测试

#include <iostream>
#include "source/AStar.hpp"

int main()
{
    AStar::Generator generator;
    generator.setWorldSize({25, 25});
    generator.setHeuristic(AStar::Heuristic::euclidean);
    generator.setDiagonalMovement(true);

    generator.addCollision({1, 1}); // 添加障碍物
    generator.addCollision({1, 2}); // 添加障碍物
    generator.addCollision({2, 1}); // 添加障碍物
    generator.addCollision({2, 0}); // 添加障碍物
    generator.addCollision({0, 2}); // 添加障碍物

    std::cout << "Generate path ... \n";
    auto path = generator.findPath({0, 0}, {3, 3});

    for(auto& coordinate : path) {
        std::cout << coordinate.x << " " << coordinate.y << "\n";
    }
}

 效果

正常

25 x 25 map, Generate path ...
3 3
2 2
1 1
0 0

 {1,1}{1,2}障碍 

25 x 25 map, Generate path ...
3 3
2 3
1 2
0 1
0 0

 全障碍 

25 x 25 map, Generate path ...
0 1
0 0

参考

GitHub - daancode/a-star: A* algorithm C++ implementation.

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创作不易，小小的支持一下吧！