A*寻路

A*寻路算法

在开始节点寻找四周节点，然后计算每个节点到终点需要走的步数，优先从最少的步数的节点开始走
每个节点都记录是如何过来的，在最后找到终点后反向获取整个路程
效果：

package test;

import java.util.*;
import java.util.stream.Collectors;

/**
 * @author Jame!
 * @date 2024/3/30 上午 9:26
 */
public class Demo {

    static class Position {
        int x;
        int y;
    }

    static class MapItem {
        public MapItem(int type) {
            this.type = type;
        }
        public int type;
        /**
         * 0未走过
         * 1上
         * 2下
         * 3左
         * 4右
         */
        public int direction;
    }

    /**
     * 0路
     * 1障碍物
     * 2终点
     * 3起点
     */
    static int[][] map = {
            {3, 1, 0, 0, 0, 0, 0, 0},
            {0, 1, 0, 1, 0, 0, 0, 0},
            {0, 1, 0, 1, 0, 0, 0, 0},
            {0, 1, 0, 0, 0, 0, 0, 0},
            {0, 1, 0, 1, 0, 0, 0, 0},
            {0, 1, 0, 1, 0, 0, 0, 1},
            {0, 1, 0, 1, 0, 1, 1, 0},
            {0, 0, 0, 1, 0, 0, 0, 2}

    };

    static ArrayList<MapItem> pathItem = new ArrayList<>();
    static ArrayList<Position> path = new ArrayList<>();


    static MapItem[][] mapItems = null;

    static int successX = -1, successY = -1;


    public static void main(String[] args) {

        initMapItems();
        int result = move(0, 0, 7, 7);
        if (result == 2) {
            aa(successX, successY);
            System.out.println("找到路");
        } else {
            System.out.println("没有路");
        }

        printResult();
    }

    /**
     * 1上
     * 2下
     * 3左
     * 4右
     */
    public static void aa(int currentX, int currentY) {
        MapItem item = mapItems[currentX][currentY];
        pathItem.add(item);
        Position position = new Position();
        position.x = currentX;
        position.y = currentY;
        path.add(position);
        if (item.type == 3) {
            return;
        }
        if (item.direction == 1) {
            aa(currentX + 1, currentY);
        } else if (item.direction == 2) {
            aa(currentX - 1, currentY);
        } else if (item.direction == 3) {
            aa(currentX, currentY + 1);
        } else if (item.direction == 4) {
            aa(currentX, currentY - 1);
        }
    }


    public static int computeEstimate(int currentX, int currentY, int endX, int endY) {
        //算出最少走的路
        int estimateX, estimateY;
        if (currentX < endX) {
            estimateX = endX - currentX;
        } else {
            estimateX = currentX - endX;
        }
        if (currentY < endY) {
            estimateY = endY - currentY;
        } else {
            estimateY = currentY - endY;
        }
        return estimateX + estimateY;
    }


    public static int move(int currentX, int currentY, int endX, int endY) {
        HashMap<String, Integer> mapEstimate = new HashMap<>();
        int top = -1, bottom = -1, left = -1, right = -1;
        if (currentY + 1 != map[currentX].length) {
            right = computeEstimate(currentX, currentY + 1, endX, endY);
        }
        if (currentY != 0) {
            left = computeEstimate(currentX, currentY - 1, endX, endY);
        }
        if (currentX != 0) {
            top = computeEstimate(currentX - 1, currentY, endX, endY);
        }
        if (currentX + 1 != map.length) {
            bottom = computeEstimate(currentX + 1, currentY, endX, endY);
        }

        if (top != -1 && mapItems[currentX - 1][currentY].direction != -1) {
            mapEstimate.put("top", top);
        }
        if (bottom != -1 && mapItems[currentX + 1][currentY].direction != -1) {
            mapEstimate.put("bottom", bottom);
        }
        if (left != -1 && mapItems[currentX][currentY - 1].direction != -1) {
            mapEstimate.put("left", left);
        }
        if (right != -1 && mapItems[currentX][currentY + 1].direction != -1) {
            mapEstimate.put("right", right);
        }
        //排序-将步数少排在前面，优先尝试
        List<Map.Entry<String, Integer>> entries1 = mapEstimate.entrySet().stream().sorted(Map.Entry.comparingByValue()).collect(Collectors.toList());
        for (Map.Entry<String, Integer> entry : entries1) {
            String key = entry.getKey();
            int result = -1;
            if ("top".equals(key)) {
                result = findTop(currentX - 1, currentY, endX, endY);
            } else if ("bottom".equals(key)) {
                result = findBottom(currentX + 1, currentY, endX, endY);
            } else if ("right".equals(key)) {
                result = findRight(currentX, currentY + 1, endX, endY);
            } else if ("left".equals(key)) {
                result = findLeft(currentX, currentY - 1, endX, endY);
            }
            if (result == 2) {
                return 2;
            }
        }
        return -1;
    }

    public static int findRight(int currentX, int currentY, int endX, int endY) {
        MapItem mapItem = mapItems[currentX][currentY];
        if (mapItem.direction != 0 || mapItem.type == 1) {
            return mapItem.type;
        }

        mapItem.direction = 4;
        if (mapItem.type == 2) {
            successX = currentX;
            successY = currentY - 1;
            return mapItem.type;
        }
        return move(currentX, currentY, endX, endY);
    }

    public static int findLeft(int currentX, int currentY, int endX, int endY) {
        MapItem mapItem = mapItems[currentX][currentY];
        if (mapItem.direction != 0 || mapItem.type == 1) {
            return mapItem.type;
        }
        mapItem.direction = 3;
        if (mapItem.type == 2) {
            successX = currentX;
            successY = currentY + 1;
            return mapItem.type;
        }
        return move(currentX, currentY, endX, endY);
    }

    public static int findTop(int currentX, int currentY, int endX, int endY) {
        MapItem mapItem = mapItems[currentX][currentY];
        if (mapItem.direction != 0 || mapItem.type == 1) {
            return mapItem.type;
        }
        mapItem.direction = 1;
        if (mapItem.type == 2) {
            successX = currentX + 1;
            successY = currentY;
            return mapItem.type;
        }
        return move(currentX, currentY, endX, endY);
    }

    public static int findBottom(int currentX, int currentY, int endX, int endY) {
        MapItem mapItem = mapItems[currentX][currentY];
        if (mapItem.direction != 0 || mapItem.type == 1) {
            return mapItem.type;
        }
        mapItem.direction = 2;
        if (mapItem.type == 2) {
            successX = currentX - 1;
            successY = currentY;
            return mapItem.type;
        }
        return move(currentX, currentY, endX, endY);
    }


    public static void initMapItems() {
        mapItems = new MapItem[map.length][map[0].length];
        for (int i = 0; i < map.length; i++) {
            for (int i1 = 0; i1 < map[i].length; i1++) {
                mapItems[i][i1] = new MapItem(map[i][i1]);
            }
        }
    }

    public static void printResult() {
        for (MapItem[] mapItem : mapItems) {
            for (MapItem item : mapItem) {
                if (item.type == 1) {
                    System.out.print("墙");
                } else if (item.type == 2) {
                    System.out.print("终");
                } else if (item.type == 3) {
                    System.out.print("起");
                } else if (pathItem.contains(item)) {
                    System.out.print("走");
                } else {
                    System.out.print("口");
                }
            }
            System.out.println();
        }
        Collections.reverse(path);
        for (Position position : path) {
            System.out.print(" [" + position.x + "=" + position.y + "] ");
        }
    }

}

有问题！ 如果地图太大栈直接就爆掉了，又写了一版不递归的
思路就是如果走不动了，就撤退到上一个有其他选择的节点

效果如下

package test;

import java.util.*;
import java.util.stream.Collectors;

/**
 * @author Jame!
 * @date 2024/3/30 上午 9:26
 */
public class AMap2 {


    /**
     * 0路
     * 1障碍物
     * 2终点
     * 3起点
     */
    static int[][] map = {
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 3, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
            {0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
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    };

    /**
     * 0 未探索
     * 1 向上走过来的
     * 2 向下走过来的
     * 3 向左走过来的
     * 4 向右走过来的
     */
    static int[][] mapHistory = new int[map.length][map[0].length];

    static int[][] rightPath = new int[map.length][map[0].length];


    static int successX = -1, successY = -1, startX = -1, startY = -1;

    static class Position {
        int x;
        int y;
    }


    public static void main(String[] args) {
        boolean noPath = move(10, 26, 24, 8);
        if (!noPath) {
            ArrayList<Position> list = new ArrayList<>();
            while (true) {
                rightPath[successX][successY] = 1;
                Position position = new Position();
                position.x = successX;
                position.y = successY;
                list.add(position);
                int comeType = mapHistory[successX][successY];
                if (comeType == 1) {
                    successX++;
                } else if (comeType == 2) {
                    successX--;
                } else if (comeType == 3) {
                    successY++;
                } else if (comeType == 4) {
                    successY--;
                }
                if (startX == successX && startY == successY) {
                    break;
                }
            }
            Collections.reverse(list);
            for (Position position : list) {
                System.out.print(" [" + position.x + "=" + position.y + "] ");
            }

        }
        System.out.println("===\n\n");
        printResult();
        System.out.println();

    }


    public static boolean move(int currentX, int currentY, int endX, int endY) {
        startY = currentY;
        startX = currentX;
        mapHistory[currentX][currentY] = 0;
        boolean find = false;
        boolean noPath = false;
        while (!find && !noPath) {
            HashMap<String, Integer> mapEstimate = new HashMap<>();
            int top = -1, bottom = -1, left = -1, right = -1;

            if (currentY + 1 != map[currentX].length && mapHistory[currentX][currentY + 1] == 0 && map[currentX][currentY + 1] != 1)
                right = computeEstimate(currentX, currentY + 1, endX, endY);
            if (currentY != 0 && mapHistory[currentX][currentY - 1] == 0 && map[currentX][currentY - 1] != 1)
                left = computeEstimate(currentX, currentY - 1, endX, endY);
            if (currentX != 0 && mapHistory[currentX - 1][currentY] == 0 && map[currentX - 1][currentY] != 1)
                top = computeEstimate(currentX - 1, currentY, endX, endY);
            if (currentX + 1 != map.length && mapHistory[currentX + 1][currentY] == 0 && map[currentX + 1][currentY] != 1)
                bottom = computeEstimate(currentX + 1, currentY, endX, endY);

            if (top != -1)
                mapEstimate.put("top", top);
            if (bottom != -1)
                mapEstimate.put("bottom", bottom);
            if (left != -1)
                mapEstimate.put("left", left);
            if (right != -1)
                mapEstimate.put("right", right);

            List<Map.Entry<String, Integer>> entries1 = mapEstimate.entrySet().stream().sorted(Map.Entry.comparingByValue()).collect(Collectors.toList());


            if (entries1.size() == 0) {
                while (true) {
                    int comeType = mapHistory[currentX][currentY];
                    if (comeType == 1) {
                        currentX++;
                    } else if (comeType == 2) {
                        currentX--;
                    } else if (comeType == 3) {
                        currentY++;
                    } else if (comeType == 4) {
                        currentY--;
                    }

                    if (currentY + 1 != map[currentX].length && mapHistory[currentX][currentY + 1] == 0 && map[currentX][currentY + 1] != 1)
                        right = computeEstimate(currentX, currentY + 1, endX, endY);
                    if (currentY != 0 && mapHistory[currentX][currentY - 1] == 0 && map[currentX][currentY - 1] != 1)
                        left = computeEstimate(currentX, currentY - 1, endX, endY);
                    if (currentX != 0 && mapHistory[currentX - 1][currentY] == 0 && map[currentX - 1][currentY] != 1)
                        top = computeEstimate(currentX - 1, currentY, endX, endY);
                    if (currentX + 1 != map.length && mapHistory[currentX + 1][currentY] == 0 && map[currentX + 1][currentY] != 1)
                        bottom = computeEstimate(currentX + 1, currentY, endX, endY);
                    if (top != -1)
                        mapEstimate.put("top", top);
                    if (bottom != -1)
                        mapEstimate.put("bottom", bottom);
                    if (left != -1)
                        mapEstimate.put("left", left);
                    if (right != -1)
                        mapEstimate.put("right", right);
                    if (mapEstimate.size() != 0) {
                        break;
                    }
                    if (currentX == startX && currentY == startY) {
                        noPath = true;
                        break;
                    }
                }


            }
            for (Map.Entry<String, Integer> entry : entries1) {
                if ("top".equals(entry.getKey())) {
                    currentX--;
                    mapHistory[currentX][currentY] = 1;
                    if (map[currentX][currentY] == 2) {
                        successX = currentX;
                        successY = currentY;
                        find = true;
                    }
                    break;

                } else if ("bottom".equals(entry.getKey())) {
                    currentX++;
                    mapHistory[currentX][currentY] = 2;
                    if (map[currentX][currentY] == 2) {
                        successX = currentX;
                        successY = currentY;
                        find = true;
                    }
                    break;
                } else if ("left".equals(entry.getKey())) {
                    currentY--;
                    mapHistory[currentX][currentY] = 3;
                    if (map[currentX][currentY] == 2) {
                        successX = currentX;
                        successY = currentY;
                        find = true;
                    }
                    break;
                } else if ("right".equals(entry.getKey())) {
                    currentY++;
                    mapHistory[currentX][currentY] = 4;
                    if (map[currentX][currentY] == 2) {
                        successX = currentX;
                        successY = currentY;
                        find = true;
                    }
                    break;
                }

            }
        }
        return noPath;
    }


    public static int computeEstimate(int currentX, int currentY, int endX, int endY) {
        //算出最少走的路
        int estimateX, estimateY;
        if (currentX < endX) {
            estimateX = endX - currentX;
        } else {
            estimateX = currentX - endX;
        }
        if (currentY < endY) {
            estimateY = endY - currentY;
        } else {
            estimateY = currentY - endY;
        }
        return estimateX + estimateY;
    }


    public static void printResult() {
        for (int i = 0; i < map.length; i++) {
            for (int i1 = 0; i1 < map[i].length; i1++) {
                int type = map[i][i1];
                if (type == 2) {
                    System.out.print("终");
                } else if (rightPath[i][i1] == 1) {
                    System.out.print("走");
                } else if (type == 1) {
                    System.out.print("墙");

                } else if (type == 3) {
                    System.out.print("起");
                } else {
                    System.out.print("口");
                }
            }
            System.out.println();
        }


    }

}