智能控制作业.docx

TPMK standardization office【 TPMK5AB- TPMK08- TPMK2C- TPMK18】 TPMK standardization office【 TPMK5AB- TPMK08- TPMK2C- TPMK18】 智能控制作业 一、A*寻路算法 Attribute VB_Name = mFindPath Option Explicit Dim arrBap() As bPoint 地图状态 Dim arrOpen() As fsPoint 开放列表 Dim lOpenSize As Long 开放列表元素个数 Dim TCount As Long 目标序号 ※※※※　A*寻路函数※※※※※※※※※ 输入参数 arrMap() as fsPoint 地图障碍物数据 arrPath() as long 路径列表 lPathCount as long 路径长度 pStartPoint as fsPoint 起始点 pGotoPoint as fsPoint 目标点 lWidth as long 地图宽度 lHeight as long 地图高度 输出参数 类型:long 寻路结果 3 地图格式不正确 2 目标为障碍点 1 寻路成功 0 寻路失败 无法到达 4 已经到达终点 5 目标被占 6 寻路过程中发生错误 ※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※ Public Function fPath(arrMap() As fsPoint, arrPath() As Long, lPathCount As Long, pStartPoint As fsPoint, pGotoPoint As fsPoint, lWidth As Long, lHeight As Long) As Long 寻路 Dim i As Long 循环用变量 Dim Count As Long 点的序号或者总数 Dim pCurrentPoint As fsPoint Dim pSearchPoint As fsPoint Dim pSearchX As Long, pSearchY As Long Dim tmpX As Long, tmpY As Long Dim arrXofs(8) As Long, arrYofs(8) As Long XY变化常量数组 Dim arrIofs(8) As Long 序号变化常量数组 Dim tmpOfs As Long 序号变化量 On Error GoTo PathErr: 判断地图 If lWidth 1 Or lHeight 1 Then fPath = 3 地图数据不正确 Exit Function End If TCount = pGotoPoint.Y * lWidth + pGotoPoint.X 目标序号 TCount = pGotoPoint.Index 判断是否为障碍物 If pGotoPoint.Y lHeight - 1 Or pGotoPoint.X lWidth - 1 Then fPath = 2 Exit Function End If If arrMap(TCount).B Or arrMap(TCount).D Then 可以通过或者是门点 fPath = 0 Else 否则退出寻路 fPath = 2 Exit Function End If If arrMap(TCount).lNpcId 0 Then fPath = 5