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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 from heapq import * # pylint: disable=unused-wildcard-import
def heuristic(a, b, pathing): def heuristic(a, b):
x = abs(a[0]-b[0]) x = abs(a[0]-b[0])
y = abs(a[1]-b[1]) y = abs(a[1]-b[1])
if pathing == '*': if x > y:
return 14*y + 10*(x - y)
if x > y:
return 14*y + 10*(x - y)
else:
return 14*x + 10*(y - x)
else: 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)] neighbors = [(0, 1), (0, -1), (1, 0), (-1, 0), (1, 1), (1, -1), (-1, 1), (-1, -1)]
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)]
came_from = {} came_from = {}
gscore = {start: 0} gscore = {start: 0}
fscore = {start: heuristic(start, goal, pathing)} fscore = {start: heuristic(start, goal)}
oheap = [] oheap = []
checked = [] checked = []
@ -45,13 +40,14 @@ def astar(array, start, goal, pathing):
current = came_from[current] current = came_from[current]
return list(reversed(data)), checked return list(reversed(data)), checked
print("array current",array[current[0],current[1]])
array[current[0], current[1]] = 2 array[current[0], current[1]]=2
for i, j in neighbors: for i, j in neighbors:
neighbor = current[0] + i, current[1] + j 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[0] < array.shape[0]:
if 0 <= neighbor[1] < array.shape[1]: 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]: if tentative_g_score < gscore.get(neighbor, 0) or neighbor not in [i[1]for i in oheap]:
came_from[neighbor] = current came_from[neighbor] = current
gscore[neighbor] = tentative_g_score 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)) heappush(oheap, (fscore[neighbor], neighbor))
return False return False

24
UI/window.py
View File

@ -1,6 +1,9 @@
import pygame as pg import pygame as pg
import numpy as np
import random import random
from UI.grid import Grid, Node from UI.grid import Grid, Node
from UI.Apath import Astar
class Window(): class Window():
@ -29,15 +32,26 @@ class Window():
grid.change_field(19, 19, 2) grid.change_field(19, 19, 2)
#random obsticle #random obsticle
for x in range(25): for x in range(40):
grid.change_field(random.randint(1,18),random.randint(1,18),3) grid.change_field(random.randint(1,18),random.randint(1,18),3)
#path
path = [(i, i) for i in range(1, 20, 1)] path = [(i, i) for i in range(1, 20, 1)]
self.grid.draw_map(self.screen) 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: for t in path:
@ -48,3 +62,7 @@ class Window():
self.grid.draw_node(self.screen, x, y) self.grid.draw_node(self.screen, x, y)
pg.time.delay(500) pg.time.delay(500)
pg.quit() # pylint: disable=no-member pg.quit() # pylint: disable=no-member