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Michal Kijowski 2020-04-28 10:18:15 +00:00
parent f17e5a650e
commit 4e18cd852b
5 changed files with 109 additions and 0 deletions

72
AStar.py Normal file
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import numpy
from AStarState import AStarState
class AStar:
def returnPath(self, currentNode, grid):
path = []
noRows, noColumns = numpy.shape(grid)
result = [[-1 for i in range(noColumns)] for j in range(noRows)]
current = currentNode
while current is not None:
path.append(current.position)
current = current.parent
path = path[::-1]
startValue = 0
for i in range(len(path)):
result[path[i][0]][path[i][1]] = startValue
startValue+=1
return result
def search(self, start, end, grid, cost):
noRows, noColumns = numpy.shape(grid)
startNode = AStarState(None, tuple(start))
endNode = AStarState(None, tuple(end))
startNode.g = 0
startNode.h = 0
startNode.f = 0
endNode.g = 0
endNode.h = 0
endNode.f = 0
toVisit = []
visited = []
toVisit.append(startNode)
iterations = 0
max = (len(grid) // 2) ** 10
moves = [[-1, 0], [1, 0], [0, 1], [0, -1]]
while len(toVisit)>0:
iterations=iterations+1
current = toVisit[0]
currentIndeks = 0
for indeks, item in enumerate(toVisit):
if item.g<current.g:
current = item
currentIndeks = indeks
if iterations>max:
return self.returnPath(current, grid)
visited.append(current)
toVisit.pop(currentIndeks)
if current==endNode:
return self.returnPath(current, grid)
children = []
for new in moves:
positions = (current.position[0]+new[0], current.position[1]+new[1])
if (positions[0] > (noRows - 1) or
positions[0] < 0 or
positions[1] > (noColumns - 1) or
positions[1] < 0):
continue
if grid[positions[0]][positions[1]]!=0:
continue
children.append(AStarState(current, positions))
for child in children:
if len([visitedChild for visitedChild in visited if visitedChild==child])>0:
continue
if child.position[0]<=(len(grid)-4) and child.position[0]>=3 and child.position[1]>=4 and child.position[1]<=(len(grid[0])-1):
child.g = current.g + (10 * cost)
else:
child.g = current.g + cost
child.h = (((child.position[0]-endNode.position[0]) ** 2) + ((child.position[1]-endNode.position[1]) ** 2))
child.f = child.g + child.h
if len([i for i in toVisit if child==i and child.g>i.g])>0:
continue
toVisit.append(child)

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AStarState.py Normal file
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class AStarState:
def __init__(self, parent, position):
self.parent = parent
self.position = position
self.g = 0
self.h = 0
self.f = 0
def __eq__(self, other):
return self.position == other.position
def show(self):
return str("{("+str(self.position[0])+", "+str(self.position[1])+") "+str(self.g)+"}")

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Evencik.py Normal file
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class Evencik:
def __init__(self, key):
self.key = key

5
box.py Normal file
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import pygame
class Box:
def __init__(self):
self.nazwa = "Nazwa"

16
boxOnTheFloor.py Normal file
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import pygame
class BoxOnTheFloor:
def __init__(self, screen, cell, we, ns, box):
self.cell = cell
self.ns = ns
self.occupied = True
self.box = box
self.we = we
self.screen = screen
self.image = pygame.image.load(r'images/pa.png')
self.image = pygame.transform.scale(self.image, (cell, cell))
def get(self):
return self.box
def draw(self):
self.screen.blit(self.image, (self.cell*self.ns, self.cell*self.we))