Draw map colors changed
This commit is contained in:
parent
e0a0e4f456
commit
07ff61b1dd
87
UI/Apath.py
87
UI/Apath.py
@ -1,92 +1,6 @@
|
||||
import numpy as np
|
||||
from heapq import * # pylint: disable=unused-wildcard-import
|
||||
|
||||
|
||||
|
||||
def astar(table, start, end):
|
||||
"""Returns a list of tuples as a path from the given start to the given end in the given table"""
|
||||
|
||||
# Create start and end node
|
||||
start_node = table[start[0]][start[1]]
|
||||
start_node.g = start_node.h = start_node.f = 0
|
||||
end_node = table[end[0]][end[1]]
|
||||
end_node.g = end_node.h = end_node.f = 0
|
||||
|
||||
# Initialize both open and closed list
|
||||
open_list = []
|
||||
closed_list = []
|
||||
|
||||
# Add the start node
|
||||
open_list.append(start_node)
|
||||
|
||||
# Loop until you find the end
|
||||
while len(open_list) > 0:
|
||||
|
||||
# Get the current node
|
||||
current_node = open_list[0]
|
||||
current_index = 0
|
||||
for index, item in enumerate(open_list):
|
||||
if item.f < current_node.f:
|
||||
current_node = item
|
||||
current_index = index
|
||||
|
||||
# Pop current off open list, add to closed list
|
||||
open_list.pop(current_index)
|
||||
closed_list.append(current_node)
|
||||
|
||||
# Found the goal
|
||||
if current_node == end_node:
|
||||
path = []
|
||||
current = current_node
|
||||
while current is not None:
|
||||
path.append((current.row,current.col))
|
||||
current = current.parent
|
||||
return path[::-1] # Return reversed path
|
||||
|
||||
# Generate children
|
||||
children = []
|
||||
for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0), (-1, -1), (-1, 1), (1, -1), (1, 1)]: # Adjacent squares
|
||||
|
||||
# Get node position #check
|
||||
node_position = (current_node.row + new_position[0], current_node.col + new_position[1])
|
||||
|
||||
# Make sure within range
|
||||
if node_position[0] > (len(table) - 1) or node_position[0] < 0 or node_position[1] > (len(table[len(table)-1]) -1) or node_position[1] < 0:
|
||||
continue
|
||||
|
||||
# Make sure walkable terrain
|
||||
if table[node_position[0]][node_position[1]].field_type == 3:
|
||||
continue
|
||||
|
||||
# Create new node
|
||||
table[node_position[0]][node_position[1]].parent = current_node
|
||||
#new_node = table[node_position[0]][node_position[1]]
|
||||
print("Dla :",node_position[0],node_position[1],"rodzicem jest:",current_node.row,current_node.col)
|
||||
|
||||
# Append
|
||||
children.append(table[node_position[0]][node_position[1]])
|
||||
|
||||
# Loop through children
|
||||
for child in children:
|
||||
|
||||
# Child is on the closed list
|
||||
for closed_child in closed_list:
|
||||
if child == closed_child:
|
||||
continue
|
||||
|
||||
# Create the f, g, and h values
|
||||
child.g = current_node.g + 1
|
||||
child.h = ((child.row - end_node.row) ** 2) + ((child.col - end_node.col) ** 2)
|
||||
child.f = child.g + child.h
|
||||
|
||||
# Child is already in the open list
|
||||
for open_node in open_list:
|
||||
if child == open_node and child.g > open_node.g:
|
||||
continue
|
||||
|
||||
# Add the child to the open list
|
||||
open_list.append(child)
|
||||
|
||||
class AStarNode():
|
||||
|
||||
def __init__(self, parent=None, position=None):
|
||||
@ -101,7 +15,6 @@ class AStarNode():
|
||||
|
||||
|
||||
def APath(table, start, end):
|
||||
"""Returns a list of tuples as a path from the given start to the given end in the given table"""
|
||||
|
||||
# Create start and end node
|
||||
start_node = AStarNode(None, start)
|
||||
|
@ -39,6 +39,7 @@ class Node:
|
||||
RED = (255, 0, 0)
|
||||
BLUE = (0, 0, 255)
|
||||
ORANGE = (255, 165, 0)
|
||||
PINK = (199,21,133)
|
||||
|
||||
def __init__(self, row: int, col: int,
|
||||
field_type: int = 0):
|
||||
@ -76,3 +77,5 @@ class Node:
|
||||
return self.BLUE
|
||||
elif self.field_type == 3:
|
||||
return self.ORANGE
|
||||
elif self.field_type == 4:
|
||||
return self.PINK
|
||||
|
26
UI/window.py
26
UI/window.py
@ -2,7 +2,7 @@ import pygame as pg
|
||||
import numpy as np
|
||||
import random
|
||||
from UI.grid import Grid, Node
|
||||
from UI.Apath import APath, astar
|
||||
from UI.Apath import APath
|
||||
|
||||
|
||||
|
||||
@ -32,36 +32,26 @@ class Window():
|
||||
grid.change_field(19, 19, 2)
|
||||
|
||||
#random obsticle
|
||||
for x in range(70):
|
||||
for x in range(100):
|
||||
grid.change_field(random.randint(1,18),random.randint(1,18),3)
|
||||
|
||||
#path
|
||||
path = [(i, i) for i in range(1, 20, 1)]
|
||||
self.grid.draw_map(self.screen)
|
||||
|
||||
#convert table to support Apath algoritm
|
||||
#copy table
|
||||
array = [[self.grid.table[col][row] for row in range(cols)] for col in range(rows)]
|
||||
|
||||
#for i,x in enumerate(array):
|
||||
# for j,y in enumerate(x):
|
||||
# if y.field_type == 3:
|
||||
# array[i][j] = None
|
||||
|
||||
#nodes_array = np.array(array)
|
||||
|
||||
#Run A star
|
||||
|
||||
#path, check = Astar(nodes_array, (0,0), (19, 19))
|
||||
#print(path,"\n\n",check,"\n\n")
|
||||
path = APath(array,(0,0),(19,19))
|
||||
print(path,"\n\n")
|
||||
|
||||
|
||||
for t in path:
|
||||
x, y = t
|
||||
self.grid.change_field(x-1, y-1, 0)
|
||||
for index, t in enumerate(path):
|
||||
x,y =t
|
||||
if index != 0:
|
||||
self.grid.change_field(path[index-1][0],path[index-1][1],4)
|
||||
self.grid.change_field(x, y, 1)
|
||||
self.grid.draw_node(self.screen, x - 1, y - 1)
|
||||
self.grid.draw_node(self.screen, path[index-1][0],path[index-1][1])
|
||||
self.grid.draw_node(self.screen, x, y)
|
||||
pg.time.delay(500)
|
||||
pg.quit() # pylint: disable=no-member
|
||||
|
Loading…
Reference in New Issue
Block a user