新增breadthfirst与dijkstra寻路算法

source/src/AI/Pathfinding/BreadthFirst/BreadthFirstPathfinder.ts

@@ -0,0 +1,41 @@
+/** 
+ * 计算路径给定的IUnweightedGraph和开始/目标位置
+ */
+class BreadthFirstPathfinder {
+    public static search<T>(graph: IUnweightedGraph<T>, start: T, goal: T): T[]{
+        let foundPath = false;
+        let frontier = [];
+        frontier.unshift(start);
+
+        let cameFrom = new Map<T, T>();
+        cameFrom.set(start, start);
+
+        while (frontier.length > 0){
+            let current = frontier.shift();
+            if (JSON.stringify(current) == JSON.stringify(goal)){
+                foundPath = true;
+                break;
+            }
+
+            graph.getNeighbors(current).forEach(next => {
+                if (!this.hasKey(cameFrom, next)){
+                    frontier.unshift(next);
+                    cameFrom.set(next, current);
+                }
+            });
+        }
+
+        return foundPath ? AStarPathfinder.recontructPath(cameFrom, start, goal) : null;
+    }
+
+    private static hasKey<T>(map: Map<T, T>, 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;
+    }
+}