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better.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<link rel="Shortcut Icon" href="favicon.png" type="image/x-icon" />
<title>A sample of HTML5 Canvas</title>
<style type="text/css">
html,body { margin: 0; padding: 0; width:100%; height:100%; }
#fps{ width: 50px; }
</style>
</head>
<body>
<canvas id="main" width="600" height="400"></canvas>
<div id="config">
<span>FPS:</span><input id="fps" type="text" value="0" />
<input id="size5" type="button" value="5 x 5" />
<input id="size10" type="button" value="10x10" />
<input id="size20" type="button" value="20x20" />
<input id="size50" type="button" value="50x50" />
<input id="Manhattan" type="button" value="曼哈顿距离">
<input id="Euclidean" type="button" value="欧氏距离">
<input id="Chebyshev" type="button" value="切比雪夫距离">
</div>
<script type="text/javascript">
var RAF = (function(){
return window.requestAnimationFrame ||
window.webkitRequestAnimationFrame ||
window.mozRequestAnimationFrame ||
window.oRequestAnimationFrame ||
window.msRequestAnimationFrame ||
function( callback ){
var id = window.setTimeout( callback, 1000/60 );
return id;
}
})();
var canvas = document.querySelector('#main');
var ctx = canvas.getContext('2d');
var width = canvas.width;
var height = canvas.height;
var size = 10;
var Manhattan = true;
var Euclidean = false;
var Chebyshev = false;
var startI, startJ, distI, distJ;
var Map = [];
var OpenList = [];
var CloseList = [];
var Barrier = [];
var Father = [];
var Index = [];
var NextTo = [[-1,0],[-1,1],[0,1],[1,1],[1,0],[1,-1],[0,-1],[-1,-1]];
var Evt = {
click: function(e){
var x = Math.floor(e.offsetX/size);
var y = Math.floor(e.offsetY/size);
if( (y === startI && x === startJ) || (y === distI && x === distJ) ) return;
Barrier[y][x] = 3;
}
};
var init = (function(){
var i,j,l1,l2;
for(i=0,l1=height/size; i<l1; i++){
Barrier[i] = [];
for(j=0,l2=width/size; j<l2; j++){
Barrier[i][j] = 0;
}
}
startI = 2;
startJ = 1;
distI = height/size-3;
distJ = width/size-2;
return arguments.callee;
})();
function initialize(){
var i,j,l1,l2;
Map = [];
Father = [];
Index = [];
for(i=0,l1=height/size; i<l1; i++){
Map[i] = [];
Father[i] = [];
Index[i] = [];
for(j=0,l2=width/size; j<l2; j++){
Map[i][j] = 0;
Father[i][j]= [i,j];
Index[i][j] = 0;
}
}
Map[startI][startJ] = 1; //起点
Map[distI][distJ] = 2; //终点
OpenList = [];
OpenList[0] = {};
CloseList = [];
};
function PathFinding(){
var i, j, l, l1, l2, val, u, v, child, parent, node, temp;
var row, col;
initialize();
if( typeof startI === "undefined" || typeof startJ === "undefined" || typeof distI === "undefined" || typeof distJ === "undefined") return false;
//把起点加入OpenList
OpenList.push({
i: startI,
j: startJ,
G: 0,
H: Manhattan ? Math.abs(startI-distI)*10 + Math.abs(startJ-distJ)*10 : Euclidean ? Math.sqrt((startI-distI)*(startI-distI)+(startJ-distJ)*(startJ-distJ))*10 : Chebyshev ? Math.max(Math.abs(startI-distI), Math.abs(startJ-distJ))*10 : 0
});
Index[startI][startJ] = 1;
//重复以下操作
while( (l=OpenList.length) && OpenList[1] ){
//遍历OpenList，查找F值最小的节点，更新二叉堆
node = OpenList.slice(1,2)[0];
OpenList[1] = OpenList[l-1];
Index[OpenList[1].i][OpenList[1].j] = 1;
Index[OpenList[l-1].i][OpenList[l-1].j] = 0;
OpenList.pop();
v = 1;
while( true ) {
u = v;
if( 2*u+1 <= l-2 ){
if( OpenList[u].G+OpenList[u].H > OpenList[2*u].G+OpenList[2*u].H ) v = 2*u;
if( OpenList[v].G+OpenList[v].H > OpenList[2*u+1].G+OpenList[2*u+1].H ) v = 2*u+1;
}
else if( 2*u <= l-2 ) {
if( OpenList[u].G+OpenList[u].H > OpenList[2*u].G+OpenList[2*u].H ) v = 2*u;
}
if( u !== v ){
temp = OpenList[u];
OpenList[u] = OpenList[v];
OpenList[v] = temp;
Index[OpenList[u].i][OpenList[u].j] = u;
Index[OpenList[v].i][OpenList[v].j] = v;
}
else break;
}
//把节点移到CloseList
CloseList.push( node );
Map[node.i][node.j] = -2;
//对当前节点的相邻8个节点的每个节点
for(i=0; i<8; i++){
row = node.i + NextTo[i][0];
col = node.j + NextTo[i][1];
if( typeof Map[row] === "undefined" || typeof Map[row][col] === "undefined" ) continue;
//遇到障碍物，则忽略此节点，不能绕过墙角
if( Barrier[row][col] ) { continue; }
if( i === 1 && (Barrier[row][col-1] || Barrier[row+1][col]) ) continue;
if( i === 3 && (Barrier[row][col-1] || Barrier[row-1][col]) ) continue;
if( i === 5 && (Barrier[row][col+1] || Barrier[row-1][col]) ) continue;
if( i === 7 && (Barrier[row][col+1] || Barrier[row+1][col]) ) continue;
//Map0表示节点不在OpenList不在CloseList
if(Map[row][col] === 0){
//加入OpenList，使用二叉堆
Map[row][col] = -1;
OpenList.push({
i: row,
j: col,
G: node.G + (i%2?14:10),
H: Manhattan ? Math.abs(row-distI)*10 + Math.abs(col-distJ)*10 : Euclidean ? Math.sqrt((row-distI)*(row-distI)+(col-distJ)*(col-distJ))*10 : Chebyshev ? Math.max(Math.abs(row-distI), Math.abs(col-distJ))*10 : 0
});
child = Index[row][col] = OpenList.length - 1;
parent = Math.floor(child/2)
while( child !== 1 && OpenList[child].G+OpenList[child].H < OpenList[parent].G+OpenList[parent].H ) {
temp = OpenList[child];
OpenList[child] = OpenList[parent];
OpenList[parent] = temp;
Index[OpenList[child].i][OpenList[child].j] = child;
Index[OpenList[parent].i][OpenList[parent].j] = parent;
child = parent;
parent = Math.floor(child/2);
}
Father[row][col] = [node.i, node.j];
}
//如果在OpenList中，检查路径是否更好
else if(Map[row][col] === -1){
if( node.G+(i%2?14:10) < OpenList[Index[row][col]].G ){
OpenList[Index[row][col]].G = node.G+(i%2?14:10);
child = Index[row][col];
parent = Math.floor(child/2);
while( child !== 1 && OpenList[child].G+OpenList[child].H < OpenList[parent].G+OpenList[parent].H ) {
temp = OpenList[child];
OpenList[child] = OpenList[parent];
OpenList[parent] = temp;
Index[OpenList[child].i][OpenList[child].j] = child;
Index[OpenList[parent].i][OpenList[parent].j] = parent;
child = parent;
parent = Math.floor(child/2);
}
Father[row][col] = [node.i, node.j];
}
}
//Map2表示节点为终点，结束并保存路径
else if(Map[row][col] === 2) {
Father[row][col] = [node.i, node.j];
node = Father[distI][distJ];
while( !(node[0] === startI && node[1] === startJ) ){
Map[node[0]][node[1]] = 4;
node = Father[node[0]][node[1]];
}
Map[startI][startJ] = 1;
return true;
}
}
}
Map[startI][startJ] = 1;
return false;
}
function draw(){
var i,j,l1,l2,val;
for(i=1,l1=height/size; i<l1; i++){
ctx.save();
ctx.strokeStyle = '#222';
ctx.beginPath();
ctx.moveTo(0,i*size);
ctx.lineTo(width,i*size);
ctx.closePath();
ctx.stroke();
ctx.restore();
}
for(j=1,l2=width/size; j<l2; j++){
ctx.save();
ctx.strokeStyle = '#222';
ctx.beginPath();
ctx.moveTo(j*size, 0);
ctx.lineTo(j*size, height);
ctx.closePath();
ctx.stroke();
ctx.restore();
}
for(i=0,l1=Map.length; i<l1; i++){
l2 = Map[i].length;
for(j=0; j<l2; j++){
val = Map[i][j];
if( val === 1 || val === 2 || Barrier[i][j] === 3 || val === 4 ){
ctx.save();
switch (Map[i][j]){
case 1: ctx.fillStyle = "#3366FF"; break;
case 2: ctx.fillStyle = "#FF0033"; break;
case 4: ctx.fillStyle = "#B88A00"; break;
}
if(Barrier[i][j] === 3) ctx.fillStyle = "#B8B8B8";
ctx.fillRect(j*size,i*size,size,size);
ctx.restore();
}
}
}
}
var times = 50;
var total = 0;
(function(){
var start = +new Date();
RAF( arguments.callee );
ctx.fillStyle = 'rgb(0,0,0)';
ctx.fillRect(0,0,width,height);
PathFinding();
draw();
var end = +new Date();
total += end-start;
if( --times === 0 ) { document.getElementById('fps').value = Math.round(1000/(total/50)), total = 0, times = 50; };
})();
canvas.addEventListener('click',Evt.click);
document.getElementById('config').onclick = function(e){
e.preventDefault();
switch(e.target.id) {
case "size5" : size = 5; break;
case "size10": size = 10; break;
case "size20": size = 20; break;
case "size50": size = 50; break;
case "Manhattan": Manhattan = true; Euclidean = false; Chebyshev = false; break;
case "Euclidean": Euclidean = true; Manhattan = false; Chebyshev = false; break;
case "Chebyshev": Chebyshev = true; Manhattan = false; Euclidean = false; break;
}
init();
}
</script>
</body>
</html>