迷宫寻路实现java版

import java.util.ArrayList; public class Robt { private Position position = null; private ArrayList<Position> route = new ArrayList<Position>(); private int[][] map = null; private int[][] dead=new int[Constant.WIDTH][Constant.HIGHT]; private int[][] fourDire=new int[Constant.WIDTH][Constant.HIGHT]; private boolean flag1 = true; boolean isOk = false; public int[][] getDead() { return dead; } public ArrayList<Position> getRoute() { return route; } public Robt(int[][] map) { this.map = map; position = new Position(0, 0); } public void run() { while (flag1) { while(flag1&&fourDire[position.getI()][position.getJ()]<4){ while (flag1&&position.getI()+1<Constant.HIGHT) { if (!goDown(position)) {// false break; } } while (flag1&&position.getJ()+1<Constant.WIDTH) { if (!goRight(position)) {// false break; } } while (flag1&&position.getI()-1>=0) { if (!goUP(position)) {// false break; } } while (flag1&&position.getJ()-1>=0) { if (!goLeft(position)) {// false break; } } } dead[position.getI()][position.getJ()]=1;//is dead block // four direction is over ,put out last stack element if(!flag1){ return; } if (route.size() > 0) { position = route.get(route.size() - 1); route.remove(route.size() - 1); } else { flag1 = false; System.out.println("no way"); isOk = false; } } } public void exam() { // int d = position.getPreDir(); // boolean f=validate(position.getPreDir(), position.getI(), // position.getJ()); // while(!f){ // f = validate(position.getPreDir(), position.getI(), position.getJ()); // } } private void isOut(int x, int y) { if (x == (Constant.WIDTH-1) && y == (Constant.HIGHT-1)) { flag1 = false; System.out.println("out"); isOk = true; } } private boolean goDown(Position p) { int i = p.getI(); int j = p.getJ(); fourDire[i][j]+=1; if(dead[i+1][j]==1){return false;} if (isLastStackElement(i+1, j)) { return false; }// last stack element if (i + 1 < Constant.HIGHT && map[i][j] != 1 && map[i + 1][j] != 4) { route.add(new Position(i, j,Constant.DOWN)); isOut(i + 1, j);// is out ? position.setI(i + 1); position.setJ(j); // System.out.println((i+1)+","+j+",d"); return true; } return false; } private boolean goRight(Position p) { int i = p.getI(); int j = p.getJ(); fourDire[i][j]+=1; if(dead[i][j+1]==1){return false;} if (isLastStackElement(i, j+1)) { return false; }// last stack element if ((j + 1) < Constant.WIDTH && map[i][j] != 2 && map[i][j + 1] != 3) { route.add(new Position(i, j,Constant.RIGHT)); isOut(i, j + 1); position.setI(i); position.setJ(j + 1); // System.out.println(i+","+(j+1)+",r"); return true; } return false; } private boolean goLeft(Position p) { int i = p.getI(); int j = p.getJ(); fourDire[i][j]+=1; if(dead[i][j-1]==1){return false;} if (isLastStackElement(i, j-1)) { return false; }// last stack element if ((j - 1) >= 0 && map[i][j] != 3 && map[i][j - 1] != 2) { route.add(new Position(i, j,Constant.LEFT)); isOut(i, j - 1); position.setI(i); position.setJ(j - 1); // System.out.println(i+","+(j-1)+",l"); return true; } return false; } private boolean goUP(Position p) { int i = p.getI(); int j = p.getJ(); fourDire[i][j]+=1; if(dead[i-1][j]==1){return false;} if (isLastStackElement(i-1, j)) { return false; }// last stack element if ((i - 1) >= 0 && map[i][j] != 4 && map[i - 1][j] != 1) { route.add(new Position(i, j,Constant.UP)); isOut(i-1, j); position.setI(i-1); position.setJ(j); // System.out.println((i-1)+","+j+",u"); return true; } return false; } private boolean isLastStackElement(int i, int j) { for(int c=0;c<route.size();c++){ if (route.size()>0&&route.get(c).getI() == i && route.get(c).getJ() == j) { return true; }// stack element } return false; } } class Position { private int i = -1; private int j = -1; private int direction = -1; public Position(int i, int j){ this.i = i; this.j = j; } public Position(int i, int j,int d) { this.i = i; this.j = j; this.direction = d; } public int getI() { return i; } public void setI(int i) { this.i = i; } public int getJ() { return j; } public void setJ(int j) { this.j = j; } public int getDirection() { return direction; } public void setDirection(int direction) { this.direction = direction; } }