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A* chages

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This commit is contained in:
Maciej Sobkowiak 2019-04-25 20:56:02 +02:00
parent d716eb1d79
commit 4ee1e5af4f
2 changed files with 37 additions and 23 deletions
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36
UI/Apath.py
View File

@ -1,33 +1,28 @@
import numpy
import numpy as np
from heapq import * # pylint: disable=unused-wildcard-import
def heuristic(a, b, pathing):
def heuristic(a, b):
x = abs(a[0]-b[0])
y = abs(a[1]-b[1])
if pathing == '*':
if x > y:
return 14*y + 10*(x - y)
else:
return 14*x + 10*(y - x)
if x > y:
return 14*y + 10*(x - y)
else:
return 10*(x + y)
return 14*x + 10*(y - x)
def astar(array, start, goal, pathing):
def Astar(array, start, goal):
if pathing == '+':
neighbors = [(0, 1), (0, -1), (1, 0), (-1, 0)]
else:
neighbors = [(0, 1), (0, -1), (1, 0), (-1, 0), (1, 1), (1, -1), (-1, 1), (-1, -1)]
neighbors = [(i, j)for i in range(-1, 2, 1) for j in range(2)]
neighbors = [(0, 1), (0, -1), (1, 0), (-1, 0), (1, 1), (1, -1), (-1, 1), (-1, -1)]
came_from = {}
gscore = {start: 0}
fscore = {start: heuristic(start, goal, pathing)}
fscore = {start: heuristic(start, goal)}
oheap = []
checked = []
@ -45,13 +40,14 @@ def astar(array, start, goal, pathing):
current = came_from[current]
return list(reversed(data)), checked
array[current[0], current[1]] = 2
print("array current",array[current[0],current[1]])
array[current[0], current[1]]=2
for i, j in neighbors:
neighbor = current[0] + i, current[1] + j
tentative_g_score = gscore[current] + heuristic(current, neighbor, pathing)
tentative_g_score = gscore[current] + heuristic(current, neighbor)
if 0 <= neighbor[0] < array.shape[0]:
if 0 <= neighbor[1] < array.shape[1]:
@ -70,6 +66,6 @@ def astar(array, start, goal, pathing):
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, pathing)
fscore[neighbor] = tentative_g_score + heuristic(neighbor, goal)
heappush(oheap, (fscore[neighbor], neighbor))
return False

24
UI/window.py
View File

@ -1,6 +1,9 @@
import pygame as pg
import numpy as np
import random
from UI.grid import Grid, Node
from UI.Apath import Astar
class Window():
@ -29,15 +32,26 @@ class Window():
grid.change_field(19, 19, 2)
#random obsticle
for x in range(25):
for x in range(40):
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
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")
for t in path:
@ -48,3 +62,7 @@ class Window():
self.grid.draw_node(self.screen, x, y)
pg.time.delay(500)
pg.quit() # pylint: disable=no-member