cocos2dx A* + tiledMap

#ifndef __HELLOWORLD_SCENE_H__
#define __HELLOWORLD_SCENE_H__

#include "cocos2d.h"
#include "vector"
using namespace std;
USING_NS_CC;
#define MAP_WIDTH 200//要比tmx中的map大
#define MAP_HEIGHT 200
class PathSprite 
{
public:
    PathSprite(CCSprite* sprite)
    {
        m_parent = NULL;
        m_child = NULL;
        m_costToSource = 0;
        m_FValue = 0;
        m_sprite = sprite;
    };
public:
    CCSprite* m_sprite;//包含的瓦片精灵
    PathSprite* m_parent;//父节点
    PathSprite* m_child;//子节点
    float m_costToSource;//到起始点的距离
    int m_x;//地图坐标
    int m_y;
    float m_FValue;
};
class PathSearchInfo//寻路类(主要负责寻路的参数和逻辑)
{
public:
    
    static int m_startX;//开始点
    static int m_startY;
    
    static int m_endX;//结束点
    static int m_endY;
 
    static CCSize m_mapSize;//地图大小
    static CCSize m_tileSize;//地图的块大小
    static vector m_openList;//开放列表(里面存放相邻节点)
    static PathSprite* m_inspectArray[MAP_WIDTH][MAP_HEIGHT];//全部需要检测的点
    static vector m_pathList;//路径列表
    static vector m_haveInspectList;//检测过的列表

    static float calculateTwoObjDistance(PathSprite* obj1, PathSprite* obj2)//计算两个物体间的距离
    {
        //        float _offsetX = obj1->m_x - obj2->m_x;
        //        float _offsetY = obj1->m_y - obj2->m_y;
        //        return sqrt( _offsetX * _offsetX + _offsetY * _offsetY);
        
        float _x = abs(obj2->m_x - obj1->m_x);
        float _y = abs(obj2->m_y - obj1->m_y);
        
        return _x + _y;
    }
    static void inspectTheAdjacentNodes(PathSprite* node, PathSprite* adjacent, PathSprite* endNode)//把相邻的节点放入开放节点中
    {
        if (adjacent)
        {
            float _x = abs(endNode->m_x - adjacent->m_x);
            float _y = abs(endNode->m_y - adjacent->m_y);
            
            float F , G, H1, H2, H3;
            adjacent->m_costToSource = node->m_costToSource + calculateTwoObjDistance(node, adjacent);//获得累计的路程
            G = adjacent->m_costToSource;
            
            //三种算法, 感觉H2不错
            H1 = _x + _y;
            H2 = hypot(_x, _y);
            H3 = max(_x, _y);
            
#if 1 //A*算法 = Dijkstra算法 + 最佳优先搜索
            F = G + H2;
#endif
#if 0//Dijkstra算法
            F = G;
#endif
#if 0//最佳优先搜索
            F = H2;
#endif
            adjacent->m_FValue = F;
            
            adjacent->m_parent = node;//设置父节点
            adjacent->m_sprite->setColor(ccORANGE);//搜寻过的节点设为橘色(测试用)
            m_haveInspectList.push_back(adjacent);
            node->m_child = adjacent;//设置子节点

            PathSearchInfo::m_inspectArray[adjacent->m_x][adjacent->m_y] = NULL;//把检测过的点从检测列表中删除
            PathSearchInfo::m_openList.push_back(adjacent);//加入开放列表
        }
    }
    static PathSprite* getMinPathFormOpenList()//从开放节点中获取F值最小值的点
    {
        if (m_openList.size()>0) {
            PathSprite* _sp =* m_openList.begin();
            for (vector::iterator iter = m_openList.begin(); iter !=  m_openList.end(); iter++)
            {
                if ((*iter)->m_FValue m_FValue)
                {
                    _sp = *iter;
                }
            }
            return _sp;
        }
        else
        {
            return NULL;
        }
        
    }
    static PathSprite* getObjFromInspectArray(int x, int y)//根据横纵坐标从检测数组中获取点
    {
        if (x >=0 && y >=0 && x ::iterator iter = m_openList.begin(); iter !=  m_openList.end(); iter++)
        {
            if (*iter == sprite)
            {
                m_openList.erase(iter);
                return true;
            }
        }
        return false;
        
    }  
};
class HelloWorld : public cocos2d::CCLayer
{
public:
    // Here's a difference. Method 'init' in cocos2d-x returns bool, instead of returning 'id' in cocos2d-iphone
    virtual bool init();  

    // there's no 'id' in cpp, so we recommend returning the class instance pointer
    static cocos2d::CCScene* scene();
    
    // a selector callback
    void menuCloseCallback(CCObject* pSender);
    
    // implement the "static node()" method manually
    CREATE_FUNC(HelloWorld);
    void onEnter();
    virtual bool ccTouchBegan(CCTouch* touch, CCEvent* event);
    virtual void ccTouchMoved(CCTouch* touch, CCEvent* event);
    virtual void ccTouchEnded(CCTouch* touch, CCEvent* event);
    
    void calculatePath();//计算路径
    
    void drawPath();//绘制路径(测试用)
    
    void clearPath();//清理路径

    void playerMove();//人物走动

    void update(float dt);//跟新大地图(行走时, 人不动, 地图跟着人动);
    
public:
    CCPoint m_orignPoint;//人物的起始点
    
    PathSprite* m_player;//人物点
    
    int m_playerMoveStep;//人物当前的行程的索引
    
};

#endif // __HELLOWORLD_SCENE_H__

#include "HelloWorldScene.h"

USING_NS_CC;
vector PathSearchInfo::m_openList;

PathSprite* PathSearchInfo::m_inspectArray[MAP_WIDTH][MAP_HEIGHT] = {NULL};

vector PathSearchInfo::m_pathList;

vector PathSearchInfo::m_haveInspectList;

CCSize PathSearchInfo::m_mapSize;

CCSize PathSearchInfo::m_tileSize;

int PathSearchInfo::m_startX;

int PathSearchInfo::m_startY;

int PathSearchInfo::m_endX;

int PathSearchInfo::m_endY;

CCScene* HelloWorld::scene()
{
    // 'scene' is an autorelease object
    CCScene *scene = CCScene::create();
    
    // 'layer' is an autorelease object
    HelloWorld *layer = HelloWorld::create();

    // add layer as a child to scene
    scene->addChild(layer);

    // return the scene
    return scene;
}

// on "init" you need to initialize your instance
void HelloWorld::onEnter()
{
    CCDirector* pDirector = CCDirector::sharedDirector();
    pDirector->getTouchDispatcher()->addTargetedDelegate(this, 0, true);
    CCLayer::onEnter();

}

bool HelloWorld::init()
{
    //////////////////////////////
    // 1. super init first
    if ( !CCLayer::init() )
    {
        return false;
    }
    
    CCSize visibleSize = CCDirector::sharedDirector()->getVisibleSize();
    CCPoint origin = CCDirector::sharedDirector()->getVisibleOrigin();

    /////////////////////////////
    // 2. add a menu item with "X" image, which is clicked to quit the program
    //    you may modify it.


    
    CCLabelTTF* pLabel = CCLabelTTF::create("A* + tiledMap", "Arial", 24);
    
    // position the label on the center of the screen
    pLabel->setPosition(ccp(origin.x + visibleSize.width/2,
                            origin.y + visibleSize.height - pLabel->getContentSize().height));

    // add the label as a child to this layer
    this->addChild(pLabel, 1);

    this->scheduleUpdate();

   CCTMXTiledMap* map = CCTMXTiledMap::create("gameMap.tmx");
    this->addChild(map);
    map->setPosition(CCPoint());
    CCTMXLayer* _road = map->layerNamed("road");//行走路径的地图
    CCSize _mapSize = map->getMapSize();
    for (int j = 0;  j tileAt(CCPoint(i, j));
            if (_sp) {
                PathSprite* _pathSprite = new PathSprite(_sp);
                _pathSprite->m_x = i;
                _pathSprite->m_y = j;
                PathSearchInfo::m_inspectArray[i][j] = _pathSprite;//把地图中所有的点一一对应放入检测列表中
            }
        }
    }
    PathSearchInfo::m_mapSize = _mapSize;//获取地图的尺寸
    PathSearchInfo::m_tileSize = map->getTileSize();//获取瓦片的尺寸
    
    //设置起始和终点
    PathSearchInfo::m_startX =30;
    PathSearchInfo::m_startY = 75;

    //创建一个人物
    m_player = new PathSprite(CCSprite::create("10001.png"));
    m_player->m_sprite->setAnchorPoint(CCPoint(0.5,0));
    this->addChild(m_player->m_sprite);
    
    m_player->m_x = PathSearchInfo::m_startX;//设置人物的起始的地图坐标
    m_player->m_y = PathSearchInfo::m_startY;
    
    m_orignPoint = PathSearchInfo::m_inspectArray[PathSearchInfo::m_startX][PathSearchInfo::m_startY]->m_sprite->getPosition();
    m_player->m_sprite->setPosition(m_orignPoint);//设置人物的起始的世界坐标

    
    
    return true;
}
void HelloWorld::calculatePath()
{
    
    //得到开始点的节点
    PathSprite* _startNode = PathSearchInfo::m_inspectArray[PathSearchInfo::m_startX][PathSearchInfo::m_startY];
    //得到结束点的节点
    PathSprite* _endNode = PathSearchInfo::m_inspectArray[PathSearchInfo::m_endX][PathSearchInfo::m_endY];
    
    //因为是开始点 把到起始点的距离设为0, F值也为0
    _startNode->m_costToSource = 0;
    _startNode->m_FValue = 0;
    
    //把已经检测过的点从检测列表中删除
    PathSearchInfo::m_inspectArray[PathSearchInfo::m_startX][PathSearchInfo::m_startY] = NULL;
    //把该点放入已经检测过点的列表中
    PathSearchInfo::m_haveInspectList.push_back(_startNode);
    //然后加入开放列表
    PathSearchInfo::m_openList.push_back(_startNode);
    
    PathSprite* _node = NULL;
    while (true)
    {
        //得到离起始点最近的点(如果是第一次执行, 得到的是起点)
        _node = PathSearchInfo::getMinPathFormOpenList();
        if (!_node)
        {
            //找不到路径
            break;
        }
        //把计算过的点从开放列表中删除
        PathSearchInfo::removeObjFromOpenList( _node);
        int _x = _node->m_x;
        int _y = _node->m_y;
        
        //
        if (_x ==PathSearchInfo::m_endX && _y == PathSearchInfo::m_endY)
        {
            break;
        }
        
        //检测8个方向的相邻节点是否可以放入开放列表中
        CCLog("%d, %d",_x, _y);
        PathSprite* _adjacent = PathSearchInfo::getObjFromInspectArray( _x + 1, _y + 1);
        PathSearchInfo::inspectTheAdjacentNodes(_node, _adjacent, _endNode);
        
        _adjacent = PathSearchInfo::getObjFromInspectArray(  _x +1, _y);
        PathSearchInfo::inspectTheAdjacentNodes(_node, _adjacent, _endNode);
        
        _adjacent = PathSearchInfo::getObjFromInspectArray(  _x +1, _y-1);
        PathSearchInfo::inspectTheAdjacentNodes(_node, _adjacent, _endNode);
        
        _adjacent = PathSearchInfo::getObjFromInspectArray(  _x , _y -1);
        PathSearchInfo::inspectTheAdjacentNodes(_node, _adjacent, _endNode);
        
        _adjacent = PathSearchInfo::getObjFromInspectArray(  _x -1, _y - 1);
        PathSearchInfo::inspectTheAdjacentNodes(_node, _adjacent, _endNode);
        
        _adjacent = PathSearchInfo::getObjFromInspectArray(  _x -1, _y);
        PathSearchInfo::inspectTheAdjacentNodes(_node, _adjacent, _endNode);
        
        _adjacent = PathSearchInfo::getObjFromInspectArray(  _x -1, _y+1);
        PathSearchInfo::inspectTheAdjacentNodes(_node, _adjacent, _endNode);
        
        _adjacent = PathSearchInfo::getObjFromInspectArray(  _x , _y+1);
        PathSearchInfo::inspectTheAdjacentNodes(_node, _adjacent, _endNode);
        
    }
    
    while (_node)
    {
        //把路径点加入到路径列表中
        PathSearchInfo::m_pathList.insert(PathSearchInfo::m_pathList.begin(), _node);
        _node = _node->m_parent;
    }
}


void HelloWorld::drawPath(  )
{
    for (vector::iterator iter = PathSearchInfo::m_pathList.begin(); iter !=  PathSearchInfo::m_pathList.end(); iter++)
    {
        (*iter)->m_sprite->setColor(ccGREEN);
    }
    
}
CCRect getBoundingBox(float x, float y, float width, float height)
{
    return CCRect(x - width/2, y - height/2, width, height);
}
bool HelloWorld::ccTouchBegan(CCTouch* touch, CCEvent* event)
{

    //清除之前的路径
    clearPath();
    
    auto nodePosition = convertToNodeSpace( touch->getLocation() );
    CCLog("%f, %f", nodePosition.x, nodePosition.y);
//    for (int i = 0; i m_sprite->getPositionX(), _sp->m_sprite->getPositionY(), _sp->m_sprite->getContentSize().width, _sp->m_sprite->getContentSize().height);
//        
//        if (_rect.containsPoint(nodePosition))
//        {
    PathSprite* _sp = PathSearchInfo::m_inspectArray[(int)(nodePosition.x/PathSearchInfo::m_tileSize.width)][(int)(PathSearchInfo::m_mapSize.height - nodePosition.y/PathSearchInfo::m_tileSize.height)];
    if (_sp) {
        CCLog("%f, %f", _sp->m_sprite->getPositionX(), _sp->m_sprite->getPositionY());
        //获取触摸点, 设置为终点
        PathSearchInfo::m_endX = _sp->m_x;
        PathSearchInfo::m_endY = _sp->m_y;
        //计算路径
        calculatePath();
        //绘制路径
        drawPath(  );
        //移动物体
        playerMove();
    }
    
    
//        }
//        
//    }

    return true;
}

void HelloWorld::ccTouchMoved(CCTouch* touch, CCEvent* event)
{

}



void HelloWorld::ccTouchEnded(CCTouch* touch, CCEvent* event)
{

}

void HelloWorld::menuCloseCallback(CCObject* pSender)
{
#if (CC_TARGET_PLATFORM == CC_PLATFORM_WINRT) || (CC_TARGET_PLATFORM == CC_PLATFORM_WP8)
	CCMessageBox("You pressed the close button. Windows Store Apps do not implement a close button.","Alert");
#else
    CCDirector::sharedDirector()->end();
#if (CC_TARGET_PLATFORM == CC_PLATFORM_IOS)
    exit(0);
#endif
#endif
}

void HelloWorld::clearPath()
{
    for (vector::iterator iter = PathSearchInfo::m_haveInspectList.begin(); iter !=  PathSearchInfo::m_haveInspectList.end(); iter++)
    {
        (*iter)->m_sprite->setColor(ccWHITE);
        (*iter)->m_costToSource = 0;
        (*iter)->m_FValue = 0;
        (*iter)->m_parent = NULL;
        (*iter)->m_child = NULL;
        
        PathSearchInfo::m_inspectArray[(*iter)->m_x][(*iter)->m_y] = (*iter);
    }
    
    //把移除了障碍物的地图放入检测列表中
    //PathSearchInfo::m_inspectList = PathSearchInfo::m_mapList;
    PathSearchInfo::m_openList.clear();
    PathSearchInfo::m_pathList.clear();
    PathSearchInfo::m_haveInspectList.clear();
    PathSearchInfo::m_startX = m_player->m_x;
    PathSearchInfo::m_startY = m_player->m_y;
    m_player->m_sprite->stopAllActions();
    
    m_playerMoveStep = 0;
}

void HelloWorld::playerMove()
{
    m_playerMoveStep++;
    
    if (m_playerMoveStep >= PathSearchInfo::m_pathList.size()) {
        return;
    }
    
    m_player->m_x = PathSearchInfo::m_pathList[m_playerMoveStep]->m_x;
    m_player->m_y = PathSearchInfo::m_pathList[m_playerMoveStep]->m_y;
    
    //根据路径列表移动人物
    m_player->m_sprite->runAction(CCSequence::create(CCMoveTo::create(1/24.0, PathSearchInfo::m_pathList[m_playerMoveStep]->m_sprite->getPosition()), CCCallFunc::create(this, SEL_CallFunc(&HelloWorld::playerMove)) , NULL));
    
}
void HelloWorld::update(float dt)
{
    this->setPosition(m_orignPoint - m_player->m_sprite->getPosition());
}