ByteEdu教育平台--A*算法经典例子Go实现

 1package main
 2
 3import (
 4    "math/rand"
 5    "time"
 6)
 7
 8type PointMap struct {
 9    Size          int // 大小
10    Obstacle      int //障碍物
11    ObstaclePoint []*Point
12}
13
14func NewPointMap(size int) *PointMap {
15    //设置障碍物的数量为地图大小除以8
16    randomMap := &PointMap{Size: size, Obstacle: size / 8}
17    //调用GenerateObstacle生成随机障碍物；
18    randomMap.GenerateObstacle()
19    return randomMap
20}
21
22func (pm *PointMap) GenerateObstacle() {
23    pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(pm.Size/2, pm.Size/2))
24    pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(pm.Size/2, pm.Size/2-1))
25    //在地图的中间生成一个斜着的障碍物；
26    x := make([]int, 4)
27    for i := range x {
28        v := pm.Size/2 - 4 + i
29        pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(v, pm.Size-v))
30        pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(v, pm.Size-v-1))
31        pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(pm.Size-v, v))
32        pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(pm.Size-v, v-1))
33    }
34    //随机生成其他几个障碍物；
35    x = make([]int, pm.Obstacle-1)
36    for range x {
37        rand.Seed(time.Now().UnixNano())
38        x := rand.Intn(pm.Size)
39        y := rand.Intn(pm.Size)
40        pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(x, y))
41        //障碍物的方向也是随机的；
42        xl := make([]int, pm.Size/4)
43        randNum := rand.Intn(100)
44        for l := range xl {
45            if randNum > 50 {
46                pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(x, y+l))
47            } else {
48                pm.ObstaclePoint = append(pm.ObstaclePoint, NewPoint(x+l, y))
49            }
50        }
51    }
52}
53//定义一个方法来判断某个节点是否是障碍物
54func (pm *PointMap) IsObstacle(i, j int) bool {
55    for _, p := range pm.ObstaclePoint {
56        if i == p.X && j == p.Y {
57            return true
58        }
59    }
60    return false
61}