logomaker在线设计生成_全品类一件代发供应链_上海发布微信公众号_外媒头条最新消息

运行后点击透明格子empty即执行从(0,0)起点到点击为止终点（测试是(5,5)）如下图

 

UICamera深度要比MainCamera大，Clear Flags:Depth only，正交视野
MainCamera保持原样；注意Line绘线物体的位置大小旋转信息，不然无法看到线条。

 

empty是透明图片格子，代表可通过路径节点；wall是白色图片格子，代表墙体。

using UnityEngine;
public class Empty : MonoBehaviour
{[HideInInspector]public Vector2Int pos;public void OnButtonClick(){AStarTest.Instance.PlayAstar(pos);}
}

A*寻路原理：Unity人工智能AI编程知识_实验2-2 群组行为-CSDN博客  

using System;
using System.Collections.Generic;
using UnityEngine;
using System.Linq;public class AStarTest : MonoBehaviour
{private static AStarTest _instance;public static AStarTest Instance{get{return _instance;}}private int[,] map = {{0,0,0,1,0,0 },{0,1,1,1,0,1 },{0,0,1,0,1,0 },{0,0,0,0,1,0 },{1,1,1,0,0,0 },{0,0,1,1,0,0 },};private Vector2 wallSize;public Transform wallParent;public GameObject wallPrefab;public GameObject emptyPrefab;public class Point{public Vector2Int pos;public Point parent;public float F { get { return G + H; } } //F = G + Hpublic float G; //G = parent.G + Distance(parent,self)public float H; //H = Distance(self, end)public string GetString(){return "pos:" + pos + ",F:" + F + ",G:" + G + ",H:" + H + "\n";}}private List<Point> openList = new List<Point>();private List<Point> closeList = new List<Point>();public LineRenderer lineRenderer;public RectTransform[,] rectTransformMap;private void Awake(){_instance = this;}void Start(){wallSize = wallPrefab.GetComponent<RectTransform>().rect.size;int mapWidth = map.GetLength(0);int mapHeight = map.GetLength(1);Vector2 offsetPos = new Vector2(mapWidth / 2.0f * wallSize.x, -mapHeight / 2.0f * wallSize.y);rectTransformMap = new RectTransform[mapWidth, mapHeight];for (int i = 0; i < mapWidth; i++){for (int j = 0; j < mapHeight; j++){GameObject go;int num = map[i, j];if (num == 1){//墙go = GameObject.Instantiate(wallPrefab, wallParent);go.name = $"wall {i}_{j}";}else{//空go = GameObject.Instantiate(emptyPrefab, wallParent);go.name = $"empty {i}_{j}";go.GetComponent<Empty>().pos = new Vector2Int(i, j);}rectTransformMap[i, j] = go.GetComponent<RectTransform>();rectTransformMap[i, j].anchoredPosition = new Vector2(i * wallSize.x, -j * wallSize.y) - offsetPos;}}}public void PlayAstar(Vector2Int endPos){Debug.Log(endPos);openList.Clear();closeList.Clear();openList.Add(new Point(){G = 0f,H = GetC(new Vector2Int(0, 0), endPos),parent = null,pos = new Vector2Int(0, 0),});List<Vector2Int> resultList = CalculateAstar(endPos);if (resultList != null){lineRenderer.positionCount = resultList.Count;for (int i = 0; i < resultList.Count; i++){Vector2Int pos = resultList[i];lineRenderer.SetPosition(i, rectTransformMap[pos.x, pos.y].anchoredPosition);}}else{Debug.LogError("寻路失败;");}}private List<Vector2Int> CalculateAstar(Vector2Int endPos){int cnt = 0;while (true){//存在父节点说明已经结束            if (openList.Exists(x => x.pos.Equals(endPos))){Debug.Log("找到父节点~" + endPos + ",迭代次数:"  + cnt);List<Vector2Int> resultList = new List<Vector2Int>();Point endPoint = openList.Find(x => x.pos.Equals(endPos));resultList.Add(endPoint.pos);Point parent = endPoint.parent;while (parent != null){resultList.Add(parent.pos);parent = parent.parent;}return resultList;}cnt++;if (cnt > 100 * map.GetLength(0) * map.GetLength(1)){Debug.LogError(cnt);return null;}//从列表取最小F值的Point开始遍历Point currentPoint = openList.OrderBy(x => x.F).FirstOrDefault();string str = "";foreach(var v in openList){str += v.GetString();}Debug.Log("最小F：" + currentPoint.GetString() + "\n" + str);Vector2Int pos = currentPoint.pos;for (int i = -1; i <= 1; i++){for (int j = -1; j <= 1; j++){if (i == 0 && j == 0){continue;}//过滤越界、墙体、已处理节点（存在闭合列表的节点）Vector2Int tempPos = new Vector2Int(i + pos.x, j + pos.y);if (tempPos.x < 0 || tempPos.x >= map.GetLength(0) || tempPos.y < 0 || tempPos.y >= map.GetLength(1)|| map[tempPos.x, tempPos.y] == 1|| closeList.Exists(x => x.pos.Equals(tempPos))){continue;}//判断tempPos该节点是否已经计算,  在openList的就是已经计算的Point tempPoint = openList.Find(x => x.pos.Equals(tempPos));float newG = currentPoint.G + Vector2.Distance(currentPoint.pos, tempPos);if (tempPoint != null){//H固定不变,因此判断旧的G值和当前计算出的G值，如果当前G值更小，需要改变节点数据的父节点和G值为当前的，否则保持原样float oldG = tempPoint.G;if (newG < oldG){tempPoint.G = newG;tempPoint.parent = currentPoint;Debug.Log("更新节点:" + tempPoint.pos + ", newG:" + newG + ", oldG:" + oldG + ",parent:" + tempPoint.parent.pos);}}else{tempPoint = new Point(){G = newG,H = GetC(tempPos, endPos),pos = tempPos,parent = currentPoint};Debug.Log("新加入节点:" + tempPoint.pos + ", newG:" + newG + ", parent:" + currentPoint.pos);openList.Add(tempPoint);}}}//已处理过的当前节点从开启列表移除,并放入关闭列表openList.Remove(currentPoint);closeList.Add(currentPoint);}}private float GetC(Vector2Int a, Vector2Int b){return Math.Abs(a.x - b.x) + Math.Abs(a.y - b.y);}
}