• cocos里面的Vector比C++的vector容纳的类型少很多，因此用标准库的vector
• 首先添加点击事件，获取终点的瓦片坐标，并记录下来
• 设定起始坐标，并将起始坐标作为【当前点】
• 每次对【当前点】的四周探索，放入优先队列openList
• 将优先队列的第一个元素，即F值最小的那个点，作为新的【当前点】，并放入closeList
• 继续调用探索方法，直到终点坐标也被放入openList

代码：

#ifndef __HELLOWORLD_SCENE_H__
#define __HELLOWORLD_SCENE_H__

#include "cocos2d.h"
#include <queue>
#include <vector>

USING_NS_CC;

//定义【当前点】类，包含权值F和坐标点
class pointValue
{
public:

	pointValue(Point tem, Point dst , int total)
	{
		tempPoint = tem;
		FValue = http://www.mamicode.com/(abs((int)dst.x-(int)tem.x +(int)dst.y-(int)tem.y) + total) ;>

HelloWorldScene.cpp
#include "HelloWorldScene.h"

USING_NS_CC;


Scene* HelloWorld::createScene()
{
    auto scene = Scene::create();
    
    auto layer = HelloWorld::create();

    scene->addChild(layer);

    return scene;
}

bool HelloWorld::init()
{
    if ( !Layer::init() )
    {
        return false;
    }
    
    Size visibleSize = Director::getInstance()->getVisibleSize();
    Vec2 origin = Director::getInstance()->getVisibleOrigin();

	//载入TileMap地图
	auto map = TMXTiledMap::create("map.tmx");
	addChild(map);

	//获取TileMap的层
	layer = map->getLayer("layer1");

	//确定起点瓦片坐标和初始化二维数组
	beginPoint = Point(0,0);
	arr[0][0] = 1;

	//点击事件监听,记录终点瓦片坐标
	auto listener = EventListenerTouchOneByOne::create();
	listener->onTouchBegan = [this](Touch *t, Event *e)
	{
			//设置终点瓦片坐标
			int dx = (int)(t->getLocation().x)/32;
			int dy = 14 - (int)(t->getLocation().y)/32;
			this->destination = Point(dx,dy);
			CCLOG("%d,%d",dx,dy);

			//自己设置起点到终点的最短格子数估值，即G值
			total = 1000;

			//寻找最短路径，坐标存放在closeList里面
			aStart();		
		
			return true;
	};
	Director::getInstance()->getEventDispatcher()->addEventListenerWithSceneGraphPriority(listener,this);

    return true;
}

bool HelloWorld::aStart()
{	
		//每调用一次aStart相当于移动一步，每移动一步total减30,作为G值
		total = total - 30;

		if ((int)beginPoint.x == (int)destination.x && (int)beginPoint.y == (int)destination.y)
		{
			return true;
		}

		//探索这个点的4周(上，右，下，左),若存在，则放进优先队列openList中
		//判断上方
		if ((int)beginPoint.x >= 0 && ((int)beginPoint.y-1) >= 0 && (int)beginPoint.x <= 9 && ((int)beginPoint.y-1) <= 14 ){
		Sprite *testUp = layer->getTileAt(Vec2((int)beginPoint.x,(int)beginPoint.y-1));
		if (testUp != NULL && (arr[(int)beginPoint.x][(int)beginPoint.y-1] != 1) )
		{
			CCLOG("up");
			//初始化探索的点，将它放进优先队列openList中，并设置二维数组中的值为1，防止重复探索
			auto temp = new pointValue(Point(beginPoint.x,beginPoint.y-1),destination,total);
			p_quene.push(*temp);
			arr[(int)beginPoint.x][(int)beginPoint.y-1] = 1;
		}
		}

		//判断左方
		if (((int)beginPoint.x-1) >= 0 && (int)beginPoint.y >= 0 && ((int)beginPoint.x-1) <= 9 && (int)beginPoint.y <= 14) {
		Sprite *testLeft = layer->getTileAt(Vec2((int)beginPoint.x-1,(int)beginPoint.y));
		if (testLeft != NULL && (arr[(int)beginPoint.x-1][(int)beginPoint.y] != 1) )
		{
			CCLOG("left");
			//初始化探索的点，将它放进优先队列openList中，并设置二维数组中的值为1，防止重复探索
			auto temp2 = new pointValue(Point(beginPoint.x-1,beginPoint.y),destination,total);
			p_quene.push(*temp2);
			arr[(int)beginPoint.x-1][(int)beginPoint.y] = 1;
			
		}
		}

		//判断下方
		if ((int)beginPoint.x >= 0 && ((int)beginPoint.y+1) >= 0 && (int)beginPoint.x <= 9 && ((int)beginPoint.y+1) <= 14) {
		Sprite *testDown = layer->getTileAt(Vec2((int)beginPoint.x,(int)beginPoint.y+1));
		if (testDown != NULL && (arr[(int)beginPoint.x][(int)beginPoint.y+1] != 1) )
		{
			CCLOG("down");
			//初始化探索的点，将它放进优先队列openList中，并设置二维数组中的值为1，防止重复探索
			auto temp3 = new pointValue(Point(beginPoint.x,beginPoint.y+1),destination,total);
			p_quene.push(*temp3);
			arr[(int)beginPoint.x][(int)beginPoint.y+1] = 1;
		
		}
		}

		//判断右方
		if (((int)beginPoint.x+1) >= 0 && (int)beginPoint.y >= 0 && ((int)beginPoint.x+1) <= 9 && (int)beginPoint.y <= 14){
		Sprite *testRight = layer->getTileAt(Vec2((int)beginPoint.x+1,(int)beginPoint.y));
		if (testRight != NULL && (arr[(int)beginPoint.x+1][(int)beginPoint.y] != 1))
		{
			CCLOG("right");
			//初始化探索的点，将它放进优先队列openList中，并设置二维数组中的值为1，防止重复探索
			auto temp4 = new pointValue(Point(beginPoint.x+1,beginPoint.y),destination,total);
			p_quene.push(*temp4);
			arr[(int)beginPoint.x+1][(int)beginPoint.y] = 1;

		}
		}


		//重置当前位置
		beginPoint.x = p_quene.top().tempPoint.x;
		beginPoint.y = p_quene.top().tempPoint.y;
		CCLOG("%d,%d",(int)beginPoint.x,(int)beginPoint.y);

		//把F值最小的点，放进closeList中,并从优先队列中pop掉
		closeList.push_back(p_quene.top());
		p_quene.pop();

	   	//在路径中添加精灵
		auto star = Sprite::create("star.png");
		star->setPosition(Point(beginPoint.x*32+10,480-beginPoint.y*32-10));
		addChild(star);

		//继续递归	    
		aStart();

}

void HelloWorld::menuCloseCallback(Ref* pSender)
{
#if (CC_TARGET_PLATFORM == CC_PLATFORM_WP8) || (CC_TARGET_PLATFORM == CC_PLATFORM_WINRT)
	MessageBox("You pressed the close button. Windows Store Apps do not implement a close button.","Alert");
    return;
#endif

    Director::getInstance()->end();

#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
    exit(0);
#endif
}

效果：