一步一步開發Game服務器（五）地圖尋路

時間  2019-11-21
標籤 一步 開發 game 服務器 地圖 欄目 遊戲 简体版
原文   原文鏈接

目前大多數使用的尋路算法有哪些？

目前市面上大部分遊戲的尋路算法是A*，或者B*。
A*一般所說的是最優算法也就是尋找最短路徑。
B*碰撞式算法也就是，也就是不斷的去碰撞能走就走，無論是否是繞路。
固然以上都是個人理解。

我這裏只描述一下A*算法的一部分。算法

一般A*算法分爲四方向和八方向計算。dom

現目前的遊戲方式來看無論是2D仍是2.5D，仍是3D，幾乎都採用8方向方式，也有遊戲是採用360°點位方式。ide

本文重點剖析8方向的。工具

先來看一個效果圖

圖中你看到的圖案表示非阻擋地區，其他是阻擋地區。性能

綠色的線是表示尋路走過路線。測試

尋路步驟

 1. 從起點A開始, 把它做爲待處理的方格存入一個"開啓列表", 開啓列表就是一個等待檢查方格的列表.
 2. 尋找起點A周圍能夠到達的方格, 將它們放入"開啓列表", 並設置它們的"父方格"爲A.
 3. 從"開啓列表"中刪除起點 A, 並將起點 A 加入"關閉列表", "關閉列表"中存放的都是不須要再次檢查的方格

原諒我盜用了園友的圖。優化

圖中淺綠色描邊的方塊表示已經加入 "開啓列表" 等待檢查. 淡藍色描邊的起點 A 表示已經放入 "關閉列表" , 它不須要再執行檢查.spa

從 "開啓列表" 中找出相對最靠譜的方塊, 什麼是最靠譜? 它們經過公式 F=G+H 來計算.pwa

廢話很少說了，直接來源碼

源碼來之園友，可是稍做修改。
修改1，本來算法不支持複雜地形圖。
修改2，本來算法foreach List列表，改成for循環，倒入循環。由於每一次的尋路下一個節點的時候8方向都是上一個節點。
修改3，修改單例模式。

來一張大圖看看目前個人地形圖3d

源碼

  1     public class FindWayManager
  2     {
  3         static readonly FindWayManager instance = new FindWayManager();
  4         public static FindWayManager Instance { get { return instance; } }
  5 
  6         /// <summary>
  7         /// 阻擋點配置，，
  8         /// </summary>
  9         public int BlockConst = 1;
 10 
 11         //從開啓列表查找F值最小的節點
 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         //判斷關閉列表是否包含一個座標的點
 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         //從關閉列表返回對應座標的點
 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         //判斷開啓列表是否包含一個座標的點
 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         //從開啓列表返回對應座標的點
 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         //計算某個點的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         //計算某個點的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         //檢查當前節點附近的節點
 91         private void CheckP8(Point p0, byte[,] map, Point pa, Point pb, List<Point> Open_List, List<Point> Close_List)
 92         {
 93             //這裏的循環其實就是8方向判斷
 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                     //排除超過邊界和等於自身的點
 99                     if ((xt >= 0 && xt < map.GetLongLength(1) && yt >= 0 && yt < map.GetLongLength(0)) && !(xt == p0.X && yt == p0.Y))
100                     {
101                         //排除障礙點和關閉列表中的點
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                                 //若是節點在開啓列表中更新帶價值
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                                 //不在開啓列表中,若是不存在建立添加到開啓列表中
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             //定義出發位置
139             Point pa = new Point();
140             pa.X = sx;
141             pa.Y = sz;
142             //定義目的地
143             Point pb = new Point();
144             pb.X = ex;
145             pb.Y = ez;
146             //若是點超出範圍，或者是阻擋點
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                 //開啓列表
155                 List<Point> Open_List = new List<Point>();
156                 //關閉列表
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             //新節點
177             Point newNode = null;
178             //當前節點
179             Point current = point;
180             while (current != null)
181             {
182                 //取當前節點的下一個，放入臨時節點中
183                 Point temp = current.Next;
184                 //將當前節點的下一個設置爲新節點
185                 //(第一次將設置爲null，也對着呢，由於第一個節點將做爲尾節點)
186                 current.Next = newNode;
187                 //把當前節點給新節點
188                 newNode = current;
189                 //把臨時節點給當前節點（就是取當前節點的下一個而已）
190                 current = temp;
191             }
192             //將最後的新節點給頭節點
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軸
211             {
212                 for (int x = 0; x < r.GetLongLength(1); x++)//X軸
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         //座標點
253         public int Y { get; set; }
254         //座標點
255         public int X { get; set; }
256         //從起點到當前點的代價
257         public int G { get; set; }
258         //從終點到當前點的代價
259         public int H { get; set; }
260 
261         public Point()
262         {
263         }
264 
265         public Point Next { get; set; }
266     }

因爲地圖阻擋點配置是由工具決定的，因此我根據我這裏的方式來建立測試代碼

 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

阻擋配置

<?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="111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111000000000011111111111111111111111111111111111111111111111111111111111111111111111111110000000000011111111111111111111110000000000001111111111111111111111111111111111111111100000000001111111111111111111111000000000000001111111111111111111100000000000000011111111111111111111111111111111111111000000000000111111111111111111110000000000000000111111111111111111000000000000000011111111111111111111111111111111111100000000000000011111111111111111110000000000000000111111111111111110000000000000000011111111111111111111111111111111111000000000000000001111111111111111100000000000000000011111111111111100000000000000000011111111111111111111111111111111110000000000000000000111111111111111100000000000000000011111111111111000000000000000000011111111111111111111111111111111100000000000000000000001111111111111100000000000000000001111111111111100000000000000000011111111111111111111111111111111100000000000000000000000111111111111100000000000000000001111111111111110000000000000000011111111111111111111111111111111100000000000000000000000011111111111110000000000000000001111111111111100000000000000000111111111111111111111111111111111100000000000000000000000001111111111110000000000000000001111111111110000000000000000000111111111111111111111111111111111100000000000000000000000001111111000000000000000000000001111111111100000000000000000001111111111111111111111111111111111100000000000000000000000000000000000000000000000000000001111111110000000000000000000011111111111111111111111111111111111100000000000000000000000000000000000000000000000000000001111111100000000000000000000111111111111111111111111111111111111100000000000000000000000000000000000000000000000000000000000000000000000000000000011111111111111111111111111111111111111100000000000000000000000000000000000000000000000000000000000000000000000000000000111111111111111111111111111111111111111100000000000000000000000001111111000000000000000000000000000000000000000000000011111111111111111111111111111111111111111100000000000000000000000001111111000000000000000000000000000000000000000000000111111111111111111111111111111111111111111100000000000000000000000001111111000000000000000000000000000000000000000000011111111111111111111111111111111111111111111111100000000000000011111111111111100000000000000000000000000000000000000000111111111111111111111111111111111111111111111111100000000000000011111111111111111000000000000000000000000000000000000011111111111111111111111111111111111111111111111111100000000000000111111111111111111100000000000000000000010000000000000111111111111111111111111111111111111111111111111111100000000000000111111111111111111111000000000000000000111000000000001111111111111111111111111111111111111111111111111111100000000000001111111111111111111111100000000000000001111100000000001111111111111111111111111111111111111111111111111111100000000000001111111111111111111111111000000000000011111100000000001111111111111111111111111111111111111111111111111111100000000000001111111111111111111111111111111111100111111100000000001111111111111111111111111111111111111111111111111111100000000000111111111111111111111111111111111111111111111100000000001111111111111111111111111111111111111111111111111111000000000000111111111111111111111111111111111111111111111110000000001111111111111111111111111111111111111111111111111111000000000000111111111111111111111111111111111111111111111110000000001111111111111111111111111111111111111111111111111111000000000000111111111111111111111111111111111111111111111111000000001111111111111111111111111111111111111111111111111111000000000000111111111111111111111111111111111111111111111110000000001111111111111111111111111111111111111111111111111111000000000000111111111111111111111111111111111111111111111110000000001111111111111111111111111111111111111111111111111111000000000000111111111111111111111111111111111111111111111110000000001111111111111111111111111111111111111111111111111111000000000000011111111111111111111111111111111111111111111110000000001111111111111111111111111111111111111111111111111111000000000000011111111111111111111111111111111111111111111111000000000111111111111111111111111111111111111111111111111111000000000000011111111111111100001111111111111111111111111111000000000001111111111111111111111111111111111111111111111111000000000000011111111111111000000000000000001111111111111111100000000000011111111111111111111111111111111111111111111111000000000000011111111111110000000000000000000000000011111111110000000000000011111111111111111111111111111111111111111111000000000000011111111111000000000000000000000000000001111111111100000000000000111111111111111111111111111111111111111111000000000000011111111110000000000000000000000000000001111111111100000000000000001111111111111111111111111111111111111111100000000000011111111100000000000000000000000000000000111111111100000000000000000011111111111111111111111111111111111111100000000000011111110000000000000000000000000000000000111111111100000000000000000000111111111111111111111111111111111111100000000000011111110000000000000000000000000000000000111111111100000000000000000000001111111111111111111111111111111111100000000000011111100000000000000000000000000000000000111111111100000000000000000000000011111111111111111111111111111111100000000000011111100000000000000000000000000000000000111111111100000000000000000000000000111111111111111111111111111111100000000000011111100000011000000000000000000000000000111111111100000000000000000000000000111111111111111111111111111111100000000000011111100000111110000000000000000000000000111111111100000000000000000000000000111111111111111111111111111111100000000000011111100000111111000000000000000000000000111111111100000000000000000000000000011111111111111111111111111111100000000000111111100000001111000000000000000000000000111111111100000000000000000000000000011111111111111111111111111111100000000000111111000000000001000000000000000000000000111111111100000000000000000000000000001111111111111111111111111111100000000000111111000000000000000000000000000000000000111111111100000000000000000000000000001111111111111111111111111111100000000000111111000000000000000000000000000000000000111111111100000000000000000000000000000111111111111000000000000111100000000000111111000000000000000000000000000000010001111111111100000000000000000000000000000111111111111000000000000111100000000000111111000000000010000000000000000000111111111111111100000000000000000000000000000011111111111000000000000111100000000001111111000001111111111111111111111111111111111111111100000000000000000000000000000011111111111000000000000111100000000001111110000000111111111111111111111111111111111111111100000000000000000000000000000011111111111000000000000111100000000001111111000000111111111111111111111111111111111100000000000000000000000000000000000001111111111000000000011111100000000001111111000000111111111111111111111111111111111000000000000000000000000000000000000001111111111000000000011111100000000001111111000000111111111111111111111111111111111000000000000000011100000000000000000001111111111000000000011111110000000001111111100000111111111111111111111111111111111000000000000000111111100000000000000001111111111000000000011111110000000000111111100000111111111111111111111111111111111000000000000000111111111100000000000001111111111000000000011111110000000000111111100000011111111111111111111111111111110000000000000000111111111100000000000001111111111000000000111111110000000000111111110000001111111111111111111111111111110000000000000001111111111100000000000001111111111000000000111111110000000000011111110000000111111111111111111111111111110000000000000001111111111000000000000001111111111000000001111111110000000000011111110000000011111111111111111111111111100000000000000011111111111000000000000001111111111000000001111111111000000000111111110000000001111111111111111111111111100000000000000011111111111000000000000001111111111000000000111111111000000000111111111000000000111111111111111111111111100000000000000011111111110000000000000001111111111000000000111111111000000000011111111000000000111111111111111111111111000000000000000111111111110000000000000001111111111000000000111111111000000000011111111000000000011111111111111111111111000000000000000111111111110000000000000001111111111000000000111111111000000000011111111100000000011111111111111111111111000000000000000111111111100000000000000001111111111000000000111111111000000000001111111100000000011111111111111111111110000000000000001111111111100000000000000001111111111000000000111111111000000000001111111100000000011111111111111111111000000000000000001111111111100000000000000001111111111000000000111111111000000000001111111110000000011111111111111111100000000000000000001111111111000000000000000001111111111000000000111111111000000000000011111110000000011111111111111110000000000000000000011111111111000000000000000001111111111000000000111111111000000000000011111110000000011111111111111000000000000000000000011111111110000000000000000001111111111000000000111111111000000000000001111111000000011111111111100000000000000000000000011111111110000000000000000001111111111000000000111111111000000000000000111111000000000000000000000000000000000000000000011111111110000000000000000001111111111000000000111111111000000000000000111111000000000000000000000000000000000000000000001111111111000000000000000001111111111000000000111111111000000000000000111111000000000000000000000000000000000000000000001111111111000000000000000001111111111000000000111111111000000000000000111111000000000000000000000000000000000000000000000111111111000000000000000011111111111000000000111111111000000000000000111111000000000000000000000000000000000000000000000111111111100000000000000111111111111000000000111111111000000000000000111110000000000000000000000000000000000000000000000111111111100000000000001111111111111000000000111111111000000000000000111110000000000000000000000000000000000000000000000011111111100000000000001111111111111000000000111111111000000000000000111110000000000000000000000000000000000000000000000011111111110000001111111111111111111000000000111111111000000000000000111110000000000000000000000000000000000000000000000001111111110000001111111111111111111000000000111111111000000000000000111110000000000000000000000000000000000000000000000001111111111000001111111111111111111000000000111111111100000000000001111110000000000000000000000000000000000000000000000001111111111111111111111111111111111000000000011111110000000000000111111100000000000000000000000000000000000100000000000000111111111111111111111111111111111000000000001111100000000000001111111100000000000000000000000000000000001111000000000000111111111111111111111111111111111000000000001110000000000000001111111100000000000000000000000000000000111111111000000000111111111111111111111111111111111000000000000100000000000000001111111100000000000000000000000000000001111111111110000000111111111111111111111111111111111000000000000000000000010000111111111100000000000000000000000000000011111111111111110000111111111111111111111111111111111000000000000000000000111111111111111111111110000000000000000000000111111111111111111111111111111111111111111111111111111000000000000000000001111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111000000000000000000111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111000000000000000001111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111000000000000000111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111000000000000001111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111000000000000111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111" />
</SceneInfo_Server>
View Code

測試代碼

 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 = "尋路用時：" + (watch.ElapsedMilliseconds);
37                 FindWayManager.Instance.PrintWay(R, way);
38                 System.Threading.Thread.Sleep(1000);
39             }
40             Console.ReadLine();

效果圖請參考上面的。

特別聲明：
感謝園友提供的思路和源碼。我只是稍做修改。

 

看幾張性能分析圖

本來的對園友的代碼優化和修改，就是基於這個性能分析結果得來。

 再一次的測試發現若是把關閉列表用 Dictionary<string, Point> Close_List = new Dictionary<string, Point>();
性能還能再次提高。

可是若是把openlist也改成 Dictionary<string, Point> 性能卻不如從前了。
以上四張圖都是程序運行一段時間穩定後截圖。
期待大神，有更優化的算法~！

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