javascript A*算法 寻路算法 获取最短路径算法

 //A算法 自动寻路 路径
 class GetAutoPath{

     constructor(id, map, sPos, ePos, mapArr){
         //this.type = id.type;
         this.id = id;
         this.map = map;
         this.sPos = sPos;
         this.ePos = ePos;
         this.mapArr = mapArr;
         this.maxMach = 10000;
         this.openArr = [];
         this.closeArr = [];
         this.minPath = [];
         if(!this.isPath(this.sPos.x, this.sPos.y)){this.sPos = this.getNewDot(sPos, ePos);}
         if(!this.isPath(this.ePos.x, this.ePos.y)){this.ePos = this.getNewDot(ePos, sPos);}
         //console.log(this.mapArr);
         return this.run();
     }

     posts(txt, arr){//post消息
         //let id = this.id, sPos = this.sPos, ePos = this.ePos, arrs = arr || [];
         return {id:this.id, map:this.map, arr:arr || [], sPos:this.sPos, ePos:this.ePos, txt:txt}
     }

     isPath(x, y){//isPath = true 合法路径 = isBanPath === undefined
         let isPath = false, ym = this.mapArr.get(y), xm; //console.log(ym);  debugger;
         if(ym !== undefined){
             xm = ym.get(x);
             if(xm !== undefined){
                 if(xm.isBanPath === undefined){isPath = true;}
             }
         }
         //if(this.mapArr[y] !== undefined && this.mapArr[y][x] !== undefined && this.mapArr[y][x].isPath === 1){isPath = true;}
         return isPath;
     }

     getEqual(arr, x, y){//获取目标数组相同的坐标
         let isPos = false;
         if(arr.length === 0){
             isPos = false;
         }else{
             isPos = arr.some(function (o){return o.x === x && o.y === y;});
         }
         return isPos;
     }

     getDot(x, y){//获取周围8个方向坐标
         return [{x:x-1,y:y},{x:x+1,y:y},{x:x,y:y-1},{x:x,y:y+1},{x:x-1,y:y-1},{x:x+1,y:y+1},{x:x+1,y:y-1},{x:x-1,y:y+1}]
     }    

     getNewDot(setPos, pos){//重定义起点或终点
         let dot = setPos, pointDot, k, arr = [], arrs = [], g, end, maxMachT = 0;
         while(!end && maxMachT < this.maxMach){
             maxMachT++;
             pointDot = this.getDot(dot.x, dot.y);
             for(k in pointDot){
                 g = Math.round(Math.sqrt(Math.abs(pointDot[k].x - pos.x) + Math.abs(pointDot[k].y - pos.y)) * 100) / 100;
                 if(!this.isPath(pointDot[k].x, pointDot[k].y)){//不合法
                     arr.push({x:pointDot[k].x, y:pointDot[k].y, g:g});
                     arr.sort(function(a, b){return a.g - b.g;});
                 }else{//合法
                     arrs.push({x:pointDot[k].x, y:pointDot[k].y, g:g});
                     arrs.sort(function(a, b){return a.g - b.g;});
                 }
                 if(arrs.length > 0){end = true;}
             }
             dot = {x:arr[0].x, y:arr[0].y, g:arr[0].g}; arr = [];
         }
         if(!arrs[0].x || !arrs[0].y){return this.posts("没有符合的坐标");}
         return {x:arrs[0].x, y:arrs[0].y};
     }

     run(){
         if(this.sPos.x === undefined || this.ePos.x === undefined){return this.posts("没有符合的坐标");}
         let sPos = this.sPos, ePos = this.ePos, point, key, i, newPoint, ger, gers, g, h, f, maxMachT = 0;
         this.openArr[0] = {x : sPos.x, y : sPos.y, f : 0, p : 0, ger : 0}
         while(this.openArr.length > 0){
             maxMachT++;
             point = this.openArr[0]; this.closeArr.push(point); this.openArr.splice(0,1);
             key = this.closeArr.length - 1;//设置当前节点
             newPoint = this.getDot(point.x, point.y);//获取周围点
             for(i in newPoint){//设置周围点
                 ger = Math.round(Math.sqrt(Math.abs(newPoint[i].x - point.x) + Math.abs(newPoint[i].y - point.y)) * 100) / 100;//到当前节点的曼哈顿距离,保留两位小数点
                 gers = ger + point.ger;
                 g = Math.round(gers * 100) / 100;
                 h = Math.abs(newPoint[i].x - ePos.x) + Math.abs(newPoint[i].y - ePos.y);
                 f = g + h;
                 if(this.isPath(newPoint[i].x, newPoint[i].y) && !this.getEqual(this.openArr, newPoint[i].x, newPoint[i].y) && !this.getEqual(this.closeArr, newPoint[i].x, newPoint[i].y)){this.openArr.push({x:newPoint[i].x, y:newPoint[i].y, f:f, p:key, ger:ger});}
             }
             this.openArr.sort(function(a, b){return a.f - b.f;});//排序
             if(this.getEqual(this.closeArr, ePos.x, ePos.y) || this.getEqual(this.openArr, ePos.x, ePos.y)){//end
                 this.minPath.unshift(this.closeArr[key]);
                 while(this.minPath.length > 0){
                     if(this.minPath[0].p == 0){return this.posts('success', this.minPath);}else{this.minPath.unshift(this.closeArr[this.minPath[0].p]);}
                 }
             }else if(maxMachT === this.maxMach){
                 return this.posts("没有符合的坐标");
             }
         }
         return this.posts("没有符合的坐标");
     }

 }