57 lines
1.9 KiB
Python
57 lines
1.9 KiB
Python
import heapq
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def heurystyka(a, b):
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return abs((b[0] - a[0])) + abs((b[1] - a[1]))
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def stepcost(obiekty, b):
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cost = 1
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if obiekty["plansza"][b[0], b[1]].jestDomem is True:
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cost += 2
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if obiekty["plansza"][b[0], b[1]].jestWysypiskiem is True:
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cost += 1
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if obiekty["plansza"][b[0], b[1]].jestKontenerem is True:
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cost += 2
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return cost
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def astar(obiekty, start, cel):
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sasiedzi = [(0, 1), (0, -1), (1, 0), (-1, 0)]
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close_set = set()
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came_from = {}
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hscore = {start: heurystyka(start, cel)}
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gscore = {start: 0}
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fscore = {start: heurystyka(start, cel)}
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oheap = []
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heapq.heappush(oheap, (fscore[start], start))
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while oheap:
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current = heapq.heappop(oheap)[1]
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if current == cel:
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data = []
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while current in came_from:
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data.append(current)
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current = came_from[current]
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return data[::-1]
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close_set.add(current)
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for i, j in sasiedzi:
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sasiad = current[0] + i, current[1] + j
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if 14 < sasiad[0] or sasiad[0] < 0:
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continue
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elif 14 < sasiad[1] or sasiad[1] < 0:
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continue
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elif 6 <= sasiad[0] <= 7 and 10 <= sasiad[1] <= 11:
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continue
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tentative_h_score = heurystyka(sasiad, cel) + stepcost(obiekty, sasiad)
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if sasiad in [i[1] for i in oheap] and tentative_h_score < hscore.get(current, 0):
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continue
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elif sasiad not in close_set and sasiad not in [i[1] for i in oheap]:
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came_from[sasiad] = current
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hscore[sasiad] = tentative_h_score
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fscore[sasiad] = tentative_h_score + gscore[current]
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gscore[sasiad] = gscore[current] + heurystyka(current, sasiad)
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heapq.heappush(oheap, (fscore[sasiad], sasiad))
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return False
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