2nd part AStar implementation
This commit is contained in:
Marcin Dobrowolski
parent
cdbc599d14
commit
96b42fb6c0
2
main.py
2
main.py
@ -14,6 +14,7 @@ if __name__ == "__main__":
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# init functions
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graphics.drawBackground(waiter.matrix)
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graphics.update(waiter.X, waiter.Y)
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print(waiter.findPath((1, 10)))
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while True:
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for event in pygame.event.get():
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@ -29,6 +30,7 @@ if __name__ == "__main__":
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break
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graphics.clear(waiter.X, waiter.Y)
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waiter.update(event, graphics)
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graphics.update(waiter.X, waiter.Y)
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pygame.display.flip()
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@ -18,9 +18,9 @@ class Tile:
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# Atrybuty niezbedne dla A*
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self.position = (x, y)
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self.parent = None
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self.totalCost = 0 # Koszt totalny czyli dystans do wierzcholka startowego + heurystyka
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self.startCost = 0 # Dystans do wierzcholka startowego
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# Dystant do wierzcholka koncowego oszacowany za pomoca funkcji heurystyki
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self.totalCost = 0 # Koszt totalny czyli dystans do wierzcholka startowego + heurystyka F
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self.startCost = 0 # Dystans do wierzcholka startowego G
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# Dystant do wierzcholka koncowego oszacowany za pomoca funkcji heurystyki H
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self.heuristic = 0
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# Operator porownywania pol
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111
src/waiter.py
111
src/waiter.py
@ -1,6 +1,7 @@
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import pygame
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from .matrix import Matrix
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from .tile import Tile
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# WAITER
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@ -12,6 +13,7 @@ class Waiter(pygame.sprite.Sprite):
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self.frame = 0
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self.matrix = Matrix(graphics=graphics)
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self.direction = 'E'
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self.tile = Tile(self, self.X, self.Y)
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# Borders
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def move(self, x, y, graphics):
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@ -53,61 +55,98 @@ class Waiter(pygame.sprite.Sprite):
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# AStar
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def findPath(self, goal):
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#Stworzenie startowego i koncowego wierzcholka
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# Stworzenie startowego i koncowego wierzcholka
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startNode = self.matrix.matrix[self.X][self.Y]
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goalNode = self.matrix.matrix[goal[0]][goal[1]]
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#Inicjalizacja list
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# Inicjalizacja list
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openList = []
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closedList = []
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openList.append(startNode)
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while len(openList) > 0:
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openList.sort(key=tile.totalCost)
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openList.sort(key=getTotalCost)
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currentNode = openList.pop(0)
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closedList.append(currentNode)
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print("\nOpenList")
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for tile in openList:
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print(tile.position, end=" ")
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print("\nClosed List")
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for tile in closedList:
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print(tile.position, end=' ')
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# Tutaj odbywac sie bedzie budowanie sciezki gdy algorytm osiagnie cel
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if currentNode == goalNode:
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pass
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#Tutaj odbywac sie bedzie budowanie sciezki gdy algorytm osiagnie cel
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path = []
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current = currentNode
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while current is not None:
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path.append(current.position)
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current = current.parent
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return path[::-1]
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children = []
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if currentNode.X >= 0:
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if currentNode.Y + 1 < len(self.matrix.matrix[0]):
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if self.matrix.matrix[currentNode.X][currentNode.Y + 1].walk_through == 1:
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children.append(self.matrix.matrix[currentNode.X][currentNode.Y + 1])
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if currentNode.Y - 1 >= 0:
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if self.matrix.matrix[currentNode.X][currentNode.Y - 1].walk_through == 1:
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children.append(self.matrix.matrix[currentNode.X][currentNode.Y - 1])
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if currentNode.position[0] >= 0:
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if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
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if self.matrix.matrix[currentNode.position[0]][currentNode.position[1] + 1].walk_through == 1:
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children.append(
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self.matrix.matrix[currentNode.position[0]][currentNode.position[1] + 1])
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if currentNode.position[1] - 1 >= 0:
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if self.matrix.matrix[currentNode.position[0]][currentNode.position[1] - 1].walk_through == 1:
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children.append(
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self.matrix.matrix[currentNode.position[0]][currentNode.position[1] - 1])
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if currentNode.X + 1 < len(self.matrix.matrix):
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if currentNode.Y + 1 < len(self.matrix.matrix[0]):
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if self.matrix.matrix[currentNode.X + 1][currentNode.Y + 1].walk_through == 1:
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children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y + 1])
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if currentNode.Y - 1 >= 0:
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if self.matrix.matrix[currentNode.X + 1][currentNode.Y - 1].walk_through == 1:
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children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y - 1])
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if currentNode.Y >= 0:
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if self.matrix.matrix[currentNode.X + 1][currentNode.Y].walk_through == 1:
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children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y])
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if currentNode.position[0] + 1 < len(self.matrix.matrix):
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if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
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if self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] + 1].walk_through == 1:
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children.append(
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self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] + 1])
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if currentNode.position[1] - 1 >= 0:
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if self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] - 1].walk_through == 1:
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children.append(
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self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1] - 1])
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if currentNode.position[1] >= 0:
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if self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1]].walk_through == 1:
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children.append(
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self.matrix.matrix[currentNode.position[0] + 1][currentNode.position[1]])
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if currentNode.X - 1 >= 0:
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if currentNode.Y + 1 < len(self.matrix.matrix[0]):
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if self.matrix.matrix[currentNode.X - 1][currentNode.Y + 1].walk_through == 1:
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children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y + 1])
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if currentNode.Y - 1 >= 0:
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if self.matrix.matrix[currentNode.X - 1][currentNode.Y - 1].walk_through == 1:
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children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y - 1])
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if currentNode.Y >= 0:
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if self.matrix.matrix[currentNode.X - 1][currentNode.Y].walk_through == 1:
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children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y])
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if currentNode.position[0] - 1 >= 0:
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if currentNode.position[1] + 1 < len(self.matrix.matrix[0]):
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if self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] + 1].walk_through == 1:
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children.append(
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self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] + 1])
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if currentNode.position[1] - 1 >= 0:
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if self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] - 1].walk_through == 1:
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children.append(
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self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1] - 1])
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if currentNode.position[1] >= 0:
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if self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1]].walk_through == 1:
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children.append(
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self.matrix.matrix[currentNode.position[0] - 1][currentNode.position[1]])
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for child in children:
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if child in closedList:
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continue
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#child.parent = currentNode
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for closedChild in closedList:
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if child == closedChild:
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continue
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child.startCost = currentNode.startCost + 1
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child.heuristic = ((child.position[0] - goalNode.position[0]) ** 2) + (
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(child.position[1] - goalNode.position[1]) ** 2)
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child.totalCost = child.startCost + child.heuristic
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for openNode in openList:
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if child == openNode and child.startCost >= openNode.startCost:
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continue
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#child.parent = currentNode
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openList.append(child)
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def getTotalCost(tile):
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return tile.totalCost
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