您好我的A *寻路算法存在一些问题。该算法确实成功执行，但是在调试环境中它会在大约10秒内执行，在释放时它仍然需要2-3秒。这个速度太慢了。我怀疑这可能是由于代码中的错误，或者它没有得到很好的优化。
正在使用寻路的地图是一个30 * 30的网格，每个方格彼此相距10个单位。
我注意到在运行算法时，当搜索打开和关闭列表以查看节点是否已经存在时，已经存储在其中一个列表中的节点总是具有较低的成本，因此没有更新节点。不确定这是否正常。此外，我不确定在这种情况下，quicksort是否适合使用。
以下是代码：
用作节点的coords struture： 结构坐标 { int x; int z; coords * parent; 成本; int得分; };
排序比较功能：
bool decompare(coords* o1, coords* o2)
{
return (o1->score < o2->score);
}
主要的路径查找循环：
while (!goalFound) //While goal has not been found
{
current = openList.front(); //Retrieve current state from the open list
openList.pop_front();
for (int count = 1; count < 5; count++)
{
if (!goalFound)
{
coords* possibleState = new (coords); //Allocate new possible state
found = false;
if (count == 1)
{
possibleState->x = current->x;
possibleState->z = current->z + 10; //North
}
else if (count == 2)
{
possibleState->x = current->x + 10; //East
possibleState->z = current->z;
}
else if (count == 3)
{
possibleState->x = current->x; //South
possibleState->z = current->z - 10;
}
else if (count == 4)
{
possibleState->x = current->x - 10; //West
possibleState->z = current->z;
}
if (possibleState->x >-1 && possibleState->x <291 && possibleState->z >-1 && possibleState->z < 291) //If possible state is in game boundary
{
possibleState->cost = current->cost + 10; //Add 10 to current state to get cost of new possible state
int a = (possibleState->x / 10) + (30 * (possibleState->z / 10)); //get index of map
if (map[a] != wallTest) //Test possible state is not inside a wall
{
p = openList.begin();
while (p != openList.end() && !found) //Search open list to see if possible state already exists
{
if (possibleState->x == (*p)->x && possibleState->z == (*p)->z) //Already exists
{
found = true;
if (!possibleState->cost >= (*p)->cost) //Test possible state has lower cost
{
(*p)->parent = current; //Update existing with attributes of possible state
a = abs((*p)->x - goalState->x);
b = abs((*p)->z - goalState->z);
(*p)->cost = possibleState->cost;
(*p)->score = (possibleState->cost) + ((a)+(b));
}
}
else
{
found = false; //Set not found
}
p++;
}
q = closedList.begin();
while (q != closedList.end())
{
if (possibleState->x == (*q)->x && possibleState->z == (*q)->z)
{
found = true;
int a = (*q)->cost;
if (possibleState->cost < a) //Test if on closed list
{
(*q)->parent = current;
a = abs((*q)->x - goalState->x);
b = abs((*q)->z - goalState->z);
(*q)->cost = possibleState->cost;
(*q)->score = (possibleState->cost) + ((a)+(b)); //If cost lower push onto open list
coords* newcoord;
newcoord->x = (*q)->x;
newcoord->z = (*q)->z;
newcoord->score = (*q)->score;
newcoord->cost = (*q)->cost;
openList.push_back(newcoord);
closedList.erase(q);
}
}
q++;
}
if (!found) //If not found on either list
{
possibleState->parent = current; //Push onto open list
a = abs((possibleState)->x / 10 - goalState->x / 10);
b = abs((possibleState)->z / 10 - goalState->z / 10);
(possibleState)->score = (possibleState->cost) + ((a)+(b));
openList.push_back(possibleState);
}
sort(openList.begin(), openList.end(), decompare); // Sort the open list by score
}
if (possibleState->x == goalState->x && possibleState->z == goalState->z) //if goal found
{
openList.push_back(possibleState);
node = possibleState;
goalFound = true;
while (node != 0)
{
wayPoints.push_back(*node);
node = node->parent;
wayCount = wayPoints.size() - 1;
}
}
}
}
}
closedList.push_back(current);
}
player->setWayPoints(wayPoints);
wayPoints.clear();
player->setMoved(2);
player->setPath(1);
openList.clear();
closedList.clear();
goalFound = false;
player->setNewPath(1);
return true;
}
else {
return false;
}
}
是否有任何错误需要在此代码中排序，任何人都可以看到？或者只是需要进行重要的优化？感谢