Unity3D之迷宫寻路使用_直接寻路

学了一段时间的寻路，在网上也学了挺多算法，今天整理了一下，使用到Unity的3D界面中用于寻路，首先是简单的寻路算法，以下是地图：

地图数组：

using UnityEngine;
using System.Collections;

public static class MapsArray {

    public static int[,] MazeItem = new int[15, 10]   //初始化迷宫
		{
			{1,1,1,1,1,1,1,1,1,1},
			{1,0,1,1,1,0,0,0,1,1},
			{1,0,0,1,1,0,1,0,1,1},
			{1,0,0,0,0,0,1,0,1,1},
			{1,1,0,1,0,1,1,0,1,1},
			{1,1,0,1,0,0,0,0,1,1},
			{1,0,0,0,1,1,1,0,1,1},
			{1,1,0,0,0,0,0,0,1,1},
			{1,1,0,1,1,1,0,0,0,1},
			{1,1,0,0,1,1,1,0,1,1},
            {1,1,1,0,0,0,0,0,1,1},
            {1,1,1,1,0,0,1,0,1,1},
            {1,0,0,0,0,1,1,0,0,1},
            {1,0,1,1,1,0,1,1,0,1},
            {1,1,1,1,1,1,1,1,1,1}
		};
}

using UnityEngine;
using System.Collections;
using System.Collections.Generic;

public class TestPathing : MonoBehaviour {

    private int[,] MazeItem;   //初始化迷宫

	private GameObject npc;             // npc     
	private List<Vector3> path;         // 路径
    private Vector3 target = Vector3.zero;
    private float speed = 4;            // npc移动速度
    private int n = 0;                  // 当前已经移动的路点
    private const int xStart = 1;
    private const int yStart = 1;
    private const int xEnd = 8;
    private const int yEnd = 8;
	void Start () {
        MazeItem = MapsArray.MazeItem;  // 初始化迷宫数组
		path = new List<Vector3> ();
		StartCoroutine (CreateMap());
	}

    void Update()
    {
        if (target != Vector3.zero)
        {
            if (path.Count > 0)
            {
                npc.transform.position = Vector3.MoveTowards(npc.transform.position, target, Time.deltaTime * speed);
                if (npc.transform.position == target)
                {
                    target = GetTarget();
                }
            }
        }
    }

    // 创建地图
	IEnumerator CreateMap () {
        // 地图全局
        GameObject cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
		yield return cube;
		for (int i = 0; i < MazeItem.GetLength(0); i++) {
			for (int j = 0; j < MazeItem.GetLength(1); j++) {
				if(MazeItem[i, j] == 1) {
					Instantiate(cube, new Vector3(i, j, 0), Quaternion.identity);
				}
			}
		}

        // 起始点标记
        GameObject start = Instantiate(cube, new Vector3(xStart, yStart, 0), Quaternion.identity) as GameObject;
        start.transform.localScale = Vector3.one * 0.3f;
        start.renderer.material.color = Color.grey;
        GameObject end = Instantiate(cube, new Vector3(xEnd, yEnd, 0), Quaternion.identity) as GameObject;
        end.transform.localScale = Vector3.one * 0.3f;
        end.renderer.material.color = Color.blue;
		yield return new WaitForEndOfFrame();
        StartCoroutine(CreateNPC());

	}

    // 创建NPC
    IEnumerator CreateNPC()
    {
        GameObject npc_Prefab = GameObject.CreatePrimitive(PrimitiveType.Sphere);
        yield return npc_Prefab;
        if (MazeItem[1, 1] == 0)
        {
            npc = Instantiate(npc_Prefab, new Vector3(1, 1, 0), Quaternion.identity) as GameObject;
            npc.renderer.material.color = Color.green;
            target = npc.transform.position;        // 设置初始点
        }
        yield return new WaitForEndOfFrame();
        StartCoroutine(Pathing());
        
    }

    // 开始寻路
    IEnumerator Pathing() {
        if (GoPathing(xStart, yStart, xEnd, yEnd))
        {
            print("有路！！！");
        }
        else
        {
            print("没路！！！");
        }
        yield return new WaitForEndOfFrame();
    }

    bool GoPathing(int startX, int startY, int endX, int endY)
    {
        if (startX < 0 || startX >= MazeItem.GetLength(0) || startY < 0 || startY >= MazeItem.GetLength(1) || MazeItem[startX, startY] == 1)
            return false;
        MazeItem[startX, startY] = 1;// 防止重复走
        if ((startX == endX && startY == endY) ||
            GoPathing(startX - 1, startY, endX, endY) || GoPathing(startX + 1, startY, endX, endY) ||
            GoPathing(startX, startY - 1, endX, endY) || GoPathing(startX, startY + 1, endX, endY))
        {
            // 存储路径点
            path.Add(new Vector3(startX, startY, 0));
            print("X:" + startX + "Y:" + startY);
            return true;
        }
        else
        {
            return false;
        }
    }

    // 获取路径
    Vector3 GetTarget()
    {
        Vector3 point = npc.transform.position;
        if (path.Count > 0 && n < path.Count)
        {
            point = path[path.Count - n - 1];
            n++;
        }
        return point;
    }
}