Javascript中的A *（使用p5.js）不起作用

Question

我正在为位于二维正方形阵列中的玩家编写寻路算法。 我想找到从a到b的最短路径，并有效地做到这一点。 之前我在Java（处理）中工作，而我的功能也很好。

boolean findPath(PVector down, PVector up, Square[][] board) {
  PVector start = up;
  PVector goal = down;

  ArrayList<Square> closedSet = new ArrayList<Square>();
  ArrayList<Square> openSet = new ArrayList<Square>();

  HashMap<Square, Square> cameFrom = new HashMap<Square, Square>((int)Math.pow(squares, 2));
  HashMap<Square, Float> gScore = new HashMap<Square, Float>((int)Math.pow(squares, 2));
  HashMap<Square, Float> fScore = new HashMap<Square, Float>((int)Math.pow(squares, 2));

  for (int i = 0; i<dungeon.floors.get(currentFloor).numSquares; i++) {
    for (int j = 0; j<dungeon.floors.get(currentFloor).numSquares; j++) {
      gScore.put(board[i][j], 1000.0);
    }
  }

  gScore.put(board[(int)start.x][(int)start.y], 0.0);
  fScore.put(board[(int)start.x][(int)start.y], heuristic(start, goal));

  openSet.add(board[(int)start.x][(int)start.y]);

  while (!openSet.isEmpty()) {
    Square current = board[(int)start.x][(int)start.y];
    float lowest = 1000;
    for (Square s : openSet) {
      if (fScore.get(s)<lowest) {
        lowest = fScore.get(s);
        current = s;
      }
    }
    if (current.locX == goal.x && current.locY == goal.y) {
      while (cameFrom.containsKey(current)) {
        current = cameFrom.get(current);
      }
      board[(int)start.x][(int)start.y].squareType = -3;
      return true;
    }
    openSet.remove(current);
    closedSet.add(current);
    //neighbors() returns an ArrayList of valid neighbors
    for (Square s : current.neighbors(board)) {
      if (closedSet.contains(s)) {
      } else {

        float tempG = gScore.get(current) + 1;
        if (!openSet.contains(s)) {
          openSet.add(s);
        } 
        if (tempG < gScore.get(s)) {

          cameFrom.put(s, current);
          gScore.put(s, tempG);
          fScore.put(s, gScore.get(s) + heuristic(new PVector(s.locX, s.locY), goal));
        }
      }
    }
  }

  return false;
}

float heuristic(PVector start, PVector goal) {
  return dist(start.x, start.y, goal.x, goal.y);
}

但是我正在将游戏迁移到Javascript，但是我无法确定我的代码出了什么问题。 它被卡在一个正方形上，并将其永久添加到closedSet中（数十万次）。 这是我的Javascript代码-

this.findPath = function(f, _start, _goal) {
      var start = _start;
      var goal = _goal;

      var closedSet = [];
      var openSet = [];

      var squareScores = [];
      var startSquare = (start.x * numSquares) + start.y;

      for (var i = 0; i < numSquares; i++) {
         for (var j = 0; j < numSquares; j++) {
            squareScores.push(new MapSquare(dungeon.floors[f].board[i][j], 10000, 10000));
         }
      }

      squareScores[startSquare].gScore = 0;
      squareScores[startSquare].fScore = this.heuristic(start, goal);
      openSet.push(squareScores[startSquare]);

      while (openSet.length > 0) {
         var current = squareScores[startSquare];
         var lowest = 9999;
         for (var s = 0; s < squareScores.length; s++) {
            if (squareScores[s].fScore < lowest) {
               lowest = squareScores[s].fScore;
               current = squareScores[s];
            }
         }
         if (current.square.x == goal.x && current.square.y == goal.y) {
             return true;
         }

         openSet.splice(openSet.indexOf(current.square));  
         closedSet.push(current.square);

         var currentNeighbors = current.square.neighbors(dungeon.floors[f].board);
         for (var i = 0; i < currentNeighbors.length; i++) {
            var skip = false;
            for (let c of closedSet) {
               if (c.x == currentNeighbors[i].x && c.y == currentNeighbors[i].y) {
                  skip = true;
               }
            }
            if (skip) {
               continue;
            }
            else {
               var tempG = current.gScore + 1;

               var dontAdd = false;
               for (let o of openSet) {
                  if (o.x == currentNeighbors[i].x && o.y == currentNeighbors[i].y) {
                     dontAdd = true;
                  }
               }
               if (!dontAdd) {
                  openSet.push(currentNeighbors[i]);
               }
               var index = (currentNeighbors[i].x * numSquares) + currentNeighbors[i].y;
               if (tempG < squareScores[index].gScore) {
                  //cameFrom.push(gScore[i]);
                  console.log("update");

                  squareScores[index].gScore = tempG;
                  squareScores[index].fScore = squareScores[index].gScore + this.heuristic(squareScores[index].square.x, squareScores[index].square.y, goal.x, goal.y);
               }
            }
         }
      }
      return false;
   };

   //dist from player to goal
   this.heuristic = function(_x1, _y1, _x2, _y2) {
      return dist(_x1, _y1, _x2, _y2);
   };

我的Javascript代码看起来有些不同，因为我已经尝试修复了几天，但是我无法弄清楚。 我究竟做错了什么？ 如果需要澄清代码，请询问。

Answer 1

您将不得不调试代码。 该链接与处理中的调试有关，但是相同的思想也适用于JavaScript和P5.js。

具体来说，您需要准确确定代码的执行时间与预期的执行时间不同。

您可以通过添加做到这一点console.log()语句要弄清楚的变量，它的功能被称为以什么顺序的价值，无论是if语句输入，多少次的循环迭代，等等。

如果这不起作用，您还可以使用调试器逐步执行代码。 每个浏览器都带有JavaScript调试器，该调试器可让您单步执行代码并检查每个变量的值。 再次，目标是弄清楚代码什么时候做了与您期望的不同的事情。

当您将问题缩小到几行时，如果仍然不知道如何解决它，则可以创建一个MCVE来隔离问题，而无需解决所有额外的代码。 到那时，为您提供帮助将更加容易。 祝好运。