现在是用的十字寻路，然后靠直线化来优化路径，评价函数没有用sqrt，这样效率高一些 注意： 输出路径不包含起点和终点 限制： 整个地图格子不要超过 65536， 如果超过，要修改MapGrid的定义
问题： 在靠近终点的地方会拐弯，不知道为什么
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