kolejna poprawa astar

astar.py

@@ -5,10 +5,13 @@ def heurystyka(obiekty, a, b):
     heur = abs((b[0] - a[0])) + abs((b[1] - a[1]))
     if obiekty["plansza"][b[0], b[1]].jestDomem is True:
         heur += 2
+    if obiekty["plansza"][b[0], b[1]].jestPrzeszkoda is True:
+        heur += 100
     return heur
 
 
 def astar(obiekty, start, cel):
+
     sasiedzi = [(0, 1), (0, -1), (1, 0), (-1, 0)]
     close_set = set()
     came_from = {}
@@ -24,6 +27,7 @@ def astar(obiekty, start, cel):
             obiekty["plansza"][current[0], current[1]].setKolor((255, 0, 0))
             data = []
             while current in came_from:
+
                 data.append(current)
                 current = came_from[current]
             return data[::-1]
@@ -40,9 +44,9 @@ def astar(obiekty, start, cel):
                 continue
             tentative_h_score = heurystyka(obiekty, sasiad, cel) + heurystyka(obiekty, current, sasiad)
 
-            if sasiad in close_set and tentative_h_score > hscore.get(current, 0):
+            if sasiad in [i[1] for i in oheap] and tentative_h_score > hscore.get(current, 0):
                 continue
-            if tentative_h_score <= hscore.get(current, 0) or sasiad not in [i[1] for i in oheap]:
+            if sasiad not in close_set and sasiad not in [i[1] for i in oheap]:
                 came_from[sasiad] = current
                 hscore[sasiad] = tentative_h_score
                 fscore[sasiad] = tentative_h_score + gscore[current]

modele.py

@@ -57,7 +57,7 @@ class Smieciarka(pygame.sprite.Sprite):
             self.w_dol()
 
     def astar_move(self, obiekty):
-        sciezka = astar.astar(obiekty, self.pozycja, (14, 0))
+        sciezka = astar.astar(obiekty, self.pozycja, (random.randrange(15), random.randrange(15)))
         print(sciezka)
         for koord in sciezka:
             if koord[0] == self.x - 1 and koord[1] == self.y: