新增breadthfirst与dijkstra寻路算法

2020-06-10 12:23:19 +08:00
parent 538677575d
commit 5f7c13c8cd
16 changed files with 929 additions and 29 deletions
@@ -0,0 +1,61 @@
+///<reference path="../../../Math/Point.ts" />
+/**
+ * 基本的未加权网格图形用于BreadthFirstPathfinder
+ */
+class UnweightedGridGraph implements IUnweightedGraph<Point> {
+    private static readonly CARDINAL_DIRS: Point[] = [
+        new Point(1, 0),
+        new Point(0, -1),
+        new Point(-1, 0),
+        new Point(0, -1)
+    ];
+
+    private static readonly COMPASS_DIRS = [
+        new Point(1, 0),
+        new Point(1, -1),
+        new Point(0, -1),
+        new Point(-1, -1),
+        new Point(-1, 0),
+        new Point(-1, 1),
+        new Point(0, 1),
+        new Point(1, 1),
+    ];
+
+    public walls: Point[] = [];
+
+    private _width: number;
+    private _hegiht: number;
+
+    private _dirs: Point[];
+    private _neighbors: Point[] = new Array(4);
+
+    constructor(width: number, height: number, allowDiagonalSearch: boolean = false) {
+        this._width = width;
+        this._hegiht = height;
+        this._dirs = allowDiagonalSearch ? UnweightedGridGraph.COMPASS_DIRS : UnweightedGridGraph.CARDINAL_DIRS;
+    }
+
+    public isNodeInBounds(node: Point): boolean {
+        return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._hegiht;
+    }
+
+    public isNodePassable(node: Point): boolean {
+        return !this.walls.firstOrDefault(wall => JSON.stringify(wall) == JSON.stringify(node));
+    }
+
+    public getNeighbors(node: 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 search(start: Point, goal: Point): Point[] {
+        return BreadthFirstPathfinder.search(this, start, goal);
+    }
+}