forked from s434673/AI_Waiter
Zaktualizuj 'src/waiter.py'
This commit is contained in:
parent
4e763004f6
commit
1ee56bf721
102
src/waiter.py
102
src/waiter.py
@ -55,23 +55,30 @@ class Waiter(pygame.sprite.Sprite):
|
||||
|
||||
# AStar
|
||||
def findPath(self, goal):
|
||||
#Stworzenie startowego i koncowego wierzcholka
|
||||
startNode = self.matrix.matrix[self.X][self.Y]
|
||||
goalNode = self.matrix.matrix[goal[5]][goal[7]]
|
||||
|
||||
#Inicjalizacja list
|
||||
# Stworzenie startowego i koncowego wierzcholka
|
||||
startNode = self.matrix.matrix[self.X][self.Y]
|
||||
goalNode = self.matrix.matrix[goal[0]][goal[1]]
|
||||
|
||||
# Inicjalizacja list
|
||||
openList = []
|
||||
closedList = []
|
||||
|
||||
openList.append(startNode)
|
||||
|
||||
parentNode = startNode
|
||||
while len(openList) > 0:
|
||||
openList.sort(key=self.tile.totalCost)
|
||||
openList.sort(key=getTotalCost)
|
||||
|
||||
currentNode = openList.pop(0)
|
||||
|
||||
if currentNode != parentNode:
|
||||
currentNode.parent = parentNode
|
||||
|
||||
parentNode = currentNode
|
||||
closedList.append(currentNode)
|
||||
|
||||
|
||||
#Tutaj odbywac sie bedzie budowanie sciezki gdy algorytm osiagnie cel
|
||||
# Tutaj odbywac sie bedzie budowanie sciezki gdy algorytm osiagnie cel
|
||||
if currentNode == goalNode:
|
||||
path = []
|
||||
current = currentNode
|
||||
@ -81,52 +88,71 @@ class Waiter(pygame.sprite.Sprite):
|
||||
return path[::-1]
|
||||
|
||||
children = []
|
||||
if currentNode.X >= 0:
|
||||
if currentNode.Y + 1 < len(self.matrix.matrix[0]):
|
||||
if self.matrix.matrix[currentNode.X][currentNode.Y + 1].walk_through == 1:
|
||||
children.append(self.matrix.matrix[currentNode.X][currentNode.Y + 1])
|
||||
if currentNode.Y - 1 >= 0:
|
||||
if self.matrix.matrix[currentNode.X][currentNode.Y - 1].walk_through == 1:
|
||||
children.append(self.matrix.matrix[currentNode.X][currentNode.Y - 1])
|
||||
|
||||
if currentNode.X + 1 < len(self.matrix.matrix):
|
||||
if currentNode.Y + 1 < len(self.matrix.matrix[0]):
|
||||
if self.matrix.matrix[currentNode.X + 1][currentNode.Y + 1].walk_through == 1:
|
||||
children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y + 1])
|
||||
if currentNode.Y - 1 >= 0:
|
||||
if self.matrix.matrix[currentNode.X + 1][currentNode.Y - 1].walk_through == 1:
|
||||
children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y - 1])
|
||||
if currentNode.Y >= 0:
|
||||
if self.matrix.matrix[currentNode.X + 1][currentNode.Y].walk_through == 1:
|
||||
children.append(self.matrix.matrix[currentNode.X + 1][currentNode.Y])
|
||||
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:
|
||||
children.append(
|
||||
self.matrix.matrix[currentNode.position[0]][currentNode.position[1] + 1])
|
||||
if currentNode.position[1] - 1 >= 0:
|
||||
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 >= 0:
|
||||
if currentNode.Y + 1 < len(self.matrix.matrix[0]):
|
||||
if self.matrix.matrix[currentNode.X - 1][currentNode.Y + 1].walk_through == 1:
|
||||
children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y + 1])
|
||||
if currentNode.Y - 1 >= 0:
|
||||
if self.matrix.matrix[currentNode.X - 1][currentNode.Y - 1].walk_through == 1:
|
||||
children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y - 1])
|
||||
if currentNode.Y >= 0:
|
||||
if self.matrix.matrix[currentNode.X - 1][currentNode.Y].walk_through == 1:
|
||||
children.append(self.matrix.matrix[currentNode.X - 1][currentNode.Y])
|
||||
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:
|
||||
|
||||
for closedChild in closedList:
|
||||
if child == closedChild:
|
||||
perm = 1
|
||||
continue
|
||||
if perm == 1:
|
||||
perm = 0
|
||||
continue
|
||||
|
||||
child.startCost = currentNode.startCost + 1
|
||||
child.heuristic = ((child.position[0] - goalNode.position[0]) ** 2) + ((child.position[1] - goalNode.position[1]) ** 2)
|
||||
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:
|
||||
if child == openNode and child.startCost >= openNode.startCost:
|
||||
perm = 1
|
||||
continue
|
||||
|
||||
if perm == 1:
|
||||
perm = 0
|
||||
continue
|
||||
openList.append(child)
|
||||
|
||||
|
||||
|
||||
def getTotalCost(tile):
|
||||
return tile.totalCost
|
||||
Loading…
Reference in New Issue
Block a user