unity3d:Astar寻路，A星，A*，二叉堆优化Open表

while (listOpen.Any()) {

//找到最小F todo：优化，每次节点多 var current = listOpen[0];

//找出OpenSet当中fCost最小的点,这个点就是被选中的将要行走的下一个点，如果F总和相同，找H最小，即到达终点最快（H是乐观估计，不算障碍物估计） foreach (var t in listOpen) if (t.F < current.F || ( t.F == current.F && t.H < current.H)) current = t;

//将这个点从OpenSet当中移除 listOpen.Remove(current);

//将这个点加入到ClostSet当中 listClose.Add(current);

current.SetColor(ClosedColor);

//路径已经到了 if (current == targetNode) { var currentPathTile = targetNode; var path = new List(); //var count = 100; while (currentPathTile != startNode) { path.Add(currentPathTile); currentPathTile = currentPathTile.Connection; //cur的上一个连接点 //count--; //if (count < 0) throw new Exception(); //Debug.Log("sdfsdf"); }

foreach (var tile in path) tile.SetColor(PathColor); startNode.SetColor(PathColor); Debug.Log(path.Count); return path; }

//找curNode的邻居，可到达和未在close表（即已经算过的不会再进行计算） foreach (var neighbor in current.Neighbors.Where(t => t.Walkable && !listClose.Contains(t))) { //是否未计算过这个邻居 var inSearch = listOpen.Contains(neighbor); //从cur到邻居的G = curG+cur到邻居的G代价 var costToNeighbor = current.G + current.GetDistance(neighbor);

//路径发生改变，g会变化，例如找到一条更好的路 if (!inSearch || costToNeighbor < neighbor.G) { neighbor.SetG(costToNeighbor); neighbor.SetConnection(current);

//h是乐观估计，只需要算一遍 if (!inSearch) { neighbor.SetH(neighbor.GetDistance(targetNode)); listOpen.Add(neighbor); neighbor.SetColor(OpenColor); } } } } return null; }