes] = null;
+            this._numNodes--;
+            return;
+        }
+        var formerLastNode = this._nodes[this._numNodes];
+        this.swap(node, formerLastNode);
+        delete this._nodes[this._numNodes];
+        this._numNodes--;
+        this.onNodeUpdated(formerLastNode);
+    };
+    PriorityQueue.prototype.isValidQueue = function () {
+        for (var i = 1; i < this._nodes.length; i++) {
+            if (this._nodes[i]) {
+                var childLeftIndex = 2 * i;
+                if (childLeftIndex < this._nodes.length && this._nodes[childLeftIndex] &&
+                    this.hasHigherPriority(this._nodes[childLeftIndex], this._nodes[i]))
+                    return false;
+                var childRightIndex = childLeftIndex + 1;
+                if (childRightIndex < this._nodes.length && this._nodes[childRightIndex] &&
+                    this.hasHigherPriority(this._nodes[childRightIndex], this._nodes[i]))
+                    return false;
+            }
+        }
+        return true;
+    };
+    PriorityQueue.prototype.onNodeUpdated = function (node) {
+        var parentIndex = Math.floor(node.queueIndex / 2);
+        var parentNode = this._nodes[parentIndex];
+        if (parentIndex > 0 && this.hasHigherPriority(node, parentNode)) {
+            this.cascadeUp(node);
+        }
+        else {
+            this.cascadeDown(node);
+        }
+    };
+    PriorityQueue.prototype.cascadeDown = function (node) {
+        var newParent;
+        var finalQueueIndex = node.queueIndex;
+        while (true) {
+            newParent = node;
+            var childLeftIndex = 2 * finalQueueIndex;
+            if (childLeftIndex > this._numNodes) {
+                node.queueIndex = finalQueueIndex;
+                this._nodes[finalQueueIndex] = node;
+                break;
+            }
+            var childLeft = this._nodes[childLeftIndex];
+            if (this.hasHigherPriority(childLeft, newParent)) {
+                newParent = childLeft;
+            }
+            var childRightIndex = childLeftIndex + 1;
+            if (childRightIndex <= this._numNodes) {
+                var childRight = this._nodes[childRightIndex];
+                if (this.hasHigherPriority(childRight, newParent)) {
+                    newParent = childRight;
+                }
+            }
+            if (newParent != node) {
+                this._nodes[finalQueueIndex] = newParent;
+                var temp = newParent.queueIndex;
+                newParent.queueIndex = finalQueueIndex;
+                finalQueueIndex = temp;
+            }
+            else {
+                node.queueIndex = finalQueueIndex;
+                this._nodes[finalQueueIndex] = node;
+                break;
+            }
+        }
+    };
+    PriorityQueue.prototype.cascadeUp = function (node) {
+        var parent = Math.floor(node.queueIndex / 2);
+        while (parent >= 1) {
+            var parentNode = this._nodes[parent];
+            if (this.hasHigherPriority(parentNode, node))
+                break;
+            this.swap(node, parentNode);
+            parent = Math.floor(node.queueIndex / 2);
+        }
+    };
+    PriorityQueue.prototype.swap = function (node1, node2) {
+        this._nodes[node1.queueIndex] = node2;
+        this._nodes[node2.queueIndex] = node1;
+        var temp = node1.queueIndex;
+        node1.queueIndex = node2.queueIndex;
+        node2.queueIndex = temp;
+    };
+    PriorityQueue.prototype.hasHigherPriority = function (higher, lower) {
+        return (higher.priority < lower.priority ||
+            (higher.priority == lower.priority && higher.insertionIndex < lower.insertionIndex));
+    };
+    return PriorityQueue;
+}());
 var Component = (function () {
     function Component() {
         this._enabled = true;
@@ -1763,6 +2019,13 @@ var Matrix2D = (function () {
     Matrix2D._identity = new Matrix2D(1, 0, 0, 1, 0, 0);
     return Matrix2D;
 }());
+var Point = (function () {
+    function Point(x, y) {
+        this.x = x;
+        this.y = y;
+    }
+    return Point;
+}());
 var Vector2 = (function () {
     function Vector2(x, y) {
         this.x = 0;

demo/src/game/MainScene.ts

@@ -3,5 +3,18 @@ class MainScene extends Scene {
         super(displayContent);
 
         this.addEntityProcessor(new SpawnerSystem(new Matcher()));
+        this.astarTest();
+    }
+
+    public astarTest(){
+        let graph = new AstarGridGraph(20, 20);
+
+        graph.weightedNodes.push(new Point(3, 3));
+        graph.weightedNodes.push(new Point(3, 4));
+        graph.weightedNodes.push(new Point(4, 3));
+        graph.weightedNodes.push(new Point(4, 4));
+
+        let path = graph.search(new Point(3, 4), new Point(15, 17));
+        console.log(path);
     }
 }

demo/tsconfig.json

@@ -3,10 +3,12 @@
         "target": "es5",
         "outDir": "bin-debug",
         "experimentalDecorators": true,
+        "emitDecoratorMetadata": true,
         "lib": [
             "es5",
             "dom",
-            "es2015.promise"
+            "es2015.promise",
+            "es6"
         ],
         "types": []
     },

source/bin/framework.d.ts

@@ -17,6 +17,61 @@ declare interface Array<T> {
     groupBy(keySelector: Function): Array<T>;
     sum(selector: any): any;
 }
+declare class PriorityQueueNode {
+    priority: number;
+    insertionIndex: number;
+    queueIndex: number;
+}
+declare class AStarPathfinder {
+    static search<T>(graph: IAstarGraph<T>, start: T, goal: T): T[];
+    private static hasKey;
+    private static getKey;
+    static recontructPath<T>(cameFrom: Map<T, T>, start: T, goal: T): T[];
+}
+declare class AStarNode<T> extends PriorityQueueNode {
+    data: T;
+    constructor(data: T);
+}
+declare class AstarGridGraph implements IAstarGraph<Point> {
+    dirs: Point[];
+    walls: Point[];
+    weightedNodes: Point[];
+    defaultWeight: number;
+    weightedNodeWeight: number;
+    private _width;
+    private _height;
+    private _neighbors;
+    constructor(width: number, height: number);
+    isNodeInBounds(node: Point): boolean;
+    isNodePassable(node: Point): boolean;
+    search(start: Point, goal: Point): Point[];
+    getNeighbors(node: Point): Point[];
+    cost(from: Point, to: Point): number;
+    heuristic(node: Point, goal: Point): number;
+}
+interface IAstarGraph<T> {
+    getNeighbors(node: T): Array<T>;
+    cost(from: T, to: T): number;
+    heuristic(node: T, goal: T): any;
+}
+declare class PriorityQueue<T extends PriorityQueueNode> {
+    private _numNodes;
+    private _nodes;
+    private _numNodesEverEnqueued;
+    constructor(maxNodes: number);
+    clear(): void;
+    readonly count: number;
+    contains(node: T): boolean;
+    enqueue(node: T, priority: number): void;
+    dequeue(): T;
+    remove(node: T): void;
+    isValidQueue(): boolean;
+    private onNodeUpdated;
+    private cascadeDown;
+    private cascadeUp;
+    private swap;
+    private hasHigherPriority;
+}
 declare abstract class Component {
     entity: Entity;
     displayRender: egret.DisplayObject;
@@ -338,6 +393,11 @@ declare class Matrix2D {
     static createRotation(radians: number, result?: Matrix2D): Matrix2D;
     static createScale(xScale: number, yScale: number, result?: Matrix2D): Matrix2D;
 }
+declare class Point {
+    x: number;
+    y: number;
+    constructor(x: number, y: number);
+}
 declare class Vector2 {
     x: number;
     y: number;

source/bin/framework.js

@@ -238,6 +238,262 @@ Array.prototype.sum = function (selector) {
     }
     return sum(this, selector);
 };
+var PriorityQueueNode = (function () {
+    function PriorityQueueNode() {
+        this.priority = 0;
+        this.insertionIndex = 0;
+        this.queueIndex = 0;
+    }
+    return PriorityQueueNode;
+}());
+var AStarPathfinder = (function () {
+    function AStarPathfinder() {
+    }
+    AStarPathfinder.search = function (graph, start, goal) {
+        var _this = this;
+        var foundPath = false;
+        var cameFrom = new Map();
+        cameFrom.set(start, start);
+        var costSoFar = new Map();
+        var frontier = new PriorityQueue(1000);
+        frontier.enqueue(new AStarNode(start), 0);
+        costSoFar.set(start, 0);
+        var _loop_2 = function () {
+            var current = frontier.dequeue();
+            if (JSON.stringify(current.data) == JSON.stringify(goal)) {
+                foundPath = true;
+                return "break";
+            }
+            graph.getNeighbors(current.data).forEach(function (next) {
+                var newCost = costSoFar.get(current.data) + graph.cost(current.data, next);
+                if (!_this.hasKey(costSoFar, next) || newCost < costSoFar.get(next)) {
+                    costSoFar.set(next, newCost);
+                    var priority = newCost + graph.heuristic(next, goal);
+                    frontier.enqueue(new AStarNode(next), priority);
+                    cameFrom.set(next, current.data);
+                }
+            });
+        };
+        while (frontier.count > 0) {
+            var state_1 = _loop_2();
+            if (state_1 === "break")
+                break;
+        }
+        return foundPath ? this.recontructPath(cameFrom, start, goal) : null;
+    };
+    AStarPathfinder.hasKey = function (map, compareKey) {
+        var iterator = map.keys();
+        var r;
+        while (r = iterator.next(), !r.done) {
+            if (JSON.stringify(r.value) == JSON.stringify(compareKey))
+                return true;
+        }
+        return false;
+    };
+    AStarPathfinder.getKey = function (map, compareKey) {
+        var iterator = map.keys();
+        var valueIterator = map.values();
+        var r;
+        var v;
+        while (r = iterator.next(), v = valueIterator.next(), !r.done) {
+            if (JSON.stringify(r.value) == JSON.stringify(compareKey))
+                return v.value;
+        }
+        return null;
+    };
+    AStarPathfinder.recontructPath = function (cameFrom, start, goal) {
+        var path = [];
+        var current = goal;
+        path.push(goal);
+        while (current != start) {
+            current = this.getKey(cameFrom, current);
+            path.push(current);
+        }
+        path.reverse();
+        return path;
+    };
+    return AStarPathfinder;
+}());
+var AStarNode = (function (_super) {
+    __extends(AStarNode, _super);
+    function AStarNode(data) {
+        var _this = _super.call(this) || this;
+        _this.data = data;
+        return _this;
+    }
+    return AStarNode;
+}(PriorityQueueNode));
+var AstarGridGraph = (function () {
+    function AstarGridGraph(width, height) {
+        this.dirs = [
+            new Point(1, 0),
+            new Point(0, -1),
+            new Point(-1, 0),
+            new Point(0, 1)
+        ];
+        this.walls = [];
+        this.weightedNodes = [];
+        this.defaultWeight = 1;
+        this.weightedNodeWeight = 5;
+        this._neighbors = new Array(4);
+        this._width = width;
+        this._height = height;
+    }
+    AstarGridGraph.prototype.isNodeInBounds = function (node) {
+        return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._height;
+    };
+    AstarGridGraph.prototype.isNodePassable = function (node) {
+        return !this.walls.contains(node);
+    };
+    AstarGridGraph.prototype.search = function (start, goal) {
+        return AStarPathfinder.search(this, start, goal);
+    };
+    AstarGridGraph.prototype.getNeighbors = function (node) {
+        var _this = this;
+        this._neighbors.length = 0;
+        this.dirs.forEach(function (dir) {
+            var next = new Point(node.x + dir.x, node.y + dir.y);
+            if (_this.isNodeInBounds(next) && _this.isNodePassable(next))
+                _this._neighbors.push(next);
+        });
+        return this._neighbors;
+    };
+    AstarGridGraph.prototype.cost = function (from, to) {
+        return this.weightedNodes.find(function (p) { return JSON.stringify(p) == JSON.stringify(to); }) ? this.weightedNodeWeight : this.defaultWeight;
+    };
+    AstarGridGraph.prototype.heuristic = function (node, goal) {
+        return Math.abs(node.x - goal.x) + Math.abs(node.y - goal.y);
+    };
+    return AstarGridGraph;
+}());
+var PriorityQueue = (function () {
+    function PriorityQueue(maxNodes) {
+        this._numNodes = 0;
+        this._nodes = new Array(maxNodes + 1);
+        this._numNodesEverEnqueued = 0;
+    }
+    PriorityQueue.prototype.clear = function () {
+        this._nodes.splice(1, this._numNodes);
+        this._numNodes = 0;
+    };
+    Object.defineProperty(PriorityQueue.prototype, "count", {
+        get: function () {
+            return this._numNodes;
+        },
+        enumerable: true,
+        configurable: true
+    });
+    PriorityQueue.prototype.contains = function (node) {
+        return (this._nodes[node.queueIndex] == node);
+    };
+    PriorityQueue.prototype.enqueue = function (node, priority) {
+        node.priority = priority;
+        this._numNodes++;
+        this._nodes[this._numNodes] = node;
+        node.queueIndex = this._numNodes;
+        node.insertionIndex = this._numNodesEverEnqueued++;
+        this.cascadeUp(this._nodes[this._numNodes]);
+    };
+    PriorityQueue.prototype.dequeue = function () {
+        var returnMe = this._nodes[1];
+        this.remove(returnMe);
+        return returnMe;
+    };
+    PriorityQueue.prototype.remove = function (node) {
+        if (node.queueIndex == this._numNodes) {
+            this._nodes[this._numNodes] = null;
+            this._numNodes--;
+            return;
+        }
+        var formerLastNode = this._nodes[this._numNodes];
+        this.swap(node, formerLastNode);
+        delete this._nodes[this._numNodes];
+        this._numNodes--;
+        this.onNodeUpdated(formerLastNode);
+    };
+    PriorityQueue.prototype.isValidQueue = function () {
+        for (var i = 1; i < this._nodes.length; i++) {
+            if (this._nodes[i]) {
+                var childLeftIndex = 2 * i;
+                if (childLeftIndex < this._nodes.length && this._nodes[childLeftIndex] &&
+                    this.hasHigherPriority(this._nodes[childLeftIndex], this._nodes[i]))
+                    return false;
+                var childRightIndex = childLeftIndex + 1;
+                if (childRightIndex < this._nodes.length && this._nodes[childRightIndex] &&
+                    this.hasHigherPriority(this._nodes[childRightIndex], this._nodes[i]))
+                    return false;
+            }
+        }
+        return true;
+    };
+    PriorityQueue.prototype.onNodeUpdated = function (node) {
+        var parentIndex = Math.floor(node.queueIndex / 2);
+        var parentNode = this._nodes[parentIndex];
+        if (parentIndex > 0 && this.hasHigherPriority(node, parentNode)) {
+            this.cascadeUp(node);
+        }
+        else {
+            this.cascadeDown(node);
+        }
+    };
+    PriorityQueue.prototype.cascadeDown = function (node) {
+        var newParent;
+        var finalQueueIndex = node.queueIndex;
+        while (true) {
+            newParent = node;
+            var childLeftIndex = 2 * finalQueueIndex;
+            if (childLeftIndex > this._numNodes) {
+                node.queueIndex = finalQueueIndex;
+                this._nodes[finalQueueIndex] = node;
+                break;
+            }
+            var childLeft = this._nodes[childLeftIndex];
+            if (this.hasHigherPriority(childLeft, newParent)) {
+                newParent = childLeft;
+            }
+            var childRightIndex = childLeftIndex + 1;
+            if (childRightIndex <= this._numNodes) {
+                var childRight = this._nodes[childRightIndex];
+                if (this.hasHigherPriority(childRight, newParent)) {
+                    newParent = childRight;
+                }
+            }
+            if (newParent != node) {
+                this._nodes[finalQueueIndex] = newParent;
+                var temp = newParent.queueIndex;
+                newParent.queueIndex = finalQueueIndex;
+                finalQueueIndex = temp;
+            }
+            else {
+                node.queueIndex = finalQueueIndex;
+                this._nodes[finalQueueIndex] = node;
+                break;
+            }
+        }
+    };
+    PriorityQueue.prototype.cascadeUp = function (node) {
+        var parent = Math.floor(node.queueIndex / 2);
+        while (parent >= 1) {
+            var parentNode = this._nodes[parent];
+            if (this.hasHigherPriority(parentNode, node))
+                break;
+            this.swap(node, parentNode);
+            parent = Math.floor(node.queueIndex / 2);
+        }
+    };
+    PriorityQueue.prototype.swap = function (node1, node2) {
+        this._nodes[node1.queueIndex] = node2;
+        this._nodes[node2.queueIndex] = node1;
+        var temp = node1.queueIndex;
+        node1.queueIndex = node2.queueIndex;
+        node2.queueIndex = temp;
+    };
+    PriorityQueue.prototype.hasHigherPriority = function (higher, lower) {
+        return (higher.priority < lower.priority ||
+            (higher.priority == lower.priority && higher.insertionIndex < lower.insertionIndex));
+    };
+    return PriorityQueue;
+}());
 var Component = (function () {
     function Component() {
         this._enabled = true;
@@ -1763,6 +2019,13 @@ var Matrix2D = (function () {
     Matrix2D._identity = new Matrix2D(1, 0, 0, 1, 0, 0);
     return Matrix2D;
 }());
+var Point = (function () {
+    function Point(x, y) {
+        this.x = x;
+        this.y = y;
+    }
+    return Point;
+}());
 var Vector2 = (function () {
     function Vector2(x, y) {
         this.x = 0;

source/src/AI/Pathfinding/AStar/AStarPathfinder.ts

@@ -0,0 +1,89 @@
+///<reference path="./PriorityQueueNode.ts" />
+/**
+ * 计算路径给定的IAstarGraph和开始/目标位置
+ */
+class AStarPathfinder {
+    public static search<T>(graph: IAstarGraph<T>, start: T, goal: T){
+        let foundPath = false;
+        let cameFrom = new Map<T, T>();
+        cameFrom.set(start, start);
+
+        let costSoFar = new Map<T, number>();
+        let frontier = new PriorityQueue<AStarNode<T>>(1000);
+        frontier.enqueue(new AStarNode<T>(start), 0);
+
+        costSoFar.set(start, 0);
+
+        while (frontier.count > 0){
+            let current = frontier.dequeue();
+
+            if (JSON.stringify(current.data) == JSON.stringify(goal)){
+                foundPath = true;
+                break;
+            }
+
+            graph.getNeighbors(current.data).forEach(next => {
+                let newCost = costSoFar.get(current.data) + graph.cost(current.data, next);
+                if (!this.hasKey(costSoFar, next) || newCost < costSoFar.get(next)){
+                    costSoFar.set(next, newCost);
+                    let priority = newCost + graph.heuristic(next, goal);
+                    frontier.enqueue(new AStarNode<T>(next), priority);
+                    cameFrom.set(next, current.data);
+                }
+            });
+        }
+
+        return foundPath ? this.recontructPath(cameFrom, start, goal) : null;
+    }
+
+    private static hasKey<T>(map: Map<T, number>, compareKey: T){
+        let iterator = map.keys();
+        let r: IteratorResult<T>;
+        while (r = iterator.next() , !r.done) {
+            if (JSON.stringify(r.value) == JSON.stringify(compareKey))
+                return true;
+        }
+
+        return false;
+    }
+
+    private static getKey<T>(map: Map<T, T>, compareKey: T){
+        let iterator = map.keys();
+        let valueIterator = map.values();
+        let r: IteratorResult<T>;
+        let v: IteratorResult<T>;
+        while (r = iterator.next(), v = valueIterator.next(), !r.done) {
+            if (JSON.stringify(r.value) == JSON.stringify(compareKey))
+                return v.value;
+        }
+
+        return null;
+    }
+
+    public static recontructPath<T>(cameFrom: Map<T, T>, start: T, goal: T): T[]{
+        let path = [];
+        let current = goal;
+        path.push(goal);
+
+        while (current != start){
+            current = this.getKey(cameFrom, current);
+            path.push(current);
+        }
+
+        path.reverse();
+
+        return path;
+    }
+}
+
+/**
+ * 使用PriorityQueue需要的额外字段将原始数据封装在一个小类中
+ */
+class AStarNode<T> extends PriorityQueueNode {
+    public data: T;
+
+    constructor(data: T){
+        super();
+        this.data = data;
+    }
+}

source/src/AI/Pathfinding/AStar/AstarGridGraph.ts

@@ -0,0 +1,67 @@
+/**
+ * 基本静态网格图与A*一起使用
+ * 将walls添加到walls HashSet，并将加权节点添加到weightedNodes
+ */
+class AstarGridGraph implements IAstarGraph<Point> {
+    public dirs: Point[] = [
+        new Point(1, 0),
+        new Point(0, -1),
+        new Point(-1, 0),
+        new Point(0, 1)
+    ];
+
+    public walls: Point[] = [];
+    public weightedNodes: Point[] = [];
+    public defaultWeight: number = 1;
+    public weightedNodeWeight = 5;
+
+    private _width;
+    private _height;
+    private _neighbors: Point[] = new Array(4);
+
+    constructor(width: number, height: number){
+        this._width = width;
+        this._height = height;
+    }
+
+    /**
+     * 确保节点在网格图的边界内
+     * @param node 
+     */
+    public isNodeInBounds(node: Point): boolean {
+        return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._height;
+    }
+
+    /**
+     * 检查节点是否可以通过。墙壁是不可逾越的。
+     * @param node 
+     */
+    public isNodePassable(node: Point): boolean {
+        return !this.walls.contains(node);
+    }
+
+    public search(start: Point, goal: Point){
+        return AStarPathfinder.search(this, start, goal);
+    }
+
+    public getNeighbors(node: Point): Point[] {
+        this._neighbors.length = 0;
+
+        this.dirs.forEach(dir => {
+            let next = new Point(node.x + dir.x, node.y + dir.y);
+            if (this.isNodeInBounds(next) && this.isNodePassable(next))
+                this._neighbors.push(next);
+        });
+
+        return this._neighbors;
+    }
+
+    public cost(from: Point, to: Point): number {
+        return this.weightedNodes.find((p)=> JSON.stringify(p) == JSON.stringify(to)) ? this.weightedNodeWeight : this.defaultWeight;
+    }
+
+    public heuristic(node: Point, goal: Point) {
+        return Math.abs(node.x - goal.x) + Math.abs(node.y - goal.y);
+    }
+
+}

source/src/AI/Pathfinding/AStar/IAstarGraph.ts

@@ -0,0 +1,5 @@
+interface IAstarGraph<T> {
+    getNeighbors(node: T): Array<T>;
+    cost(from: T, to: T): number;
+    heuristic(node: T, goal: T);
+}

source/src/AI/Pathfinding/AStar/PriorityQueue.ts

@@ -0,0 +1,150 @@
+class PriorityQueue<T extends PriorityQueueNode> {
+    private _numNodes: number;
+    private _nodes: T[];
+    private _numNodesEverEnqueued;
+
+    constructor(maxNodes: number) {
+        this._numNodes = 0;
+        this._nodes = new Array(maxNodes + 1);
+        this._numNodesEverEnqueued = 0;
+    }
+
+    public clear() {
+        this._nodes.splice(1, this._numNodes);
+        this._numNodes = 0;
+    }
+
+    public get count() {
+        return this._numNodes;
+    }
+
+    public contains(node: T): boolean {
+        return (this._nodes[node.queueIndex] == node);
+    }
+
+    public enqueue(node: T, priority: number) {
+        node.priority = priority;
+        this._numNodes++;
+        this._nodes[this._numNodes] = node;
+        node.queueIndex = this._numNodes;
+        node.insertionIndex = this._numNodesEverEnqueued++;
+        this.cascadeUp(this._nodes[this._numNodes]);
+    }
+
+    public dequeue(): T {
+        let returnMe = this._nodes[1];
+        this.remove(returnMe);
+        return returnMe;
+    }
+
+    public remove(node: T) {
+        if (node.queueIndex == this._numNodes) {
+            this._nodes[this._numNodes] = null;
+            this._numNodes--;
+            return;
+        }
+
+        let formerLastNode = this._nodes[this._numNodes];
+        this.swap(node, formerLastNode);
+        delete this._nodes[this._numNodes];
+        this._numNodes--;
+
+        this.onNodeUpdated(formerLastNode);
+    }
+
+    public isValidQueue(): boolean {
+        for (let i = 1; i < this._nodes.length; i++) {
+            if (this._nodes[i]) {
+                let childLeftIndex = 2 * i;
+                if (childLeftIndex < this._nodes.length && this._nodes[childLeftIndex] &&
+                    this.hasHigherPriority(this._nodes[childLeftIndex], this._nodes[i]))
+                    return false;
+
+                let childRightIndex = childLeftIndex + 1;
+                if (childRightIndex < this._nodes.length && this._nodes[childRightIndex] &&
+                    this.hasHigherPriority(this._nodes[childRightIndex], this._nodes[i]))
+                    return false;
+            }
+        }
+
+        return true;
+    }
+
+    private onNodeUpdated(node: T) {
+        let parentIndex = Math.floor(node.queueIndex / 2);
+        let parentNode = this._nodes[parentIndex];
+
+        if (parentIndex > 0 && this.hasHigherPriority(node, parentNode)) {
+            this.cascadeUp(node);
+        } else {
+            this.cascadeDown(node);
+        }
+    }
+
+    private cascadeDown(node: T) {
+        let newParent: T;
+        let finalQueueIndex = node.queueIndex;
+        while (true) {
+            newParent = node;
+            let childLeftIndex = 2 * finalQueueIndex;
+
+            if (childLeftIndex > this._numNodes) {
+                node.queueIndex = finalQueueIndex;
+                this._nodes[finalQueueIndex] = node;
+                break;
+            }
+
+            let childLeft = this._nodes[childLeftIndex];
+            if (this.hasHigherPriority(childLeft, newParent)) {
+                newParent = childLeft;
+            }
+
+            let childRightIndex = childLeftIndex + 1;
+            if (childRightIndex <= this._numNodes) {
+                let childRight = this._nodes[childRightIndex];
+                if (this.hasHigherPriority(childRight, newParent)) {
+                    newParent = childRight;
+                }
+            }
+
+            if (newParent != node) {
+                this._nodes[finalQueueIndex] = newParent;
+
+                let temp = newParent.queueIndex;
+                newParent.queueIndex = finalQueueIndex;
+                finalQueueIndex = temp;
+            } else {
+                node.queueIndex = finalQueueIndex;
+                this._nodes[finalQueueIndex] = node;
+                break;
+            }
+        }
+    }
+
+    private cascadeUp(node: T) {
+        let parent = Math.floor(node.queueIndex / 2);
+        while (parent >= 1) {
+            let parentNode = this._nodes[parent];
+            if (this.hasHigherPriority(parentNode, node))
+                break;
+
+            this.swap(node, parentNode);
+
+            parent = Math.floor(node.queueIndex / 2);
+        }
+    }
+
+    private swap(node1: T, node2: T) {
+        this._nodes[node1.queueIndex] = node2;
+        this._nodes[node2.queueIndex] = node1;
+
+        let temp = node1.queueIndex;
+        node1.queueIndex = node2.queueIndex;
+        node2.queueIndex = temp;
+    }
+
+    private hasHigherPriority(higher: T, lower: T) {
+        return (higher.priority < lower.priority ||
+            (higher.priority == lower.priority && higher.insertionIndex < lower.insertionIndex));
+    }
+}

source/src/AI/Pathfinding/AStar/PriorityQueueNode.ts

@@ -0,0 +1,14 @@
+class PriorityQueueNode {
+    /**
+     * 插入此节点的优先级。在将节点添加到队列之前必须设置
+     */
+    public priority: number = 0;
+    /**
+     * 由优先级队列使用-不要编辑此值。表示插入节点的顺序
+     */
+    public insertionIndex: number = 0;
+    /**
+     * 由优先级队列使用-不要编辑此值。表示队列中的当前位置
+     */
+    public queueIndex: number = 0;
+}

source/src/Math/Point.ts

@@ -0,0 +1,9 @@
+class Point {
+    public x: number;
+    public y: number;
+
+    constructor(x: number, y: number){
+        this.x = x;
+        this.y = y;
+    }
+}