zmianyyy #3
@ -13,6 +13,7 @@
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<div class="board" id="board">
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</div>
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</div>
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</body>
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</html>
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@ -94,22 +94,22 @@
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// document.getElementById(agent.getId()).style.backgroundImage = "url('Agent.jpg')";
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// }
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// //Funkcja zmieniajaca polozenie agenta o 1 pole
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// function przemieszczenie(side, time, agent){
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// const lastPosition = agent.getId();
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// setTimeout(function(){
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// usunAgenta(agent)
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// if(side == "left")
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// agent.left();
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// if(side == "right")
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// agent.right();
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// if(side == "up")
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// agent.up();
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// if(side == "down")
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// agent.down();
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// umiescAgenta(agent);
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// }, time);
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// }
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//Funkcja zmieniajaca polozenie agenta o 1 pole
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function przemieszczenie(side, time, agent){
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const lastPosition = agent.getId();
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setTimeout(function(){
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usunAgenta(agent)
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if(side == "left")
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agent.left();
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if(side == "right")
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agent.right();
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if(side == "up")
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agent.up();
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if(side == "down")
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agent.down();
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umiescAgenta(agent);
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}, time);
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}
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// //Funkcja ktora ustala droge agenta do przebycia
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// function droga(agent) {
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@ -16,22 +16,7 @@ class Agent{
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params = {positionX, positionY, turn};
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return params;
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}
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goForward(){
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if(this.turn == 'Up'){
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this.positionY += 1;
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}
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else if(this.turn == 'Down'){
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this.positionY -= 1;
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}
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else if(this.turn == 'Left'){
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this.positionX -= 1;
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}
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else if(this.turn == 'Right'){
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this.positionX += 1;
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}
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}
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}
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turnLeft(){
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if(this.turn == 'Up'){
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@ -83,6 +68,21 @@ class Agent{
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document.getElementById(this.positionX + "-" + this.positionY).style.backgroundImage = "";
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}
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goForward(){
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if(this.turn == 'Up'){
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this.positionY += 1;
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}
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else if(this.turn == 'Down'){
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this.positionY -= 1;
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}
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else if(this.turn == 'Left'){
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this.positionX -= 1;
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}
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else if(this.turn == 'Right'){
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this.positionX += 1;
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}
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}
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}
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@ -93,6 +93,11 @@ class Field{
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this.isShelf = isShelf;
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this.isOccupiedByAgent = isOccupiedByAgent;
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this.costOfTravel = costOfTravel;
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this.neighbors = [];
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this.gScore = 0;
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this.heuristic = 0;
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this.f = 0;
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this.previous = undefined;
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}
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getParams(){
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@ -122,7 +127,13 @@ class Field{
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setCostOfTravel(costOfTravel){
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this.costOfTravel = costOfTravel;
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}
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}
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setNeighbors(field){
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if(field.isShelf == false){
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this.neighbors.push(field)
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}
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}
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}
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class Shelf{
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@ -179,7 +190,8 @@ class Candy{
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}
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}
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//funckcje
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//funkcje
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function createBoard(rangeX, rangeY){
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const board = [];
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@ -332,11 +344,162 @@ function showBoard(board){
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}
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}
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function getDistance(x1,y1,x2,y2){
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var a = x1 - x2;
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var b = y1 - y2;
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var c = Math.sqrt(a*a + b*b);
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return c
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function getDistance(field, goalField){
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// var a = field.xField - goalField.xField;
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// var b = field.yField - goalField.yField;
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// var c = Math.sqrt(a*a + b*b);
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var d = Math.abs(field.xField - goalField.xField) + Math.abs(field.yField - goalField.yField)
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return d
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}
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function addNeighbors(board){
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for(var y = 0; y < 10; y++){
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for(var x = 0; x < 10; x++){
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var leftNeigbor, rightNeighbor, topNeighbor, bottomNeighbor;
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if(x > 0){
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leftNeigbor = board[y][x - 1];
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board[y][x].setNeighbors(leftNeigbor);
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}
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if(x < board[y].length - 1){
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rightNeighbor = board[y][x + 1];
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board[y][x].setNeighbors(rightNeighbor);
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}
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if(y > 0){
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bottomNeighbor = board[y - 1][x];
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board[y][x].setNeighbors(bottomNeighbor);
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}
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if(y < board.length - 1){
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topNeighbor = board[y + 1][x];
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board[y][x].setNeighbors(topNeighbor);
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}
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}
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}
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}
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function colorGreen(field){
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document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "green";
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}
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function colorRed(field){
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document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "red";
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}
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function colorYellow(field){
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document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "yellow";
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}
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function addNeighborsToOpenSet(set, neigbors){
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for(x = 0; x < neigbors.length; x++){
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set.push(neigbors[x]);
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colorGreen(neigbors[x]);
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}
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}
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function addToClosedSet(set, field){
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set.push(field);
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colorRed(field);
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}
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function addToOpenSet(set, field){
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set.push(field);
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colorGreen(field);
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}
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function calculateFScore(field, goalField){
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let fscore, distanceToGoal, costOfTravel;
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distanceToGoal = getDistance(field, goalField);
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costOfTravel = field.costOfTravel;
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fscore = costOfTravel + distanceToGoal;
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return fscore;
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}
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function findLowestFScore(openSet, goalField){
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let bestField = openSet[0];
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for(var x = 1; x < openSet.length; x++){
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if(calculateFScore(openSet[x], goalField) < calculateFScore(bestField, goalField)){
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bestField = openSet[x];
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}
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}
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return bestField;
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}
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function removeFromSet(openSet, promisingField){
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for(var x = openSet.length - 1; x >= 0; x--){
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if(openSet[x] == promisingField){
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openSet.splice(x,1);
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}
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}
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}
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function sleep(milliseconds) {
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const date = Date.now();
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let currentDate = null;
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do {
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currentDate = Date.now();
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} while (currentDate - date < milliseconds);
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}
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function aStar(startField, goalField){
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let closedSet = [];
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let openSet = [];
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var path;
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addToOpenSet(openSet, startField)
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while(openSet.length > 0){
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let current = findLowestFScore(openSet, goalField);
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if(current === goalField){
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path = []
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var temp = current;
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path.push(temp);
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while(temp.previous){
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path.push(temp.previous);
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temp = temp.previous
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}
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console.log("A* COMPLETED");
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for(var i = 0; i < path.length; i++){
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colorYellow(path[i]);
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}
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return path
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}
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removeFromSet(openSet, current);
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addToClosedSet(closedSet, current);
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var neighbors = current.neighbors;
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for(var i = 0; i < neighbors.length; i++){
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var neighbor = neighbors[i];
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if(!closedSet.includes(neighbor)){
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var tempG = current.gScore + neighbor.costOfTravel;
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if(openSet.includes(neighbor)){
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if(tempG < neighbor.gScore){
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neighbor.gScore = tempG;
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}
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} else {
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neighbor.gScore = tempG;
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addToOpenSet(openSet, neighbor);
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}
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neighbor.heuristic = getDistance(neighbor, goalField);
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neighbor.f = neighbor.gScore + neighbor.heuristic;
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neighbor.previous = current;
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}
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}
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}
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}
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function executePath(agent, path){
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}
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@ -345,12 +508,17 @@ board = createShelfOnBoard(board);
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board = createCostofField(board, 10, 10);
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let candy = new Candy('zelek', 'truskawkowy', 'Jumbo', 541);
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let shelfs = createShelf();
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let agent = new Agent(0,0, 'Right');
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var button = document.getElementById("testButton");
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addNeighbors(board);
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function start(){
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showBoard(board);
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console.log(board);
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let path = aStar(board[0][0], board[7][7]);
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//console.log(path);
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}
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@ -83,3 +83,21 @@ body {
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align-items: center;
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}
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#buttonContainer{
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width: 100%;
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height: 150px;
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display: flex;
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align-items: center;
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}
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#testButton{
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height:100px;
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width:200px;
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margin: -20px -50px;
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position:relative;
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top:30px;
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left:48%;
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}
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Loading…
Reference in New Issue
Block a user