A*算法的python实现

复制过去import astar直接用 你懂的 # -*- coding: utf-8 -*- class Node(): def __init__(self, parent, x, y, G, H): self.parent = parent self.x = x self.y = y self.G = G self.H = H @property def F(self): return self.G + self.H class Astar(): """ x0,y0:起点的坐标; x1,y1:目标点的坐标; weight,height:地图大小; gamemap:游戏地图; is_path:若不计算路径只判断能否到达则为False; ground:地板 """ def __init__(self, x0, y0, x1, y1, weight, height, gamemap, is_path, ground): self.__start_x = x0 self.__start_y = y0 self.__end_x = x1 self.__end_y = y1 self.__weight = weight self.__height = height self.__map = gamemap self.__open = [] self.__close = [] self.__is_path = is_path self.__ground = ground self.path = [] def __index(self, node_list, node): for i, n in enumerate(node_list): if(n.x == node.x and n.y == node.y): return i return -1 def __G(self, parent_x, parent_y, child_x, child_y): if(child_x == parent_x or child_y == parent_y): return 10 return 14 def __extend_node(self, node): direction_x = (-1, 0, 1, -1, 1, -1, 0, 1)#八方向 direction_y = (-1, -1, -1, 0, 0, 1, 1, 1) for x, y in zip(direction_x, direction_y): new_x = node.x + x new_y = node.y + y new_G = node.G + self.__G(node.x, node.y, new_x, new_y) new_H = (abs(self.__end_x - new_x) + abs(self.__end_y - new_y)) * 10 if not (((0 <= new_x <= self.__weight and 0 <= new_y <= self.__height)) and (self.__map[new_x][new_y] == self.__ground)):#如果新的点不合要求就放弃 continue new_node = Node(node, new_x, new_y, new_G, new_H) if self.__index(self.__close, new_node) != -1: continue pos = self.__index(self.__open, new_node) if pos != -1: if self.__open[pos].G > new_node.G: self.__open[pos].parent = node self.__open[pos].G = new_G self.__open[pos].H = new_H continue self.__open.append(new_node) def find_path(self): start = Node(None, self.__start_x, self.__start_y, 0, 0) self.__open.append(start) while True: self.__extend_node(start) if not self.__open: return start = self.__open[0] for node in self.__open: if node.F < start.F: start = node if start.x == self.__end_x and start.y == self.__end_y:#是否到达终点 if self.__is_path: self.__get_path(start) return True self.__close.append(start) del self.__open[0] def __get_path(self, node):#回溯找到起点 起点的parent = None while node: self.path.append(node) node = node.parent