一步一步开发Game服务器（五）地图寻路

目前大多数使用的寻路算法有哪些？

目前市面上大部分游戏的寻路算法是A*，或者B*。

A*通常所说的是最优算法也就是寻找最短路径。
B*碰撞式算法也就是，也就是不断的去碰撞能走就走，不管是不是绕路。
当然以上都是我的理解。

我这里只描述一下A*算法的一部分。

通常A*算法分为四方向和八方向计算。

现目前的游戏方式来看不管是2D还是2.5D，还是3D，几乎都采用8方向方式，也有游戏是采用360°点位方式。

本文重点剖析8方向的。

先来看一个效果图

图中你看到的图案表示非阻挡地区，其余是阻挡地区。

绿色的线是表示寻路走过路线。

寻路步骤

 1. 从起点A开始, 把它作为待处理的方格存入一个"开启列表", 开启列表就是一个等待检查方格的列表.

 2. 寻找起点A周围可以到达的方格, 将它们放入"开启列表", 并设置它们的"父方格"为A.

 3. 从"开启列表"中删除起点 A, 并将起点 A 加入"关闭列表", "关闭列表"中存放的都是不需要再次检查的方格

原谅我盗用了园友的图。

图中浅绿色描边的方块表示已经加入 "开启列表" 等待检查. 淡蓝色描边的起点 A 表示已经放入 "关闭列表" , 它不需要再执行检查.

从 "开启列表" 中找出相对最靠谱的方块, 什么是最靠谱? 它们通过公式 F=G+H 来计算.

废话不多说了，直接来源码

源码来之园友，但是稍作修改。
修改1，原本算法不支持复杂地形图。
修改2，原本算法foreach List列表，改为for循环，倒入循环。因为每一次的寻路下一个节点的时候8方向都是上一个节点。
修改3，修改单例模式。

来一张大图看看目前我的地形图

源码

  1     public class FindWayManager
  2     {
  3         static readonly FindWayManager instance = new FindWayManager();
  4         public static FindWayManager Instance { get { return instance; } }
  5 
  6         /// <summary>
  7         /// 阻挡点配置，，
  8         /// </summary>
  9         public int BlockConst = 1;
 10 
 11         //从开启列表查找F值最小的节点
 12         private Point GetMinFFromOpenList(List<Point> Open_List)
 13         {
 14             Point Pmin = null;
 15 
 16             int count = Open_List.Count;
 17             for (int i = count - 1; i >= 0; i--)
 18             {
 19                 if (Pmin == null || Pmin.G + Pmin.H > Open_List[i].G + Open_List[i].H)
 20                     Pmin = Open_List[i];
 21             }
 22             return Pmin;
 23         }
 24 
 25         //判断关闭列表是否包含一个坐标的点
 26         private bool IsInCloseList(int x, int y, List<Point> Close_List)
 27         {
 28             if (Close_List == null || Close_List.Count == 0)
 29             {
 30                 return false;
 31             }
 32 
 33             int count = Close_List.Count;
 34             for (int i = count - 1; i >= 0; i--)
 35             {
 36                 if (Close_List[i].X == x && Close_List[i].Y == y)
 37                     return true;
 38             }
 39             return false;
 40         }
 41         //从关闭列表返回对应坐标的点
 42         private Point GetPointFromCloseList(int x, int y, List<Point> Close_List)
 43         {
 44             int count = Close_List.Count;
 45             for (int i = count - 1; i >= 0; i--)
 46             {
 47                 if (Close_List[i].X == x && Close_List[i].Y == y)
 48                     return Close_List[i];
 49             }
 50             return null;
 51         }
 52 
 53         //判断开启列表是否包含一个坐标的点
 54         private bool IsInOpenList(int x, int y, List<Point> Open_List)
 55         {
 56             int count = Open_List.Count;
 57             for (int i = count - 1; i >= 0; i--)
 58             {
 59                 if (Open_List[i].X == x && Open_List[i].Y == y)
 60                     return true;
 61             }
 62             return false;
 63         }
 64         //从开启列表返回对应坐标的点
 65         private Point GetPointFromOpenList(int x, int y, List<Point> Open_List)
 66         {
 67             int count = Open_List.Count;
 68             for (int i = count - 1; i >= 0; i--)
 69             {
 70                 if (Open_List[i].X == x && Open_List[i].Y == y)
 71                     return Open_List[i];
 72             }
 73             return null;
 74         }
 75 
 76         //计算某个点的G值
 77         private int GetG(Point p)
 78         {
 79             if (p.Next == null) return 0;
 80             if (p.X == p.Next.X || p.Y == p.Next.Y) return p.Next.G + 10;
 81             else return p.Next.G + 14;
 82         }
 83 
 84         //计算某个点的H值
 85         private int GetH(Point p, Point pb)
 86         {
 87             return Math.Abs(p.X - pb.X) + Math.Abs(p.Y - pb.Y);
 88         }
 89 
 90         //检查当前节点附近的节点
 91         private void CheckP8(Point p0, byte[,] map, Point pa, Point pb, List<Point> Open_List, List<Point> Close_List)
 92         {
 93             //这里的循环其实就是8方向判断
 94             for (int xt = p0.X - 1; xt <= p0.X + 1; xt++)
 95             {
 96                 for (int yt = p0.Y - 1; yt <= p0.Y + 1; yt++)
 97                 {
 98                     //排除超过边界和等于自身的点
 99                     if ((xt >= 0 && xt < map.GetLongLength(1) && yt >= 0 && yt < map.GetLongLength(0)) && !(xt == p0.X && yt == p0.Y))
100                     {
101                         //排除障碍点和关闭列表中的点
102                         if (map[yt, xt] != BlockConst && !IsInCloseList(xt, yt, Close_List))
103                         {
104                             Point pt = GetPointFromOpenList(xt, yt, Open_List);
105                             if (pt != null)
106                             {
107                                 //如果节点在开启列表中更新带价值
108                                 int G_new = 0;
109                                 if (p0.X == pt.X || p0.Y == pt.Y) G_new = p0.G + 10;
110                                 else G_new = p0.G + 14;
111                                 if (G_new < pt.G)
112                                 {
113                                     //Open_List.Remove(pt);
114                                     pt.Next = p0;
115                                     pt.G = G_new;
116                                     //Open_List.Add(pt);
117                                 }
118                             }
119                             else
120                             {
121                                 //不在开启列表中,如果不存在创建添加到开启列表中
122                                 pt = new Point();
123                                 pt.X = xt;
124                                 pt.Y = yt;
125                                 pt.Next = p0;
126                                 pt.G = GetG(pt);
127                                 pt.H = GetH(pt, pb);
128                                 Open_List.Add(pt);
129                             }
130                         }
131                     }
132                 }
133             }
134         }
135 
136         public Point FindWay(byte[,] r, int sx, int sz, int ex, int ez)
137         {
138             //定义出发位置
139             Point pa = new Point();
140             pa.X = sx;
141             pa.Y = sz;
142             //定义目的地
143             Point pb = new Point();
144             pb.X = ex;
145             pb.Y = ez;
146             //如果点超出范围，或者是阻挡点
147             if (0 < pb.X && pb.X < r.GetLength(1)
148                 && 0 < pa.X && pa.X < r.GetLength(1)
149                 && 0 < pb.Y && pb.Y < r.GetLength(0)
150                 && 0 < pa.Y && pa.Y < r.GetLength(0)
151                 && !CheckBlocking(r, pa)
152                 && !CheckBlocking(r, pb))
153             {
154                 //开启列表
155                 List<Point> Open_List = new List<Point>();
156                 //关闭列表
157                 List<Point> Close_List = new List<Point>();
158 
159                 Open_List.Add(pa);
160                 while (!(IsInOpenList(pb.X, pb.Y, Open_List) || Open_List.Count == 0))
161                 {
162                     Point p0 = GetMinFFromOpenList(Open_List);
163                     if (p0 == null) return null;
164                     Open_List.Remove(p0);
165                     Close_List.Add(p0);
166                     CheckP8(p0, r, pa, pb, Open_List, Close_List);
167                 }
168                 Point p = GetPointFromOpenList(pb.X, pb.Y, Open_List);
169                 return Reverse(p);
170             }
171             return null;
172         }
173 
174         Point Reverse(Point point)
175         {
176             //新节点
177             Point newNode = null;
178             //当前节点
179             Point current = point;
180             while (current != null)
181             {
182                 //取当前节点的下一个，放入临时节点中
183                 Point temp = current.Next;
184                 //将当前节点的下一个设置为新节点
185                 //(第一次将设置为null，也对着呢，因为第一个节点将作为尾节点)
186                 current.Next = newNode;
187                 //把当前节点给新节点
188                 newNode = current;
189                 //把临时节点给当前节点（就是取当前节点的下一个而已）
190                 current = temp;
191             }
192             //将最后的新节点给头节点
193             return newNode;
194         }
195 
196         public bool CheckBlocking(byte[,] r, Point point)
197         {
198             return CheckBlocking(r, point.X, point.Y);
199         }
200 
201         public bool CheckBlocking(byte[,] r, int x, int y)
202         {
203             return r[y, x] == BlockConst;
204         }
205 
206         public void PrintMap(byte[,] r)
207         {
208             Console.Clear();
209             Console.ForegroundColor = ConsoleColor.Gray;
210             for (int y = 0; y < r.GetLongLength(0); y++)//Y轴
211             {
212                 for (int x = 0; x < r.GetLongLength(1); x++)//X轴
213                 {
214                     Console.Write(r[y, x]);
215                 }
216                 Console.Write("\n");
217             }
218 
219         }
220 
221         public void PrintWay(byte[,] r, Point way)
222         {
223             Console.ForegroundColor = ConsoleColor.Green;
224             while (way != null)
225             {
226                 Console.CursorLeft = way.X;
227                 Console.CursorTop = way.Y;
228                 Console.Write("4");
229                 System.Threading.Thread.Sleep(50);
230                 way = way.Next;
231             }
232             Console.ForegroundColor = ConsoleColor.Gray;
233         }
234 
235         bool check(int x, int y, Point way)
236         {
237             Point f = way;
238             while (f != null)
239             {
240                 if (f.X == x && f.Y == y)
241                 {
242                     return true;
243                 }
244                 f = f.Next;
245             }
246             return false;
247         }
248     }
249 
250     public class Point
251     {
252         //坐标点
253         public int Y { get; set; }
254         //坐标点
255         public int X { get; set; }
256         //从起点到当前点的代价
257         public int G { get; set; }
258         //从终点到当前点的代价
259         public int H { get; set; }
260 
261         public Point()
262         {
263         }
264 
265         public Point Next { get; set; }
266     }

由于地图阻挡点配置是由工具决定的，所以我根据我这里的方式来创建测试代码

 1 using System;
 2 using System.Collections.Generic;
 3 using System.Linq;
 4 using System.Text;
 5 using System.Threading.Tasks;
 6 using System.Xml.Serialization;
 7 
 8 namespace ConsoleApplication1
 9 {
10     [XmlRootAttribute("SceneInfo_Server")]
11     [Serializable]
12     public class MapBlockConfig
13     {
14         public MapBlockConfig()
15         {
16 
17         }
18         [XmlAttribute("MapID")]
19         public int MapID { get; set; }
20 
21         [XmlElement("WalkSetting")]
22         public WalkSetting Walk { get; set; }
23                 
24         [Serializable]
25         public class WalkSetting
26         {
27             public WalkSetting()
28             {
29 
30             }
31             [XmlAttribute("RZLEN")]
32             public int Rzlen { get; set; }
33 
34 
35             [XmlAttribute("RXLEN")]
36             public int Rxlen { get; set; }
37 
38 
39             [XmlAttribute("STARTX")]
40             public int Startx { get; set; }
41 
42 
43             [XmlAttribute("STARTY")]
44             public int Starty { get; set; }
45 
46 
47             [XmlAttribute("STARTZ")]
48             public int Startz { get; set; }
49 
50 
51             [XmlAttribute("BLOCKINFO")]
52             public String Blockinfo { get; set; }
53         }
54 
55     }
56 }

View Code

阻挡配置

<?xml version="1.0" encoding="utf-8"?>
<SceneInfo_Server xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema" MapID="3501">
  <WalkSetting RZLEN="120" RXLEN="120" STARTX="0" STARTY="200" STARTZ="0" BLOCKINFO="11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111100000000001111111111111111111111111111111111111111111111111111111111111111111111111111000000000001111111111111111111111000000000000111111111111111111111111111111111111111110000000000111111111111111111111100000000000000111111111111111111110000000000000001111111111111111111111111111111111111100000000000011111111111111111111000000000000000011111111111111111100000000000000001111111111111111111111111111111111110000000000000001111111111111111111000000000000000011111111111111111000000000000000001111111111111111111111111111111111100000000000000000111111111111111110000000000000000001111111111111110000000000000000001111111111111111111111111111111111000000000000000000011111111111111110000000000000000001111111111111100000000000000000001111111111111111111111111111111110000000000000000000000111111111111110000000000000000000111111111111110000000000000000001111111111111111111111111111111110000000000000000000000011111111111110000000000000000000111111111111111000000000000000001111111111111111111111111111111110000000000000000000000001111111111111000000000000000000111111111111110000000000000000011111111111111111111111111111111110000000000000000000000000111111111111000000000000000000111111111111000000000000000000011111111111111111111111111111111110000000000000000000000000111111100000000000000000000000111111111110000000000000000000111111111111111111111111111111111110000000000000000000000000000000000000000000000000000000111111111000000000000000000001111111111111111111111111111111111110000000000000000000000000000000000000000000000000000000111111110000000000000000000011111111111111111111111111111111111110000000000000000000000000000000000000000000000000000000000000000000000000000000001111111111111111111111111111111111111110000000000000000000000000000000000000000000000000000000000000000000000000000000011111111111111111111111111111111111111110000000000000000000000000111111100000000000000000000000000000000000000000000001111111111111111111111111111111111111111110000000000000000000000000111111100000000000000000000000000000000000000000000011111111111111111111111111111111111111111110000000000000000000000000111111100000000000000000000000000000000000000000001111111111111111111111111111111111111111111111110000000000000001111111111111110000000000000000000000000000000000000000011111111111111111111111111111111111111111111111110000000000000001111111111111111100000000000000000000000000000000000001111111111111111111111111111111111111111111111111110000000000000011111111111111111110000000000000000000001000000000000011111111111111111111111111111111111111111111111111110000000000000011111111111111111111100000000000000000011100000000000111111111111111111111111111111111111111111111111111110000000000000111111111111111111111110000000000000000111110000000000111111111111111111111111111111111111111111111111111110000000000000111111111111111111111111100000000000001111110000000000111111111111111111111111111111111111111111111111111110000000000000111111111111111111111111111111111110011111110000000000111111111111111111111111111111111111111111111111111110000000000011111111111111111111111111111111111111111111110000000000111111111111111111111111111111111111111111111111111100000000000011111111111111111111111111111111111111111111111000000000111111111111111111111111111111111111111111111111111100000000000011111111111111111111111111111111111111111111111000000000111111111111111111111111111111111111111111111111111100000000000011111111111111111111111111111111111111111111111100000000111111111111111111111111111111111111111111111111111100000000000011111111111111111111111111111111111111111111111000000000111111111111111111111111111111111111111111111111111100000000000011111111111111111111111111111111111111111111111000000000111111111111111111111111111111111111111111111111111100000000000011111111111111111111111111111111111111111111111000000000111111111111111111111111111111111111111111111111111100000000000001111111111111111111111111111111111111111111111000000000111111111111111111111111111111111111111111111111111100000000000001111111111111111111111111111111111111111111111100000000011111111111111111111111111111111111111111111111111100000000000001111111111111110000111111111111111111111111111100000000000111111111111111111111111111111111111111111111111100000000000001111111111111100000000000000000111111111111111110000000000001111111111111111111111111111111111111111111111100000000000001111111111111000000000000000000000000001111111111000000000000001111111111111111111111111111111111111111111100000000000001111111111100000000000000000000000000000111111111110000000000000011111111111111111111111111111111111111111100000000000001111111111000000000000000000000000000000111111111110000000000000000111111111111111111111111111111111111111110000000000001111111110000000000000000000000000000000011111111110000000000000000001111111111111111111111111111111111111110000000000001111111000000000000000000000000000000000011111111110000000000000000000011111111111111111111111111111111111110000000000001111111000000000000000000000000000000000011111111110000000000000000000000111111111111111111111111111111111110000000000001111110000000000000000000000000000000000011111111110000000000000000000000001111111111111111111111111111111110000000000001111110000000000000000000000000000000000011111111110000000000000000000000000011111111111111111111111111111110000000000001111110000001100000000000000000000000000011111111110000000000000000000000000011111111111111111111111111111110000000000001111110000011111000000000000000000000000011111111110000000000000000000000000011111111111111111111111111111110000000000001111110000011111100000000000000000000000011111111110000000000000000000000000001111111111111111111111111111110000000000011111110000000111100000000000000000000000011111111110000000000000000000000000001111111111111111111111111111110000000000011111100000000000100000000000000000000000011111111110000000000000000000000000000111111111111111111111111111110000000000011111100000000000000000000000000000000000011111111110000000000000000000000000000111111111111111111111111111110000000000011111100000000000000000000000000000000000011111111110000000000000000000000000000011111111111100000000000011110000000000011111100000000000000000000000000000001000111111111110000000000000000000000000000011111111111100000000000011110000000000011111100000000001000000000000000000011111111111111110000000000000000000000000000001111111111100000000000011110000000000111111100000111111111111111111111111111111111111111110000000000000000000000000000001111111111100000000000011110000000000111111000000011111111111111111111111111111111111111110000000000000000000000000000001111111111100000000000011110000000000111111100000011111111111111111111111111111111110000000000000000000000000000000000000111111111100000000001111110000000000111111100000011111111111111111111111111111111100000000000000000000000000000000000000111111111100000000001111110000000000111111100000011111111111111111111111111111111100000000000000001110000000000000000000111111111100000000001111111000000000111111110000011111111111111111111111111111111100000000000000011111110000000000000000111111111100000000001111111000000000011111110000011111111111111111111111111111111100000000000000011111111110000000000000111111111100000000001111111000000000011111110000001111111111111111111111111111111000000000000000011111111110000000000000111111111100000000011111111000000000011111111000000111111111111111111111111111111000000000000000111111111110000000000000111111111100000000011111111000000000001111111000000011111111111111111111111111111000000000000000111111111100000000000000111111111100000000111111111000000000001111111000000001111111111111111111111111110000000000000001111111111100000000000000111111111100000000111111111100000000011111111000000000111111111111111111111111110000000000000001111111111100000000000000111111111100000000011111111100000000011111111100000000011111111111111111111111110000000000000001111111111000000000000000111111111100000000011111111100000000001111111100000000011111111111111111111111100000000000000011111111111000000000000000111111111100000000011111111100000000001111111100000000001111111111111111111111100000000000000011111111111000000000000000111111111100000000011111111100000000001111111110000000001111111111111111111111100000000000000011111111110000000000000000111111111100000000011111111100000000000111111110000000001111111111111111111111000000000000000111111111110000000000000000111111111100000000011111111100000000000111111110000000001111111111111111111100000000000000000111111111110000000000000000111111111100000000011111111100000000000111111111000000001111111111111111110000000000000000000111111111100000000000000000111111111100000000011111111100000000000001111111000000001111111111111111000000000000000000001111111111100000000000000000111111111100000000011111111100000000000001111111000000001111111111111100000000000000000000001111111111000000000000000000111111111100000000011111111100000000000000111111100000001111111111110000000000000000000000001111111111000000000000000000111111111100000000011111111100000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/>
</SceneInfo_Server>

View Code

测试代码

 1             ConsoleApplication1.MapBlockConfig block = new ConsoleApplication1.MapBlockConfig();
 2             System.Xml.Serialization.XmlSerializer xml = new System.Xml.Serialization.XmlSerializer(block.GetType());
 3             System.IO.FileStream fs = new System.IO.FileStream("3501.block.xml", System.IO.FileMode.Open);
 4             block = (ConsoleApplication1.MapBlockConfig)xml.Deserialize(fs);
 5             fs.Dispose();
 6 
 7             R = new byte[block.Walk.Rzlen, block.Walk.Rxlen];
 8 
 9             for (int z = 0; z < block.Walk.Rzlen; z++)
10             {
11                 for (int x = 0; x < block.Walk.Rxlen; x++)
12                 {
13                     char item = block.Walk.Blockinfo[block.Walk.Rxlen * z + x];
14                     R[z, x] = Convert.ToByte(item + "");
15                 }
16             }
17 
18             List<int[]> ss = new List<int[]>();//{ { 7, 60, 55, 55 } };
19             ss.Add(new int[] { 7, 60, 55, 55 });
20             ss.Add(new int[] { 9, 80, 113, 60 });
21             ss.Add(new int[] { 9, 80, 55, 90 });
22             Random ran = new Random();
23             Console.ReadLine();
24             FindWayManager.Instance.PrintMap(R);
25             Console.ReadLine();
26             while (true)
27             {
28                 FindWayManager.Instance.PrintMap(R);
29                 Point way = null;
30                 System.Diagnostics.Stopwatch watch = new System.Diagnostics.Stopwatch();
31                 watch.Start();
32                 int index = ran.Next(ss.Count);
33                 int[] points = ss[index];
34                 way = FindWayManager.Instance.FindWay(R, points[0], points[1], points[2], points[3]);
35                 watch.Stop();
36                 Console.Title = "寻路用时：" + (watch.ElapsedMilliseconds);
37                 FindWayManager.Instance.PrintWay(R, way);
38                 System.Threading.Thread.Sleep(1000);
39             }
40             Console.ReadLine();

效果图请参考上面的。

特别声明：
感谢园友提供的思路和源码。我只是稍作修改。

看几张性能分析图

原本的对园友的代码优化和修改，就是基于这个性能分析结果得来。

 再一次的测试发现如果把关闭列表用 Dictionary<string, Point> Close_List = new Dictionary<string, Point>();
性能还能再次提升。

但是如果把openlist也改为 Dictionary<string, Point> 性能却不如从前了。
以上四张图都是程序运行一段时间稳定后截图。
期待大神，有更优化的算法~！

跪求保留标示符
/**
 * @author: Troy.Chen(失足程序员, 15388152619)
 * @version: 2021-07-20 10:55
 **/

C#版本代码 vs2010及以上工具可以

java 开发工具是netbeans 和 idea 版本，只有项目导入如果出现异常，请根据自己的工具调整


提供免费仓储。
最新的代码地址：↓↓↓
https://gitee.com/wuxindao

觉得我还可以，打赏一下吧，你的肯定是我努力的最大动力

posted on 2015-09-09 09:47 無心道（失足程序员）阅读(3208) 评论(9) 编辑收藏举报