这是对A*寻路算法的一个封装.使用非常简单:1.指定寻路区域的大小(网格) 2.指定哪些节点是障碍物 3.给定出发节点点和目标节点, 寻路! 将返回最短路径. 另外, 还可以设定遇到障碍物时只能绕着障碍物的角走,This is a routing algorithm A* a package. The use of very simple: 1. Specified routing region size (grid) 2. Specify which node is the barrier 3. Given the starting point and the goal node node, routing ! will return the shortest path. In addition, obstacles encountered can be set only when the angle go around obstructions