//Astar 寻路算法//Point 类型var cc=cc||consolevar Point=function(x,y){    if(this instanceof Point){        this.init(x,y)    }else{        return new Point(x,y)    }}Point.prototype={    init:function(x,y){        this.x=x;        this.y=y;    },    ParentPoint:null,    F :0,  //F=G+H    G:0,    H:0,    x:0,    y:0,    CalcF:function(){        this.F = this.G + this.H;    }}//Maze 类型var Maze=function(maze){    if(this instanceof Maze){        this.init(maze);    }else{        return new Maze(maze)    }}Maze.prototype={    init:function(maze){        this.MazeArray=maze    },    OBLIQUE : 14,    STEP:10,    CloseList:[],    OpenList:[],    FindPath:function(start, end, IsIgnoreCorner){        this.OpenList.push(start);        while (this.OpenList.length != 0)        {            //找出F值最小的点            var tempStart = this.MinPoint(this.OpenList);            this.CloseList.push(tempStart);            this.Remove(this.OpenList,tempStart);            //找出它相邻的点            var surroundPoints = this.SurrroundPoints(tempStart, IsIgnoreCorner);            for (var i=0;i< surroundPoints.length;i++)            {                var point=surroundPoints[i]                if (this.Exists(this.OpenList,point)){                    //计算G值, 如果比原来的大, 就什么都不做, 否则设置它的父节点为当前点,并更新G和F                    this.FoundPoint(tempStart, point);                }                else{                    //如果它们不在开始列表里, 就加入, 并设置父节点,并计算GHF                    this.NotFoundPoint(tempStart, end, point);                }            }            if (this.Get(this.OpenList,end) != null){                return this.Get(this.OpenList,end);            }        }        return this.Get(this.OpenList,end);    },    //在二维数组对应的位置不为障碍物    CanReaches:function(x,y){        return this.MazeArray[this.MazeArray.length-y-1][x] == 0;    },    CanReach:function( start, point, IsIgnoreCorner){        if (!this.CanReaches(point.x, point.y) || this.Exists(this.CloseList,point))            return false;        else        {            if ((Math.abs(point.x - start.x) + Math.abs(point.y - start.y)) == 1){                return true;            }            return false;        }    },    NotFoundPoint:function(tempStart, end, point){        point.ParentPoint = tempStart;        point.G = this.CalcG(tempStart, point);        point.H = this.CalcH(end, point);        point.CalcF();        this.OpenList.push(point);    },    FoundPoint:function(tempStart, point){        var G = this.CalcG(tempStart, point);        if (G < point.G)        {            point.ParentPoint = tempStart;            point.G = G;            point.CalcF();        }    },    CalcG:function(start, point)    {        var G = (Math.abs(point.X - start.X) + Math.abs(point.Y - start.Y)) == 2 ? this.OBLIQUE:this.STEP ;        var parentG = point.ParentPoint != null ? point.ParentPoint.G : 0;        return G + parentG;    },    CalcH:function( end,  point)    {        var step = Math.abs(point.x - end.x) + Math.abs(point.y - end.y);        return step * this.STEP;    },//获取某个点周围可以到达的点    SurrroundPoints:function( point,  IsIgnoreCorner)    {        var surroundPoints = [];        if (this.CanReach(point,Point(point.x-1,point.y),IsIgnoreCorner)){            surroundPoints.push(Point(point.x-1,point.y));        }        if (this.CanReach(point,Point(point.x,point.y-1),IsIgnoreCorner)){            surroundPoints.push(Point(point.x,point.y-1));        }        if (this.CanReach(point,Point(point.x+1,point.y),IsIgnoreCorner)){            surroundPoints.push(Point(point.x+1,point.y));        }        if (this.CanReach(point,Point(point.x,point.y+1),IsIgnoreCorner)){            surroundPoints.push(Point(point.x,point.y+1));        }        return surroundPoints;    },//对 List<Point> 的一些扩展方法//判断是否存在点    Exists:function(points, point)    {        for(k in points){            var p=points[k]            if ((p.x == point.x) && (p.y == point.y)){                return true;            }        }        return false;    },//获取f最小    MinPoint:function (points)    {        var min=points[0];        for(var i=0;i<points.length-1;i++){            if(points[i].F<points[i+1].F){                min=points[i]            }        }        return min;    },//获取点    Get:function(points, point)    {        for (var k in points){            var p=points[k]            if ((p.x == point.x) && (p.y == point.y))                return p;        }        return null;    },//删除点    Remove:function(points,point)    {        for(var i=0;i<points.length;i++){            var p=points[i]            if (point.x === p.x && point.y === p.y){                return points.splice(i,1);            }        }    }}var arr= [    [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],    [ 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],    [ 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],    [ 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],    [ 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],    [ 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],    [ 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0,  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1],    [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]];var map=Maze(arr)//起始点 结束点 是否斜角var parent=map.FindPath(Point(2,3),Point(16,2),false)while (parent != null){    cc.log(parent.x + ", " + parent.y);    parent = parent.ParentPoint;}