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2nd part AStar implementation

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This commit is contained in:
Marcin Dobrowolski 2020-04-26 14:14:35 +02:00
parent cdbc599d14
commit 96b42fb6c0
5 changed files with 80 additions and 39 deletions
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2
main.py
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@ -14,6 +14,7 @@ if __name__ == "__main__":
# init functions # init functions
graphics.drawBackground(waiter.matrix) graphics.drawBackground(waiter.matrix)
graphics.update(waiter.X, waiter.Y) graphics.update(waiter.X, waiter.Y)
print(waiter.findPath((1, 10)))
while True: while True:
for event in pygame.event.get(): for event in pygame.event.get():
@ -29,6 +30,7 @@ if __name__ == "__main__":
break break
graphics.clear(waiter.X, waiter.Y) graphics.clear(waiter.X, waiter.Y)
waiter.update(event, graphics) waiter.update(event, graphics)
graphics.update(waiter.X, waiter.Y) graphics.update(waiter.X, waiter.Y)
pygame.display.flip() pygame.display.flip()

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src/__pycache__/tile.cpython-38.pyc
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src/__pycache__/waiter.cpython-38.pyc
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6
src/tile.py
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@ -18,9 +18,9 @@ class Tile:
# Atrybuty niezbedne dla A* # Atrybuty niezbedne dla A*
self.position = (x, y) self.position = (x, y)
self.parent = None self.parent = None
self.totalCost = 0 # Koszt totalny czyli dystans do wierzcholka startowego + heurystyka self.totalCost = 0 # Koszt totalny czyli dystans do wierzcholka startowego + heurystyka F
self.startCost = 0 # Dystans do wierzcholka startowego self.startCost = 0 # Dystans do wierzcholka startowego G
# Dystant do wierzcholka koncowego oszacowany za pomoca funkcji heurystyki # Dystant do wierzcholka koncowego oszacowany za pomoca funkcji heurystyki H
self.heuristic = 0 self.heuristic = 0
# Operator porownywania pol # Operator porownywania pol

107
src/waiter.py
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@ -1,6 +1,7 @@
import pygame import pygame
from .matrix import Matrix from .matrix import Matrix
from .tile import Tile
# WAITER # WAITER
@ -12,6 +13,7 @@ class Waiter(pygame.sprite.Sprite):
self.frame = 0 self.frame = 0
self.matrix = Matrix(graphics=graphics) self.matrix = Matrix(graphics=graphics)
self.direction = 'E' self.direction = 'E'
self.tile = Tile(self, self.X, self.Y)
# Borders # Borders
def move(self, x, y, graphics): def move(self, x, y, graphics):
@ -53,61 +55,98 @@ class Waiter(pygame.sprite.Sprite):
# AStar # AStar
def findPath(self, goal): def findPath(self, goal):
#Stworzenie startowego i koncowego wierzcholka # Stworzenie startowego i koncowego wierzcholka
startNode = self.matrix.matrix[self.X][self.Y] startNode = self.matrix.matrix[self.X][self.Y]
goalNode = self.matrix.matrix[goal[0]][goal[1]] goalNode = self.matrix.matrix[goal[0]][goal[1]]
#Inicjalizacja list # Inicjalizacja list
openList = [] openList = []
closedList = [] closedList = []
openList.append(startNode) openList.append(startNode)
while len(openList) > 0: while len(openList) > 0:
openList.sort(key=getTotalCost)
openList.sort(key=tile.totalCost)
currentNode = openList.pop(0) currentNode = openList.pop(0)
closedList.append(currentNode) 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: if currentNode == goalNode:
pass path = []
#Tutaj odbywac sie bedzie budowanie sciezki gdy algorytm osiagnie cel current = currentNode
while current is not None:
path.append(current.position)
current = current.parent
return path[::-1]
children = [] children = []
if currentNode.X >= 0: if currentNode.position[0] >= 0:
if currentNode.Y + 1 < len(self.matrix.matrix[0]): if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
if self.matrix.matrix[currentNode.X][currentNode.Y + 1].walk_through == 1: if self.matrix.matrix[currentNode.position[0]][currentNode.position[1] + 1].walk_through == 1:
children.append(self.matrix.matrix[currentNode.X][currentNode.Y + 1]) children.append(
if currentNode.Y - 1 >= 0: self.matrix.matrix[currentNode.position[0]][currentNode.position[1] + 1])
if self.matrix.matrix[currentNode.X][currentNode.Y - 1].walk_through == 1: if currentNode.position[1] - 1 >= 0:
children.append(self.matrix.matrix[currentNode.X][currentNode.Y - 1]) if self.matrix.matrix[currentNode.position[0]][currentNode.position[1] - 1].walk_through == 1:
children.append(
self.matrix.matrix[currentNode.position[0]][currentNode.position[1] - 1])
if currentNode.X + 1 < len(self.matrix.matrix): if currentNode.position[0] + 1 < len(self.matrix.matrix):
if currentNode.Y + 1 < len(self.matrix.matrix[0]): if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
if self.matrix.matrix[currentNode.X + 1][currentNode.Y + 1].walk_through == 1: if self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] + 1].walk_through == 1:
children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y + 1]) children.append(
if currentNode.Y - 1 >= 0: self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] + 1])
if self.matrix.matrix[currentNode.X + 1][currentNode.Y - 1].walk_through == 1: if currentNode.position[1] - 1 >= 0:
children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y - 1]) if self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] - 1].walk_through == 1:
if currentNode.Y >= 0: children.append(
if self.matrix.matrix[currentNode.X + 1][currentNode.Y].walk_through == 1: self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] - 1])
children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y]) 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.X - 1 >= 0: if currentNode.position[0] - 1 >= 0:
if currentNode.Y + 1 < len(self.matrix.matrix[0]): if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
if self.matrix.matrix[currentNode.X - 1][currentNode.Y + 1].walk_through == 1: if self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] + 1].walk_through == 1:
children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y + 1]) children.append(
if currentNode.Y - 1 >= 0: self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] + 1])
if self.matrix.matrix[currentNode.X - 1][currentNode.Y - 1].walk_through == 1: if currentNode.position[1] - 1 >= 0:
children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y - 1]) if self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] - 1].walk_through == 1:
if currentNode.Y >= 0: children.append(
if self.matrix.matrix[currentNode.X - 1][currentNode.Y].walk_through == 1: self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] - 1])
children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y]) 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]])
for child in children: for child in children:
if child in closedList: #child.parent = currentNode
for closedChild in closedList:
if child == closedChild:
continue continue
child.startCost = currentNode.startCost + 1
child.heuristic = ((child.position[0] - goalNode.position[0]) ** 2) + (
(child.position[1] - goalNode.position[1]) ** 2)
child.totalCost = child.startCost + child.heuristic
for openNode in openList:
if child == openNode and child.startCost >= openNode.startCost:
continue
#child.parent = currentNode
openList.append(child)
def getTotalCost(tile):
return tile.totalCost