广度优先寻路算法
Posted iml6yu
tags:
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文章目录
ps:写在前面，当时只是在一个纵横交错的库房内寻找到从A到B的路径，并没有最短最优的要求。
原始数据
这是一段json转存在C#代码中的结构，
数据属性解释：
- Id:标识
- PointName：点位名称
- PointX:x坐标
- PointY:y坐标
- NeighborIdArr：数组，能够到达的邻居节点ID
- IsWorlplacePoint：是否是工位节点（true表示工位节点，不能穿过，只能作为终点到达）
数据
#region JsonString
json = @"[
""Id"": 1,
""PointName"": ""A0001"",
""PointX"": 0,
""PointY"": 0,
""NeighborIdArr"": [2, 6],
""IsWorkplacePoint"": false
,
""Id"": 2,
""PointName"": ""A0002"",
""PointX"": 0,
""PointY"": 200,
""NeighborIdArr"": [1, 3, 7],
""IsWorkplacePoint"": false
,
""Id"": 3,
""PointName"": ""A0003"",
""PointX"": 0,
""PointY"": 700,
""NeighborIdArr"": [2, 4, 8],
""IsWorkplacePoint"": false
,
""Id"": 4,
""PointName"": ""A0004"",
""PointX"": 0,
""PointY"": 900,
""NeighborIdArr"": [3, 5, 9],
""IsWorkplacePoint"": false
,
""Id"": 5,
""PointName"": ""A0005"",
""PointX"": 0,
""PointY"": 1400,
""NeighborIdArr"": [4, 10],
""IsWorkplacePoint"": false
,
""Id"": 6,
""PointName"": ""A0006"",
""PointX"": 200,
""PointY"": 0,
""NeighborIdArr"": [1, 7, 11],
""IsWorkplacePoint"": false
,
""Id"": 7,
""PointName"": ""A0007"",
""PointX"": 200,
""PointY"": 200,
""NeighborIdArr"": [2, 6, 12, 8],
""IsWorkplacePoint"": false
,
""Id"": 8,
""PointName"": ""A0008"",
""PointX"": 200,
""PointY"": 700,
""NeighborIdArr"": [3, 7, 13, 9],
""IsWorkplacePoint"": false
,
""Id"": 9,
""PointName"": ""A0009"",
""PointX"": 200,
""PointY"": 900,
""NeighborIdArr"": [4, 8, 14, 10],
""IsWorkplacePoint"": false
,
""Id"": 10,
""PointName"": ""A0010"",
""PointX"": 200,
""PointY"": 1400,
""NeighborIdArr"": [5, 9, 15],
""IsWorkplacePoint"": false
,
""Id"": 11,
""PointName"": ""A0011"",
""PointX"": 600,
""PointY"": 0,
""NeighborIdArr"": [6, 12, 16],
""IsWorkplacePoint"": false
,
""Id"": 12,
""PointName"": ""A0012"",
""PointX"": 600,
""PointY"": 200,
""NeighborIdArr"": [7, 13, 17, 11],
""IsWorkplacePoint"": false
,
""Id"": 13,
""PointName"": ""A0013"",
""PointX"": 600,
""PointY"": 700,
""NeighborIdArr"": [8, 14, 18, 12],
""IsWorkplacePoint"": false
,
""Id"": 14,
""PointName"": ""A0014"",
""PointX"": 600,
""PointY"": 900,
""NeighborIdArr"": [9, 15, 19, 13],
""IsWorkplacePoint"": false
,
""Id"": 15,
""PointName"": ""A0015"",
""PointX"": 600,
""PointY"": 1400,
""NeighborIdArr"": [10, 20, 14],
""IsWorkplacePoint"": false
,
""Id"": 16,
""PointName"": ""A0016"",
""PointX"": 800,
""PointY"": 0,
""NeighborIdArr"": [11, 21, 17],
""IsWorkplacePoint"": false
,
""Id"": 17,
""PointName"": ""A0017"",
""PointX"": 800,
""PointY"": 200,
""NeighborIdArr"": [12, 16, 22, 18],
""IsWorkplacePoint"": false
,
""Id"": 18,
""PointName"": ""A0018"",
""PointX"": 800,
""PointY"": 700,
""NeighborIdArr"": [13, 17, 23, 19],
""IsWorkplacePoint"": false
,
""Id"": 19,
""PointName"": ""A0019"",
""PointX"": 800,
""PointY"": 900,
""NeighborIdArr"": [14, 18, 24, 20],
""IsWorkplacePoint"": false
,
""Id"": 20,
""PointName"": ""A0020"",
""PointX"": 800,
""PointY"": 1400,
""NeighborIdArr"": [15, 19, 25],
""IsWorkplacePoint"": false
,
""Id"": 21,
""PointName"": ""A0021"",
""PointX"": 1200,
""PointY"": 0,
""NeighborIdArr"": [16, 26, 22],
""IsWorkplacePoint"": false
,
""Id"": 22,
""PointName"": ""A0022"",
""PointX"": 1200,
""PointY"": 200,
""NeighborIdArr"": [17, 21, 27, 23],
""IsWorkplacePoint"": false
,
""Id"": 23,
""PointName"": ""A0023"",
""PointX"": 1200,
""PointY"": 700,
""NeighborIdArr"": [18, 22, 28, 24],
""IsWorkplacePoint"": false
,
""Id"": 24,
""PointName"": ""A0024"",
""PointX"": 1200,
""PointY"": 900,
""NeighborIdArr"": [19, 23, 29, 25],
""IsWorkplacePoint"": false
,
""Id"": 25,
""PointName"": ""A0025"",
""PointX"": 1200,
""PointY"": 1400,
""NeighborIdArr"": [20, 24, 30],
""IsWorkplacePoint"": false
,
""Id"": 26,
""PointName"": ""A0026"",
""PointX"": 1700,
""PointY"": 0,
""NeighborIdArr"": [21, 27],
""IsWorkplacePoint"": false
,
""Id"": 27,
""PointName"": ""A0027"",
""PointX"": 1700,
""PointY"": 200,
""NeighborIdArr"": [22, 26, 28],
""IsWorkplacePoint"": false
,
""Id"": 28,
""PointName"": ""A0028"",
""PointX"": 1700,
""PointY"": 700,
""NeighborIdArr"": [23, 27, 29],
""IsWorkplacePoint"": false
,
""Id"": 29,
""PointName"": ""A0029"",
""PointX"": 1700,
""PointY"": 900,
""NeighborIdArr"": [24, 28, 30],
""IsWorkplacePoint"": false
,
""Id"": 30,
""PointName"": ""A0030"",
""PointX"": 1700,
""PointY"": 1400,
""NeighborIdArr"": [25, 29],
""IsWorkplacePoint"": false
,
""Id"": 31,
""PointName"": ""P0001"",
""PointX"": 100,
""PointY"": 100,
""NeighborIdArr"": [1, 2, 6, 7],
""IsWorkplacePoint"": true
,
""Id"": 32,
""PointName"": ""P0002"",
""PointX"": 100,
""PointY"": 450,
""NeighborIdArr"": [2, 3, 7, 8],
""IsWorkplacePoint"": true
,
""Id"": 33,
""PointName"": ""P0003"",
""PointX"": 100,
""PointY"": 800,
""NeighborIdArr"": [3, 4, 8, 9],
""IsWorkplacePoint"": true
,
""Id"": 34,
""PointName"": ""P0004"",
""PointX"": 100,
""PointY"": 1150,
""NeighborIdArr"": [4, 5, 9, 10],
""IsWorkplacePoint"": true
,
""Id"": 35,
""PointName"": ""P0005"",
""PointX"": 400,
""PointY"": 100,
""NeighborIdArr"": [6, 7, 11, 12],
""IsWorkplacePoint"": true
,
""Id"": 36,
""PointName"": ""P0006"",
""PointX"": 400,
""PointY"": 450,
""NeighborIdArr"": [7, 8, 12, 13],
""IsWorkplacePoint"": true
,
""Id"": 37,
""PointName"": ""P0007"",
""PointX"": 400,
""PointY"": 800,
""NeighborIdArr"": [8, 9, 13, 14],
""IsWorkplacePoint"": true
,
""Id"": 38,
""PointName"": ""P0008"",
""PointX"": 400,
""PointY"": 1150,
""NeighborIdArr"": [9, 10, 14, 15],
""IsWorkplacePoint"": true
,
""Id"": 39,
""PointName"": ""P0009"",
""PointX"": 700,
""PointY"": 100,
""NeighborIdArr"": [11, 12, 16, 17],
""IsWorkplacePoint"": true
,
""Id"": 40,
""PointName"": ""P0010"",
""PointX"": 700,
""PointY"": 450,
""NeighborIdArr"": [12, 13, 17, 18],
""IsWorkplacePoint"": true
,
""Id"": 41,
""PointName"": ""P0011"",
""PointX"": 700,
""PointY"": 800,
""NeighborIdArr"": [13, 14, 18, 19],
""IsWorkplacePoint"": true
,
""Id"": 42,
""PointName"": ""P0012"",
""PointX"": 700,
""PointY"": 1150,
""NeighborIdArr"": [14, 15, 19, 20],
""IsWorkplacePoint"": true
,
""Id"": 43,
""PointName"": ""P0013"",
""PointX"": 1000,
""PointY"": 100,
""NeighborIdArr"": [16, 17, 21, 22],
""IsWorkplacePoint"": true
,
""Id"": 44,
""PointName"": ""P0014"",
""PointX"": 1000,
""PointY"": 450,
""NeighborIdArr"": [17, 18, 22, 23],
""IsWorkplacePoint"": true
,
""Id"": 45,
""PointName"": ""P0015"",
""PointX"": 1000,
""PointY"": 800,
""NeighborIdArr"": [18, 19, 23, 24],
""IsWorkplacePoint"": true
,
""Id"": 46,
""PointName"": ""P0016"",
""PointX"": 1000,
""PointY"": 1150,
""NeighborIdArr"": [19, 20, 24, 25],
""IsWorkplacePoint"": true
,
""Id"": 47,
""PointName"": ""P0017"",
""PointX"": 1450,
""PointY"": 100,
""NeighborIdArr"": [21, 22, 26, 27],
""IsWorkplacePoint"": true
,
""Id"": 48,
""PointName"": ""P0018"",
""PointX"": 1450,
""PointY"": 450,
""NeighborIdArr"": [22, 23, 27, 28],
""IsWorkplacePoint"": true
,
""Id"": 49,
""PointName"": ""P0019"",
""PointX"": 1450,
""PointY"": 800,
""NeighborIdArr"": [23, 24, 28, 29],
""IsWorkplacePoint"": true
,
""Id"": 50,
""PointName"": ""P0020"",
""PointX"": 1450,
""PointY"": 1150,
""NeighborIdArr"": [24, 25, 29, 30],
""IsWorkplacePoint"": true
]";
#endregion JsonString
效果图（没有标记点名称）
寻路效果
程序运行效果
源代码
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics.Eventing.Reader;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.Drawing.Text;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace 测试RFID读写工具
public partial class Form2 : Form
string json = "";
List<RoadPoint> Points;
int canvasWidth;
int canvasHeight;
float maxX;
float maxY;
float rx;
float ry;
[ThreadStatic]
public static string A;
public Form2()
InitializeComponent();
this.Load += Form2_Load;
private void Form2_Load(object sender, EventArgs e)
#region JsonString
json = @"[
""Id"": 1,
""PointName"": ""A0001"",
""PointX"": 0,
""PointY"": 0,
""NeighborIdArr"": [2, 6],
""IsWorkplacePoint"": false
,
""Id"": 2,
""PointName"": ""A0002"",
""PointX"": 0,
""PointY"": 200,
""NeighborIdArr"": [1, 3, 7],
""IsWorkplacePoint"": false
,
""Id"": 3,
""PointName"": ""A0003"",
""PointX"": 0,
""PointY"": 700,
""NeighborIdArr"": [2, 4, 8],
""IsWorkplacePoint"": false
,
""Id"": 4,
""PointName"": ""A0004"",
""PointX"": 0,
""PointY"": 900,
""NeighborIdArr"": [3, 5, 9],
""IsWorkplacePoint"": false
,
""Id"": 5,
""PointName"": ""A0005"",
""PointX"": 0,
""PointY"": 1400,
""NeighborIdArr"": [4, 10],
""IsWorkplacePoint"": false
,
""Id"": 6,
""PointName"": ""A0006"",
""PointX"": 200,
""PointY"": 0,
""NeighborIdArr"": [1, 7, 11],
""IsWorkplacePoint"": false
,
""Id"": 7,
""PointName"": ""A0007"",
""PointX"": 200,
""PointY"": 200,
""NeighborIdArr"": [2, 6, 12, 8],
""IsWorkplacePoint"": false
,
""Id"": 8,
""PointName"": ""A0008"",
""PointX"": 200,
""PointY"": 700,
""NeighborIdArr"": [3, 7, 13, 9],
""IsWorkplacePoint"": false
,
""Id"": 9,
""PointName"": ""A0009"",
""PointX"": 200,
""PointY"": 900,
""NeighborIdArr"": [4, 8, 14, 10],
""IsWorkplacePoint"": false
,
""Id"": 10,
""PointName"": ""A0010"",
""PointX"": 200,
""PointY"": 1400,
""NeighborIdArr"": [5, 9, 15],
""IsWorkplacePoint"": false
,
""Id"": 11,
""PointName"": ""A0011"",
""PointX"": 600,
""PointY"": 0,
""NeighborIdArr"": [6, 12, 16],
""IsWorkplacePoint"": false
,
""Id"": 12,
""PointName"": ""A0012"",
""PointX"": 600,
""PointY"": 200,
""NeighborIdArr"": [7, 13, 17, 11],
""IsWorkplacePoint"": false
,
""Id"": 13,
""PointName"": ""A0013"",
""PointX"": 600,
""PointY"": 700,
""NeighborIdArr"": [8, 14, 18, 12],
""IsWorkplacePoint"": false
,
""Id"": 14,
""PointName"": ""A0014"",
""PointX"": 600,
""PointY"": 900,
""NeighborIdArr"": [9, 15, 19, 13],
""IsWorkplacePoint"": false
,
""Id"": 15,
""PointName"": ""A0015"",
""PointX"": 600,
""PointY"": 1400,
""NeighborIdArr"": [10, 20, 14],
""IsWorkplacePoint"": false
,
""Id"": 16,
""PointName"": ""A0016"",
""PointX"": 800,
""PointY"": 0,
""NeighborIdArr"": [11, 21, 17],
""IsWorkplacePoint"": false
,
""Id"": 17,
""PointName"": ""A0017"",
""PointX"": 800,
""PointY"": 200,
""NeighborIdArr"": [12, 16, 22, 18],
""IsWorkplacePoint"": false
,
""Id"": 18,
""PointName"": ""A0018"",
""PointX"": 800,
""PointY"": 700,
""NeighborIdArr"": [13, 17, 23, 19],
""IsWorkplacePoint"": false
,
""Id"": 19,
""PointName"": ""A0019"",
""PointX"": 800,
""PointY"": 900,
""NeighborIdArr"": [14, 18, 24, 20],
""IsWorkplacePoint"": false
,
""Id"": 20,
""PointName"": ""A0020"",
""PointX"": 800,
""PointY"": 1400,
""NeighborIdArr"": [15, 19, 25],
""IsWorkplacePoint"": false
,
""Id"": 21,
""PointName"": ""A0021"",
""PointX"": 1200,
""PointY"": 0,
""NeighborIdArr"": [16, 26, 22],
""IsWorkplacePoint"": false
,
""Id"": 22,
""PointName"": ""A0022"",
""PointX"": 1200,
""PointY"": 200,
""NeighborIdArr"": [17, 21, 27, 23],
""IsWorkplacePoint"": false
,
""Id"": 23,
""PointName"": ""A0023"",
""PointX"": 1200,
""PointY"": 700,
""NeighborIdArr"": [18, 22, 28, 24],
""IsWorkplacePoint"": false
,
""Id"": 24,
""PointName"": ""A0024"",
""PointX"": 1200,
""PointY"": 900,
""NeighborIdArr"": [19, 23, 29, 25],
""IsWorkplacePoint"": false
,
""Id"": 25,
""PointName"": ""A0025"",
""PointX"": 1200,
""PointY"": 1400,
""NeighborIdArr"": [20, 24, 30],
""IsWorkplacePoint"": false
,
""Id"": 26,
""PointName"": ""A0026"",
""PointX"": 1700,
""PointY"": 0,
""NeighborIdArr"": [21, 27],
""IsWorkplacePoint"": false
,
""Id"": 27,
""PointName"": ""A0027"",
""PointX"": 1700,
""PointY"": 200,
""NeighborIdArr"": [22, 26, 28],
""IsWorkplacePoint"": false
,
""Id"": 28,
""PointName"": ""A0028"",
""PointX"": 1700,
""PointY"": 700,
""NeighborIdArr"": [23, 27, 29],
""IsWorkplacePoint"": false
,
""Id"": 29,
""PointName"": ""A0029"",
""PointX"": 1700,
""PointY"": 900,
""NeighborIdArr"": [24, 28, 30],
""IsWorkplacePoint"": false
,
""Id"": 30,
""PointName"": ""A0030"",
""PointX"": 1700,
""PointY"": 1400,
""NeighborIdArr"": [25, 29],
""IsWorkplacePoint"": false
,
""Id"": 31,
""PointName"": ""P0001"",
""PointX"": 100,
""PointY"": 100,
""NeighborIdArr"": [1, 2, 6, 7],
""IsWorkplacePoint"": true
,
""Id"": 32,
""PointName"": ""P0002"",
""PointX"": 100,
""PointY"": 450,
""NeighborIdArr"": [2, 3, 7, 8],
""IsWorkplacePoint"": true
,
""Id"": 33,
""PointName"": ""P0003"",
""PointX"": 100,
""PointY"": 800,
""NeighborIdArr"": [3, 4, 8, 9],
""IsWorkplacePoint"": true
,
""Id"": 34,
""PointName"": ""P0004"",
""PointX"": 100,
""PointY"": 1150,
""NeighborIdArr"": [4, 5, 9, 10],
""IsWorkplacePoint"": true
,
""Id"": 35,
""PointName"": ""P0005"",
""PointX"": 400,
""PointY"": 100,
""NeighborIdArr"": [6, 7, 11, 12],
""IsWorkplacePoint"": true
,
""Id"": 36,
""PointName"": ""P0006"",
""PointX"": 400,
""PointY"": 450,
""NeighborIdArr"": [7, 8, 12, 13],
""IsWorkplacePoint"": true
,
""Id"": 37,
""PointName"": ""P0007"",
""PointX"": 400,
""PointY"": 800,
""NeighborIdArr"": [8, 9, 13, 14],
""IsWorkplacePoint"": true
,
""Id"": 38,
""PointName"": ""P0008"",
""PointX"": 400,
""PointY"": 1150,
""NeighborIdArr"": [9, 10, 14, 15],
""IsWorkplacePoint"": true
,
""Id"": 39,
""PointName"": ""P0009"",
""PointX"": 700,
""PointY"": 100,
""NeighborIdArr"": [11, 12, 16, 17],
""IsWorkplacePoint"": true
,
""Id"": 40,
""PointName"": ""P0010"",
""PointX"": 700,
""PointY"": 450,
""NeighborIdArr"": [12, 13, 17, 18],
""IsWorkplacePoint"": true
,
""Id"": 41,
""PointName"": ""P0011"",
""PointX"": 700,
""PointY"": 800,
""NeighborIdArr"": [13, 14, 18, 19],
""IsWorkplacePoint"": true
,
""Id"": 42,
""PointName"": ""P0012"",
""PointX"": 700,
""PointY"": 1150,
""NeighborIdArr"": [14, 15, 19, 20],
""IsWorkplacePoint"": true
,
""Id"": 43,
""PointName"": ""P0013"",
""PointX"": 1000,
""PointY"": 100,
""NeighborIdArr"": [16, 17, 21, 22],
""IsWorkplacePoint"": true
,
""Id"": 44,
""PointName"": ""P0014"",
""PointX"": 1000,
""PointY"": 450,
""NeighborIdArr"": [17, 18, 22, 23],
""IsWorkplacePoint"": true
,
""Id"": 45,
""PointName"": ""P0015"",
""PointX"": 1000,
""PointY"": 800,
""NeighborIdArr"": [18, 19, 23, 24],
""IsWorkplacePoint"": true
,
""Id"": 46,
""PointName"": ""P0016"",
""PointX"": 1000,
""PointY"": 1150,
""NeighborIdArr"": [19, 20, 24, 25],
""IsWorkplacePoint"": true
,
""Id"": 47,
""PointName"": ""P0017"",
""PointX"": 1450,
""PointY"": 100,
""NeighborIdArr"": [21, 22, 26, 27],
""IsWorkplacePoint"": true
,
""Id"": 48,
""PointName"": ""P0018"",
""PointX"": 1450,
""PointY"": 450,
""NeighborIdArr"": [22, 23, 27, 28],
""IsWorkplacePoint"": true
,
""Id"": 49,
""PointName"": ""P0019"",
""PointX"": 1450,
""PointY"": 800,
""NeighborIdArr"": [23, 24, 28, 29],
""IsWorkplacePoint"": true
,
""Id"": 50,
""PointName"": ""P0020"",
""PointX"": 1450,
""PointY"": 1150,
""NeighborIdArr"": [24, 25, 29, 30],
""IsWorkplacePoint"": true
]";
#endregion JsonString
Points = Newtonsoft.Json.JsonConvert.DeserializeObject<List<RoadPoint>>(json);
canvasWidth = pictureBox1.Width;
canvasHeight = pictureBox1.Height;
maxX = Points.Max(t => t.PointX) * 1f;
maxY = Points.Max(t => t.PointY) * 1f;
rx = canvasWidth / maxX;
ry = canvasHeight / maxY;
listStart.DisplayMember = "PointName";
listEnd.DisplayMember = "PointName";
Points.ForEach(p =>
listStart.Items.Add(p);
listEnd.Items.Add(p);
);
Task.Run<Bitmap>(() => return DrawPoints(Points); ).ContinueWith(t =>
if (t.IsCompleted && t.Result != null)
this.Invoke(new Action(() =>
pictureBox1.Image = t.Result;
));
);
//全局变量存储最大最小值，作为绘制区域
// Graphics g = this.Map.CreateGraphics();
static Color color = Color.Red;
static Pen pen = new Pen(color, 4) DashCap = DashCap.Round, DashStyle = DashStyle.Dot ;
private Bitmap DrawPoints(List<RoadPoint> points)
Bitmap temp = new Bitmap(canvasWidth, canvasHeight);
Graphics g = Graphics.FromImage(temp);
g.SmoothingMode = SmoothingMode.AntiAlias;
g.TextRenderingHint = TextRenderingHint.ClearTypeGridFit;
foreach (var point in points)
var x = (int)Math.Floor(point.PointX * rx);
var y = (int)Math.Floor(point.PointY * ry);
if (x > canvasWidth - 15) x = canvasWidth - 15;
if (y > canvasHeight - 15) y = canvasHeight - 15;
Console.WriteLine($"point.Id,x,y");
if (point.IsWorkplacePoint)
g.FillEllipse(Brushes.Green, x, y, 10, 10);
else
g.FillEllipse(Brushes.Red, x, y, 10, 10);
g.ResetTransform();
g.Dispose();
temp.Save("point_image.png");
return temp;
private void button1_Click(object sender, EventArgs e)
if (listStart.SelectedIndex == -1)
labPath.Text = "请选择起点！";
return;
if (listEnd.SelectedIndex == -1)
labPath.Text = "请选择终点！";
return;
if (listStart.SelectedIndex == listEnd.SelectedIndex)
labPath.Text = "起点和终点不能相同！";
return;
var start = listStart.SelectedItem as RoadPoint;
var end = listEnd.SelectedItem as RoadPoint;
CalcPath(start, end, Points);
private void CalcPath(RoadPoint start, RoadPoint end, List<RoadPoint> points)
var paths = new List<List<RoadPoint>>();
foreach (var to in start.NeighborIdArr)
var path = new List<RoadPoint>() start, points.FirstOrDefault(t => t.Id == to) ;
paths.Add(path);
var targetPath = CalcPath(end, points, paths);
if (targetPath == null || targetPath.Count == 0)
labPath.Text = "没有检测到有效路径！";
return;
labPath.Text = string.Join(" --> ", targetPath.Select(t => t.Id));
Graphics g = Graphics.FromImage(pictureBox1.Image);
g.SmoothingMode = SmoothingMode.AntiAlias;
g.TextRenderingHint = TextRenderingHint.ClearTypeGridFit;
for (var i = 0; i < targetPath.Count - 1; i++)
var point1 = targetPath[i];
var point2 = targetPath[i + 1];
g.DrawLine(pen,
new Point((int)Math.Floor(point1.PointX * rx), (int)Math.Floor(point1.PointY * ry)),
new Point((int)Math.Floor(point2.PointX * rx), (int)Math.Floor(point2.PointY * ry)));
g.ResetTransform();
g.Dispose();
pictureBox1.Refresh();
private List<RoadPoint> CalcPath(RoadPoint end, List<RoadPoint> points, List<List<RoadPoint>> paths)
if (paths == null) return null;
List<List<RoadPoint>> newPaths = new List<List<RoadPoint>>();
foreach (var path in paths)
var currStart = path.Last();
if (currStart == end)
return path;
foreach (var to in currStartUnity吃豆人敌人BFS广度（宽度）优先算法实现怪物追踪玩家寻路
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