在障碍物内统一移动3D对象

void Update() {
    Collider[] colliders = Physics.OverlapSphere(transform.position, detectionRadius);
    foreach (Collider col in colliders) {
        if (col.gameObject.CompareTag("Obstacle")) {
            // 处理碰撞逻辑
        }
    }
}

import heapq

def heuristic(a, b):
    return abs(a[0] - b[0]) + abs(a[1] - b[1])

def astar(array, start, goal):
    neighbors = [(0,1),(0,-1),(1,0),(-1,0)]
    close_set = set()
    came_from = {}
    gscore = {start:0}
    fscore = {start:heuristic(start, goal)}
    oheap = []

    heapq.heappush(oheap, (fscore[start], start))
    
    while oheap:
        current = heapq.heappop(oheap)[1]

        if current == goal:
            data = []
            while current in came_from:
                data.append(current)
                current = came_from[current]
            return data[::-1]

        close_set.add(current)
        for i, j in neighbors:
            neighbor = current[0] + i, current[1] + j
            tentative_g_score = gscore[current] + heuristic(current, neighbor)

            if 0 <= neighbor[0] < array.shape[0]:
                if 0 <= neighbor[1] < array.shape[1]:                
                    if array[neighbor[0]][neighbor[1]] == 1:
                        continue
                else:
                    continue
            else:
                continue
                
            if neighbor in close_set and tentative_g_score >= gscore.get(neighbor, 0):
                continue
                
            if tentative_g_score < gscore.get(neighbor, 0) or neighbor not in [i[1] for i in oheap]:
                came_from[neighbor] = current
                gscore[neighbor] = tentative_g_score
                fscore[neighbor] = tentative_g_score + heuristic(neighbor, goal)
                heapq.heappush(oheap, (fscore[neighbor], neighbor))
                
    return False