简单四方向a*寻路学习记录7 识别单个障碍绕行

在上次递归调用后添加障碍xy变量

判断上下左右格子

go 复制代码

if(this.zhangaix==this.shangx&&this.zhangaiy==this.shangy){
            this.zhangaifangxiang=0;//0 shang 1 zuo 2 you 3xia
            this.shangf=-1;
            console.log("zhangai shang");
        }else if(this.zhangaix==this.zuox&&this.zhangaiy==this.zuoy){
            this.zhangaifangxiang=1;
            this.zuof=-1;
            console.log("zhangai zuo");
        }else if(this.zhangaix==this.youx&&this.zhangaiy==this.youy){
            this.zhangaifangxiang=2;
            this.youf=-1;
            console.log("zhangai you");
        }else if(this.zhangaix==this.xiax&&this.zhangaiy==this.xiay){
            this.zhangaifangxiang=3;
            this.xiaf=-1;
            console.log("zhangai xia");
        }
        const suoyouf=[this.shangf,this.zuof,this.youf,this.xiaf];
        let zuixiaof=Number.MAX_SAFE_INTEGER;
        let fangxiang=0; // 0/shang 1/zuo 2/you 3/xia
        let zuixiaog=0;
        for(let i=0;i<suoyouf.length;i++){
            const fValue = suoyouf[i];
            if(fValue >= 0 && fValue < zuixiaof) {  // ✅ 简单直接
                zuixiaof = fValue;
                fangxiang = i;
    }
        }

如果有障碍将当前方向的f换成-1

go 复制代码

for(let i=0;i<suoyouf.length;i++){
            const fValue = suoyouf[i];
            if(fValue >= 0 && fValue < zuixiaof) {  // ✅ 简单直接
                zuixiaof = fValue;
                fangxiang = i;
    }

在遍历上下左右格子的f时跳过-1

go 复制代码

import { _decorator, Collider2D, Component, Contact2DType, director, IPhysics2DContact, Node } from 'cc';
const { ccclass, property,executeInEditMode } = _decorator;






@ccclass('xiaobingzhangai')
@executeInEditMode
export class xiaobingzhangai extends Component {
    juesex:number=null;
    juesey:number=null;
    mubiaox:number=null;
    mubiaoy:number=null;
    shangf:number=0;
    shangg:number=0;

    shangh:number=0;


    zuof:number=0;
    zuoh:number=0;
    zuog:number=0;
    youf:number=0;
    youh:number=0;
    youg:number=0;
    xiaf:number=0;
    xiah:number=0;
    xiag:number=0;
    shangx:number=0;
    shangy:number=0;
    zuox:number=0;
    zuoy:number=0;
    youx:number=0;
    youy:number=0;
    xiax:number=0;
    xiay:number=0;
    zhangaix:number=0;
    zhangaiy:number=0;
    zhangaifangxiang:number=0;
    onLoad(){

        // 监听碰撞事件

      const collider = this.getComponent(Collider2D);
      
      if (collider) {
          collider.on(Contact2DType.BEGIN_CONTACT, this.onBeginContact, this);
          
          
      }
      director.on('gezi_ditu_xiaobing', this.huoquditu, this);
        
    }

    
    // 碰撞回调
    onBeginContact(selfCollider: Collider2D, otherCollider: Collider2D, contact: IPhysics2DContact | null) {
        if(otherCollider.node.name.includes("shantou")){
            this.scheduleOnce(()=>{

                selfCollider.node.destroy();
            },0.7);
        }
    }
    start() {

        director.emit('xiaobing_position_gezi', this.node.worldPosition);
    }

    update(deltaTime: number) {

    }







    huoquditu(ditu:[][]){
       let len=ditu.length;
       console.log(len+"=");

       for(let y=0;y<len;y++){
        for(let x=0;x<ditu[y].length;x++){
            console.log(ditu[y][x]);
            if(ditu[y][x]==1){
                this.mubiaox=x;

                this.mubiaoy=y;

                console.log("/"+this.mubiaox,this.mubiaoy)
            }else if(ditu[y][x]==7){
                this.juesex=x;
                this.juesey=y;
                console.log("/"+this.juesex,this.juesey);
            }else if(ditu[y][x]==11){
                this.zhangaix=x;
                this.zhangaiy=y;
            }
            
        }
           
       }
       //this.jisuanf(this.juesex,this.juesey);
       this.huoqushangxiazuoyou(this.juesex,this.juesey,0);
    }

    jisuannext(x:number,y:number,f:number,g:number){
        
        
        if(f>0){

            //g=g+1;
            this.huoqushangxiazuoyou(x,y,(g+1));
        }


    }

    huoqushangxiazuoyou(qidianx:number,qidiany:number,g:number){
        


        const ng=g+1;
        this.shangx=qidianx;
        this.shangy=qidiany-1;
        this.zuox=qidianx-1;


        this.zuoy=qidiany;
        this.youx=qidianx+1;
        this.youy=qidiany;
        this.xiax=qidianx;

        this.xiay=qidiany+1;





        
        this.shangg=ng;
        this.shangh=Math.abs(this.shangx-this.mubiaox)+Math.abs(this.shangy-this.mubiaoy);
        this.shangf=this.shangg+this.shangh;
        
        this.zuog=ng;
        this.zuoh=Math.abs(this.zuox-this.mubiaox)+Math.abs(this.zuoy-this.mubiaoy);




        this.zuof=this.zuog+this.zuoh;
        this.youg=ng;
        this.youh=Math.abs(this.youx-this.mubiaox)+Math.abs(this.youy-this.mubiaoy);

        this.youf=this.youg+this.youh;



        this.xiag=ng;
        this.xiah=Math.abs(this.xiax-this.mubiaox)+Math.abs(this.xiay-this.mubiaoy);
        this.xiaf=this.xiag+this.xiah;
        if(this.zhangaix==this.shangx&&this.zhangaiy==this.shangy){
            this.zhangaifangxiang=0;//0 shang 1 zuo 2 you 3xia
            this.shangf=-1;
            console.log("zhangai shang");
        }else if(this.zhangaix==this.zuox&&this.zhangaiy==this.zuoy){
            this.zhangaifangxiang=1;
            this.zuof=-1;
            console.log("zhangai zuo");
        }else if(this.zhangaix==this.youx&&this.zhangaiy==this.youy){
            this.zhangaifangxiang=2;
            this.youf=-1;
            console.log("zhangai you");
        }else if(this.zhangaix==this.xiax&&this.zhangaiy==this.xiay){
            this.zhangaifangxiang=3;
            this.xiaf=-1;
            console.log("zhangai xia");
        }
        const suoyouf=[this.shangf,this.zuof,this.youf,this.xiaf];
        let zuixiaof=Number.MAX_SAFE_INTEGER;
        let fangxiang=0; // 0/shang 1/zuo 2/you 3/xia
        let zuixiaog=0;
        for(let i=0;i<suoyouf.length;i++){
            const fValue = suoyouf[i];
            if(fValue >= 0 && fValue < zuixiaof) {  // ✅ 简单直接
                zuixiaof = fValue;
                fangxiang = i;
    }
        }
        let zuixiaofangxiangx=0;
        let zuixiaofangxiangy=0;
        if(fangxiang==0){
            zuixiaofangxiangx=this.shangx;
            zuixiaofangxiangy=this.shangy;
        }else if(fangxiang==1){
            zuixiaofangxiangx=this.zuox;
            zuixiaofangxiangy=this.zuoy;
        }else if(fangxiang==2){
            zuixiaofangxiangx=this.youx;
            zuixiaofangxiangy=this.youy;
        }else if(fangxiang==3){
            zuixiaofangxiangx=this.xiax;
            zuixiaofangxiangy=this.xiay;
        }
        const directionData = {
            shangf: this.shangf,  // 上方向状态或坐标x
            xiaf: this.xiaf,      // 下
            zuof: this.zuof,      // 左  
            youf: this.youf,      // 右
            shangx: this.shangx, // 上方向x坐标
            shangy: this.shangy, // 上方向y坐标
            zuox: this.zuox,     // 左方向x坐标
            zuoy: this.zuoy,     // 左方向y坐标
            youx: this.youx,     // 右方向x坐标
            youy: this.youy,     // 右方向y坐标（如果有）
            xiax: this.xiax,     // 下方向x坐标（如果有）
            xiay: this.xiay,     // 下方向y坐标（如果有）
            zuixiaof:zuixiaof,
            zuixiaofangxiangx:zuixiaofangxiangx,
            zuixiaofangxiangy:zuixiaofangxiangy,
            mubiaox:this.mubiaox,
            mubiaoy:this.mubiaoy,
            juesex:this.juesex,
            juesey:this.juesey
        };

        // 标记这是哪一步
        console.log(`📌 第${g}步：站在[${qidianx},${qidiany}]，目标[${this.mubiaox},${this.mubiaoy}]`);
         // 现在位置已经到达目标？
        if(qidianx === this.mubiaox && qidiany === this.mubiaoy) {
            console.log("🎉🎉🎉 已经站在目标上了！停止搜索！");
            return;
        }
        // 选择的最小方向就是目标？
        if(zuixiaofangxiangx === this.mubiaox && zuixiaofangxiangy === this.mubiaoy) {
            console.log("✅ 下一步就是目标！准备结束...");
            // 可以把这最后一步画出来，但不继续递归
            director.emit('xiaobing_sxzy_gezi', directionData);
            return;
        }
    
        console.log("s"+this.shangf+"z"+this.zuof+"y"+this.youf+"x"+this.xiaf+"f"+zuixiaof+"fang"+fangxiang+"xiagegezi"+zuixiaofangxiangx+"y"+zuixiaofangxiangy);
        director.emit('xiaobing_sxzy_gezi', directionData);
        //this.nextx=zuixiaofangxiangx;
        //this.nexty=zuixiaofangxiangy;
        //if(zuixiaofangxiangx!==this.mubiaox||zuixiaofangxiangy!==this.mubiaoy){


            //this.huoqushangxiazuoyou(zuixiaofangxiangx,zuixiaofangxiangy,ng);
        //}
        // 🔥 关键修正：修改这个条件
        // 原来的：if(zuixiaofangxiangx !== this.mubiaox || zuixiaofangxiangy !== this.mubiaoy)
        // 改为：
        const isAlreadyAtTarget = (qidianx === this.mubiaox && qidiany === this.mubiaoy);
        const willGoToTarget = (zuixiaofangxiangx === this.mubiaox && zuixiaofangxiangy === this.mubiaoy);
    
        if(!isAlreadyAtTarget && !willGoToTarget) {
            console.log(`继续前进到[${zuixiaofangxiangx},${zuixiaofangxiangy}]`);
            this.huoqushangxiazuoyou(zuixiaofangxiangx, zuixiaofangxiangy, ng);
        }
        
    }
}