a* implementacja

frontend/index.html

@@ -13,6 +13,7 @@
             <div class="board" id="board">
                              
             </div>
+            
         </div>     
     </body>
 </html>

frontend/js/Archiwum/script.js

@@ -94,22 +94,22 @@
 //     document.getElementById(agent.getId()).style.backgroundImage = "url('Agent.jpg')";
 // }
 
-// //Funkcja zmieniajaca polozenie agenta o 1 pole
-// function przemieszczenie(side, time, agent){
-//     const lastPosition = agent.getId();
-//     setTimeout(function(){
-//         usunAgenta(agent)
-//         if(side == "left")
-//             agent.left();
-//         if(side == "right")
-//             agent.right();
-//         if(side == "up")
-//             agent.up();
-//         if(side == "down")
-//             agent.down();
-//         umiescAgenta(agent);
-//     }, time);
-// }
+//Funkcja zmieniajaca polozenie agenta o 1 pole
+function przemieszczenie(side, time, agent){
+    const lastPosition = agent.getId();
+    setTimeout(function(){
+        usunAgenta(agent)
+        if(side == "left")
+            agent.left();
+        if(side == "right")
+            agent.right();
+        if(side == "up")
+            agent.up();
+        if(side == "down")
+            agent.down();
+        umiescAgenta(agent);
+    }, time);
+}
 
 // //Funkcja ktora ustala droge agenta do przebycia
 // function droga(agent) {

frontend/js/main.js

@@ -18,21 +18,6 @@ class Agent{
         return params;
     }  
 
-    goForward(){
-        if(this.turn == 'Up'){
-            this.positionY += 1;
-        }
-        else if(this.turn == 'Down'){
-            this.positionY -= 1;
-        }
-        else if(this.turn == 'Left'){
-            this.positionX -= 1;
-        }
-        else if(this.turn == 'Right'){
-            this.positionX += 1;
-        }
-    }
-
     turnLeft(){
         if(this.turn == 'Up'){
             this.turn = 'Left';
@@ -83,6 +68,21 @@ class Agent{
         document.getElementById(this.positionX + "-" + this.positionY).style.backgroundImage = "";
     }
 
+    goForward(){
+        if(this.turn == 'Up'){
+            this.positionY += 1;
+        }
+        else if(this.turn == 'Down'){
+            this.positionY -= 1;
+        }
+        else if(this.turn == 'Left'){
+            this.positionX -= 1;
+        }
+        else if(this.turn == 'Right'){
+            this.positionX += 1;
+        }
+    }
+
 
 }
 
@@ -93,6 +93,11 @@ class Field{
         this.isShelf = isShelf;
         this.isOccupiedByAgent = isOccupiedByAgent;
         this.costOfTravel = costOfTravel;
+        this.neighbors = [];
+        this.gScore = 0;
+        this.heuristic = 0;
+        this.f = 0;
+        this.previous = undefined;
     }
 
     getParams(){
@@ -123,6 +128,12 @@ class Field{
 	setCostOfTravel(costOfTravel){
 		this.costOfTravel = costOfTravel;
     }
+    
+    setNeighbors(field){
+        if(field.isShelf == false){
+            this.neighbors.push(field)
+        }
+    }
 }
 
 class Shelf{
@@ -179,7 +190,8 @@ class Candy{
 	}
 	
 }
-//funckcje
+
+//funkcje
 
 function createBoard(rangeX, rangeY){
     const board = [];
@@ -332,11 +344,162 @@ function showBoard(board){
     }
 }
 
-function getDistance(x1,y1,x2,y2){
-    var a = x1 - x2;
-    var b = y1 - y2;
-    var c = Math.sqrt(a*a + b*b);
-    return c
+function getDistance(field, goalField){
+    // var a = field.xField - goalField.xField;
+    // var b = field.yField - goalField.yField;
+    // var c = Math.sqrt(a*a + b*b);
+    var d = Math.abs(field.xField - goalField.xField) + Math.abs(field.yField - goalField.yField)
+    return d
+}
+
+function addNeighbors(board){
+    for(var y = 0; y < 10; y++){
+        for(var x = 0; x < 10; x++){
+            var leftNeigbor, rightNeighbor, topNeighbor, bottomNeighbor;
+            if(x > 0){
+                leftNeigbor = board[y][x - 1];
+                board[y][x].setNeighbors(leftNeigbor);
+            }
+            if(x < board[y].length - 1){
+                rightNeighbor = board[y][x + 1];
+                board[y][x].setNeighbors(rightNeighbor);
+            }
+            if(y > 0){
+                bottomNeighbor = board[y - 1][x];
+                board[y][x].setNeighbors(bottomNeighbor);
+            }
+            if(y < board.length - 1){
+                topNeighbor = board[y + 1][x];
+                board[y][x].setNeighbors(topNeighbor);
+            }
+        }
+    }
+}
+
+function colorGreen(field){
+    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "green";
+}
+
+function colorRed(field){
+    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "red";
+}
+
+function colorYellow(field){
+    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "yellow";
+}
+
+function addNeighborsToOpenSet(set, neigbors){
+    for(x = 0; x < neigbors.length; x++){
+        set.push(neigbors[x]);
+        colorGreen(neigbors[x]);
+    }
+}
+
+function addToClosedSet(set, field){
+    set.push(field);
+    colorRed(field);
+}
+
+
+function addToOpenSet(set, field){
+    set.push(field);
+    colorGreen(field);
+}
+
+function calculateFScore(field, goalField){
+    let fscore, distanceToGoal, costOfTravel;
+    distanceToGoal = getDistance(field, goalField);
+    costOfTravel = field.costOfTravel;
+    fscore = costOfTravel + distanceToGoal;
+    return fscore;
+}
+
+function findLowestFScore(openSet, goalField){
+    let bestField = openSet[0];
+    for(var x = 1; x < openSet.length; x++){
+        if(calculateFScore(openSet[x], goalField) < calculateFScore(bestField, goalField)){
+            bestField = openSet[x];
+        }
+    }
+    return bestField;
+}
+
+function removeFromSet(openSet, promisingField){
+    for(var x = openSet.length - 1; x >= 0; x--){
+        if(openSet[x] == promisingField){
+            openSet.splice(x,1);
+        }
+    }
+}
+
+function sleep(milliseconds) {
+    const date = Date.now();
+    let currentDate = null;
+    do {
+      currentDate = Date.now();
+    } while (currentDate - date < milliseconds);
+  }
+
+function aStar(startField, goalField){
+    let closedSet = [];
+    let openSet = [];
+    var path;
+    
+    addToOpenSet(openSet, startField)
+
+    while(openSet.length > 0){
+        
+        let current = findLowestFScore(openSet, goalField);
+
+        if(current === goalField){
+            path = []
+            var temp = current;
+            path.push(temp);
+            while(temp.previous){
+                path.push(temp.previous);
+                temp = temp.previous
+            }
+            console.log("A* COMPLETED");
+
+            for(var i = 0; i < path.length; i++){
+                colorYellow(path[i]);
+            }
+            return path
+        }
+        
+        removeFromSet(openSet, current);
+        addToClosedSet(closedSet, current);
+        
+        var neighbors = current.neighbors;
+
+        for(var i = 0; i < neighbors.length; i++){
+            
+            var neighbor = neighbors[i];
+
+            if(!closedSet.includes(neighbor)){
+                var tempG = current.gScore + neighbor.costOfTravel;
+
+                if(openSet.includes(neighbor)){
+                    if(tempG < neighbor.gScore){
+                        neighbor.gScore = tempG;
+                    }
+                } else {
+                    neighbor.gScore = tempG;
+                    addToOpenSet(openSet, neighbor);
+                }
+
+                neighbor.heuristic = getDistance(neighbor, goalField);
+                neighbor.f = neighbor.gScore + neighbor.heuristic;
+                neighbor.previous = current;
+                
+            }
+        }
+    }
+}
+
+function executePath(agent, path){
+
+
 }
 
 
@@ -345,12 +508,17 @@ board = createShelfOnBoard(board);
 board = createCostofField(board, 10, 10);
 let candy = new Candy('zelek', 'truskawkowy', 'Jumbo', 541);
 let shelfs = createShelf();
-
 let agent = new Agent(0,0, 'Right');
+var button = document.getElementById("testButton");
+addNeighbors(board);
+
 
 function start(){
     showBoard(board);
-    console.log(board);
+    
+    let path = aStar(board[0][0], board[7][7]);
+    //console.log(path);
 }
 
 
+

frontend/styles.css

@@ -83,3 +83,21 @@ body {
     align-items: center;
 }
 
+#buttonContainer{
+    width: 100%;
+    height: 150px;
+    display: flex;
+    align-items: center;
+    
+}
+
+
+#testButton{
+    height:100px; 
+    width:200px; 
+    margin: -20px -50px; 
+    position:relative;
+    top:30px; 
+    left:48%;
+}
+