php A star(A *)寻路算法代码
代码语言:php
所属分类:算法
代码描述:php A star(A *)寻路算法代码,从A到B,绿色背景表示最短路径,黑色背景表示障碍,刷新会重新生成路障。
下面为部分代码预览,完整代码请点击下载或在bfwstudio webide中打开
<?php $config = array( 'start' => array(1, 2), // 开始坐标 'end' => array(9, 10), // 结束坐标 'x' => 10, // 最大x 'y' => 10, // 最大y 'disable_num' => 30, // 障碍点个数 ); $a = new aStar($config['start'], $config['end'], $config['x'], $config['y'], $config['disable_num']); $a->displayPic(); /** * astar寻路算法 */ class aStar { private $_start; // 开始点 private $_end; // 结束点 private $_x; // 最大x轴 private $_y; // 最大y轴 private $_num; // 障碍点数量 private $_around; // 当前节点的可能四周节点数组 private $_g; // g值数组 public $open; // 开放节点数组 public $close; // 关闭节点数组 public $disable = array(); // 随机生成的障碍点数组 public $route = array(); // 结果路径数组 /** * @param $start array 开始点 * @param $end array 结束点 * @param $x int 最大x轴 * @param $y int 最大y轴 * @param $num int 最大随机障碍点数量 */ public function __construct($start, $end, $x, $y, $num) { $this->_start = $start; $this->_end = $end; $this->_x = $x; $this->_y = $y; $this->_num = $num; // 开始寻路 $this->_route(); } private function _route() { // 生成随机路障点 $this->_makeDisable(); // 算法开始 $this->_start(); } private function _start() { // 设置初始点的各项值 $point[0] = $this->_start[0]; // x $point[1] = $this->_start[1]; // y $point['i'] = $this->_pointInfo($this->_start); // 当前节点 point info $point['f'] = 0; // f 值 $this->_g[$point['i']] = 0; // g 值 $point['h'] = $this->_getH($this->_start); // h 值 $point['p'] = null; // 父节点 point info $this->open[$point['i']] = $this->close[$point['i']] = $point; // 开始节点加入open和close while (count($this->open) > 0) { // 查找最小的f值 $f = 0; foreach ($this->open as $info => $node) { if ($f === 0 || $f > $node['f']) { $minInfo = $info; $f = $node['f']; } } // 将当前节点从open中删除 $current = $this->open[$minInfo]; unset($this->open[$minInfo]); // 将当前节点加入close $this->close[$minInfo] = $current; // 如果到达了终点,根据各节点的父节点算出其route if ($current[0] == $this->_end[0] && $current[1] == $this->_end[1]) { // 反向推出路径 while ($current['p'] !== null) { $tmp = $this->close[$this->_pointInfo($current['p'])]; array_unshift($this->route, array($tmp[0], $tmp[1])); $current = $this->close[$this->_pointInfo($current['p'])]; } array_push($this->route, $this->_end); break; } // 设置当前节点的四周节点 $this->_setAround($current); // 四周节点状态更新 $this->_updateAround($current); } } private function _updateAround($current) { foreach ($this->_around as $v) { if (!isset($this->close[$this->_pointInfo($v)])) { // 不在close里面才处理 if (isset($this->open[$this->_pointInfo($v)])) { // 在open里面,比较值,小则更新 if ($this->_getG($current) < $this->_g[$this->_pointInfo($v)]) { $this->_updatePointDetail($current, $v); } } else { // 不在open里面,直接更新 $this->open[$this->_pointInfo($v)][0] = $v[0]; $this->open[$this->_pointInfo($v)][1] = $v[1]; $this->_updatePointDetail($current, $v); } } } } private function _updatePointDetail($current, $around) { $this->open[$this->_pointInfo($around)]['f'] = $this->_getF($current, $around); $this->_g[$this->_pointInfo($around)] = $this->_getG($current); $this->open[$this->_pointInfo($around)]['h'] = $this->_getH($around); $this->open[$this->_pointInfo($around)]['p'] = $current; // 重新设置父节点 } /** * 返回当前节点的可能四周节点 */ private function _setAround($point) { // 可能的X点 $roundX[] = $point[0]; // 当前x点 ($point[0] - 1 > 0) &&.........完整代码请登录后点击上方下载按钮下载查看
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