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3rd part AStar implementation

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This commit is contained in:
Marcin Dobrowolski 2020-04-27 21:56:17 +02:00
parent 96b42fb6c0
commit 0fa109ef35
6 changed files with 189 additions and 68 deletions
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30
main.py
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@ -1,4 +1,5 @@
import sys
import secrets
from src.graphics import *
from src.waiter import *
@ -7,15 +8,17 @@ if __name__ == "__main__":
# SETUP
pygame.init()
clock = pygame.time.Clock()
fps = 40
fps = 2
graphics = Graphics()
waiter = Waiter(graphics)
# init functions
graphics.drawBackground(waiter.matrix)
graphics.update(waiter.X, waiter.Y)
print(waiter.findPath((1, 10)))
goal = None
path = [(0, 0)]
# print(waiter.findPath())
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
@ -29,9 +32,26 @@ if __name__ == "__main__":
sys.exit()
break
graphics.clear(waiter.X, waiter.Y)
if event.key == pygame.K_r:
temp = False
while not temp:
x = secrets.randbelow(graphics.width)
y = secrets.randbelow(graphics.height)
if waiter.matrix.matrix[x][y].walk_through == 1:
temp = True
goal = (x, y)
path = waiter.findPath(goal)
if path != []:
temp = path.pop(0)
print(temp)
waiter.travel(temp, graphics)
#graphics.clear(waiter.X, waiter.Y)
#waiter.update(event, graphics)
#graphics.update(waiter.X, waiter.Y)
waiter.update(event, graphics)
graphics.update(waiter.X, waiter.Y)
pygame.display.flip()
clock.tick(fps)

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src/__pycache__/matrix.cpython-38.pyc
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src/__pycache__/tile.cpython-38.pyc
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src/__pycache__/waiter.cpython-38.pyc
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2
src/tile.py
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@ -6,7 +6,7 @@ class Tile:
if self.type == 'wall':
self.watch_through = 0
self.walk_through = 0
elif self.type == 'table' or self.type == 'bar' or self.type == 'chair':
elif self.type == 'table' or self.type == 'bar' or self.type == 'chair_front' or self.type == 'chair_back' or self.type == 'chair_left' or self.type == 'chair_right':
self.watch_through = 1
self.walk_through = 0
else:

225
src/waiter.py
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@ -22,39 +22,39 @@ class Waiter(pygame.sprite.Sprite):
self.X += x
self.Y += y
def update(self, event, graphics):
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_RIGHT:
if self.direction == 'N':
self.direction = 'W'
elif self.direction == 'S':
self.direction = 'E'
elif self.direction == 'E':
self.direction = 'N'
elif self.direction == 'W':
self.direction = 'S'
if event.key == pygame.K_LEFT:
if self.direction == 'N':
self.direction = 'E'
elif self.direction == 'S':
self.direction = 'W'
elif self.direction == 'E':
self.direction = 'S'
elif self.direction == 'W':
self.direction = 'N'
if event.key == pygame.K_UP:
if self.direction == 'N':
self.move(0, 1, graphics)
if self.direction == 'S':
self.move(0, -1, graphics)
if self.direction == 'E':
self.move(1, 0, graphics)
if self.direction == 'W':
self.move(-1, 0, graphics)
print(self.X, self.Y)
def update(self, instruction, graphics):
if instruction == 'L':
if self.direction == 'N':
self.direction = 'W'
elif self.direction == 'S':
self.direction = 'E'
elif self.direction == 'E':
self.direction = 'N'
elif self.direction == 'W':
self.direction = 'S'
if instruction == 'R':
if self.direction == 'N':
self.direction = 'E'
elif self.direction == 'S':
self.direction = 'W'
elif self.direction == 'E':
self.direction = 'S'
elif self.direction == 'W':
self.direction = 'N'
if instruction == 'F':
if self.direction == 'N':
self.move(0, -1, graphics)
if self.direction == 'S':
self.move(0, 1, graphics)
if self.direction == 'E':
self.move(1, 0, graphics)
if self.direction == 'W':
self.move(-1, 0, graphics)
#print(self.X, self.Y)
# AStar
def findPath(self, goal):
# Stworzenie startowego i koncowego wierzcholka
startNode = self.matrix.matrix[self.X][self.Y]
goalNode = self.matrix.matrix[goal[0]][goal[1]]
@ -67,17 +67,10 @@ class Waiter(pygame.sprite.Sprite):
while len(openList) > 0:
openList.sort(key=getTotalCost)
currentNode = openList.pop(0)
closedList.append(currentNode)
print("\nOpenList")
for tile in openList:
print(tile.position, end=" ")
print("\nClosed List")
for tile in closedList:
print(tile.position, end=' ')
# Tutaj odbywac sie bedzie budowanie sciezki gdy algorytm osiagnie cel
if currentNode == goalNode:
path = []
@ -88,6 +81,7 @@ class Waiter(pygame.sprite.Sprite):
return path[::-1]
children = []
if currentNode.position[0] >= 0:
if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
if self.matrix.matrix[currentNode.position[0]][currentNode.position[1] + 1].walk_through == 1:
@ -99,54 +93,161 @@ class Waiter(pygame.sprite.Sprite):
self.matrix.matrix[currentNode.position[0]][currentNode.position[1] - 1])
if currentNode.position[0] + 1 < len(self.matrix.matrix):
if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
if self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] + 1].walk_through == 1:
children.append(
self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] + 1])
if currentNode.position[1] - 1 >= 0:
if self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] - 1].walk_through == 1:
children.append(
self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] - 1])
if currentNode.position[1] >= 0:
if self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1]].walk_through == 1:
children.append(
self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1]])
if currentNode.position[0] - 1 >= 0:
if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
if self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] + 1].walk_through == 1:
children.append(
self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] + 1])
if currentNode.position[1] - 1 >= 0:
if self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] - 1].walk_through == 1:
children.append(
self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] - 1])
if currentNode.position[1] >= 0:
if self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1]].walk_through == 1:
children.append(
self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1]])
perm = 0
for child in children:
#child.parent = currentNode
for closedChild in closedList:
if child == closedChild:
continue
perm = 1
break
if perm == 1:
perm = 0
continue
child.parent = currentNode
child.startCost = currentNode.startCost + 1
child.heuristic = ((child.position[0] - goalNode.position[0]) ** 2) + (
(child.position[1] - goalNode.position[1]) ** 2)
child.heuristic = abs(
goal[0] - child.position[0]) + abs(goal[1] - child.position[1])
child.totalCost = child.startCost + child.heuristic
for openNode in openList:
if child == openNode and child.startCost >= openNode.startCost:
if child == openNode and child.startCost > openNode.startCost:
perm = 1
continue
#child.parent = currentNode
if perm == 1:
perm = 0
continue
openList.append(child)
def translatePath(self, path):
currentPosition = (self.X, self.Y)
currentDirection = self.direction
output = ''
for node in path:
if currentDirection == 'N':
if currentPosition[0] == node[0]:
if currentPosition[1] + 1 == node[1]:
output += 'LLF'
currentDirection = 'S'
if currentPosition[1] - 1 == node[1]:
output += 'F'
elif currentPosition[1] == node[1]:
if currentPosition[0] + 1 == node[0]:
output += 'RF'
currentDirection = 'E'
if currentPosition[0] - 1 == node[0]:
output += 'LF'
currentDirection = 'W'
elif currentDirection == 'E':
if currentPosition[0] == node[0]:
if currentPosition[1] + 1 == node[1]:
output += 'RF'
currentDirection = 'S'
if currentPosition[1] - 1 == node[1]:
output += 'LF'
currentDirection = 'N'
elif currentPosition[1] == node[1]:
if currentPosition[0] + 1 == node[0]:
output += 'F'
if currentPosition[0] - 1 == node[0]:
output += 'LLF'
currentDirection = 'W'
elif currentDirection == 'S':
if currentPosition[0] == node[0]:
if currentPosition[1] + 1 == node[1]:
output += 'F'
if currentPosition[1] - 1 == node[1]:
output += 'LLF'
currentDirection = 'N'
elif currentPosition[1] == node[1]:
if currentPosition[0] + 1 == node[0]:
output += 'LF'
currentDirection = 'E'
if currentPosition[0] - 1 == node[0]:
output += 'RF'
currentDirection = 'W'
elif currentDirection == 'W':
if currentPosition[0] == node[0]:
if currentPosition[1] + 1 == node[1]:
output += 'LF'
currentDirection = 'S'
if currentPosition[1] - 1 == node[1]:
output += 'RF'
currentDirection = 'N'
elif currentPosition[1] == node[1]:
if currentPosition[0] + 1 == node[0]:
output += 'LLF'
currentDirection = 'E'
if currentPosition[0] - 1 == node[0]:
output += 'F'
currentPosition = node
return output
def travel(self, goal, graphics):
translatedPath = self.translatePath([goal])
print('{} - {} - {}'.format(self.direction, goal, translatedPath))
for character in translatedPath:
if character == 'F':
graphics.clear(self.X, self.Y)
self.update('F', graphics)
graphics.update(self.X, self.Y)
if character == 'R':
#graphics.clear(self.X, self.Y)
self.update('R', graphics)
#graphics.update(self.X, self.Y)
if character == 'L':
#graphics.clear(self.X, self.Y)
self.update('L', graphics)
#graphics.update(self.X, self.Y)
def getTotalCost(tile):
return tile.totalCost