yhh
72 lines
2.1 KiB
TypeScript
72 lines
2.1 KiB
TypeScript
/**
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* 基本静态网格图与A*一起使用
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* 将walls添加到walls HashSet，并将加权节点添加到weightedNodes
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*/
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class AstarGridGraph implements IAstarGraph<Vector2> {
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public dirs: Vector2[] = [
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new Vector2(1, 0),
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new Vector2(0, -1),
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new Vector2(-1, 0),
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new Vector2(0, 1)
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];
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public walls: Vector2[] = [];
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public weightedNodes: Vector2[] = [];
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public defaultWeight: number = 1;
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public weightedNodeWeight = 5;
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private _width;
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private _height;
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private _neighbors: Vector2[] = new Array(4);
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constructor(width: number, height: number){
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this._width = width;
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this._height = height;
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}
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/**
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* 确保节点在网格图的边界内
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* @param node
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*/
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public isNodeInBounds(node: Vector2): boolean {
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return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._height;
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}
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/**
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* 检查节点是否可以通过。walls是不可逾越的。
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* @param node
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*/
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public isNodePassable(node: Vector2): boolean {
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return !this.walls.firstOrDefault(wall => JSON.stringify(wall) == JSON.stringify(node));
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}
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/**
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* 调用AStarPathfinder.search的快捷方式
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* @param start
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* @param goal
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*/
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public search(start: Vector2, goal: Vector2){
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return AStarPathfinder.search(this, start, goal);
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}
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public getNeighbors(node: Vector2): Vector2[] {
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this._neighbors.length = 0;
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this.dirs.forEach(dir => {
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let next = new Vector2(node.x + dir.x, node.y + dir.y);
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if (this.isNodeInBounds(next) && this.isNodePassable(next))
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this._neighbors.push(next);
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});
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return this._neighbors;
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}
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public cost(from: Vector2, to: Vector2): number {
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return this.weightedNodes.find((p)=> JSON.stringify(p) == JSON.stringify(to)) ? this.weightedNodeWeight : this.defaultWeight;
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}
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public heuristic(node: Vector2, goal: Vector2) {
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return Math.abs(node.x - goal.x) + Math.abs(node.y - goal.y);
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}
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} |