Javascript中的A *（使用p5.js）不起作用

Question

我正在為位於二維正方形陣列中的玩家編寫尋路算法。 我想找到從a到b的最短路徑，並有效地做到這一點。 之前我在Java（處理）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);
}

但是我正在將游戲遷移到Javascript，但是我無法確定我的代碼出了什么問題。 它被卡在一個正方形上，並將其永久添加到closedSet中（數十萬次）。 這是我的Javascript代碼-

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代碼看起來有些不同，因為我已經嘗試修復了幾天，但是我無法弄清楚。 我究竟做錯了什么？ 如果需要澄清代碼，請詢問。

Answer 1

您將不得不調試代碼。 該鏈接與處理中的調試有關，但是相同的思想也適用於JavaScript和P5.js。

具體來說，您需要准確確定代碼的執行時間與預期的執行時間不同。

您可以通過添加做到這一點console.log()語句要弄清楚的變量，它的功能被稱為以什么順序的價值，無論是if語句輸入，多少次的循環迭代，等等。

如果這不起作用，您還可以使用調試器逐步執行代碼。 每個瀏覽器都帶有JavaScript調試器，該調試器可讓您單步執行代碼並檢查每個變量的值。 再次，目標是弄清楚代碼什么時候做了與您期望的不同的事情。

當您將問題縮小到幾行時，如果仍然不知道如何解決它，則可以創建一個MCVE來隔離問題，而無需解決所有額外的代碼。 到那時，為您提供幫助將更加容易。 祝好運。