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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

一步一步开发Game服务器（五）地图寻路

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

一步一步开发Game服务器（五）地图寻路

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

一步一步开发Game服务器（五）地图寻路

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

一步一步开发Game服务器（五）地图寻路

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。

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问题交流

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？

先来看一个效果图

寻路步骤

废话不多说了，直接来源码

源码

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

阻挡配置

测试代码

看几张性能分析图

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