Java A* 算法

 package ljh.game.geom; 
import java.util.ArrayList; 
import java.util.Arrays; 
import java.util.List; 
 
public class AStarFinder { 
    public class Node 
    {        
        public Node(int x,int y) 
        { 
            this.x = x; 
            this.y = y; 
        } 
        public int x,y; 
        public Node parent; 
         
        public int G; 
        public int H; 
        public int F; 
         
        public boolean equals(int x,int y) 
        { 
            return this.x==x&&this.y==y; 
        } 
    } 
     
    /**
     * 开闭 集合
     */ 
    public ArrayList OpenList = new ArrayList(); 
    public ArrayList CloseList = new ArrayList(); 
     
    /**
     * 方向
     */ 
    private final static int[] XMove = {0,-1,0,1,-1,-1,1,1}; 
    private final static int[] YMove = {-1,0,1,0,1,-1,-1,1}; 
     
    /**
     * @param map 地图 数据
     * @param sx  开始 x 坐标
     * @param sy  开始 y 坐标
     * @param ex  结束 x 坐标
     * @param ey  结束 y 坐标
     * @param isPass  可通过的 数据集
     * @return 路线
     */ 
    public ArrayList find(int[][] map,int sx,int sy,int ex,int ey,int[] isPass) 
    {                
        Node start = new Node(sx,sy); 
        Node end = new Node(ex, ey);         
        Node node = start; 
        CloseList.add(node); 
        boolean flag=true; 
        while(flag) 
        { 
            for(int i=0;i<4;i++) 
            { 
                int fx = node.x+XMove[i]; 
                int fy = node.y+YMove[i]; 
                if(fx >=map.length &&fy>=map[0].length) 
                { 
                    continue; 
                }                    
                if(end.equals(fx, fy)) 
                { 
                    end.parent = node; 
                    flag = false; 
                    break; 
                } 
                if(containClose(fx, fy)) 
                { 
                    continue; 
                } 
                if(containOpen(fx, fy)) 
                { 
                    Node node3 = getOpen(fx, fy); 
                    if(node.G + 10 < node3.G) 
                    { 
                        node3.parent = node; 
                        node3.G =node.G + 10; 
                        node3.F = node3.G + node3.H; 
                    } 
                    continue; 
                } 
                if(Arrays.binarySearch(isPass,map[fy][fx]) >





= 0) 
                { 
                    Node node2 = new Node(fx, fy); 
                    node2.parent = node;                     
                    node2.G = node.G + 10; 
                    //采用manhattan启发算法  两点中的直角 距离  
                    node2.H = Math.abs((ex-fx+ey-fy)*10); 
                    node2.F = node2.G + node2.H; 
                    OpenList.add(node2); 
                } 
            }            
            if(flag==false) 
            { 
                break; 
            } 
            if(OpenList.size()==0) 
            { 
                return null; 
            }            
            node = MinF(OpenList); 
            OpenList.remove(node); 
            CloseList.add(node); 
             
        } 
        ArrayList Path = new ArrayList(); 
        node = end; 
        while(node.parent!=null) 
        { 
            Path.add(node); 
            node = node.parent; 
        }        
        return Path; 
    } 
     
    public Node MinF(List list) 
    {        
        Node min= list.get(0); 
        for(int i = 0; i