82 lines
2.7 KiB
Python
82 lines
2.7 KiB
Python
from Constants import ROWS, COLS
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from Engine.Point import Point
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class PathFinder:
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def __init__(self, board):
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self.board = board
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self.openList = []
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self.cameFrom = {}
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self.gScore = {}
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self.fScore = {}
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self.current = Point(0,0)
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def findPath(self,startPoint, endPoint):
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self.openList.append(startPoint)
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self.gScore[startPoint] = 0
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self.fScore[startPoint] = startPoint.distance(endPoint)
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while self.openList:
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self.current = self.minKey(self.fScore, self.openList)
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if self.current.__eq__(endPoint):
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return self.reconstructPath()
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self.openList.remove(self.current)
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for point in self.getNeighbour(self.current):
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tentativeGScore = self.gScore.get(self.current) + self.current.distance(point)
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if tentativeGScore < self.gScore.get(point, 10000):
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self.cameFrom[point] = self.current
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self.gScore[point] = tentativeGScore
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self.fScore[point] = point.distance(startPoint)
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if(point not in self.openList):
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self.openList.append(point)
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return []
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def reconstructPath(self):
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totalPath = []
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totalPath.append(self.current)
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while self.current in self.cameFrom:
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self.current = self.cameFrom[self.current]
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totalPath.insert(0,self.current)
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return totalPath
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def getNeighbour(self, current):
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neighbourlist = []
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point1 = Point(current.getX() + 1, current.getY())
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point2 = Point(current.getX(), current.getY() + 1)
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point3 = Point(current.getX(), current.getY() - 1)
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point4 = Point(current.getX() - 1, current.getY())
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if self.checkField(current,current):
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neighbourlist.append(point1)
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if self.checkField(current, point2):
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neighbourlist.append(point2)
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if self.checkField(current,point3):
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neighbourlist.append(point3)
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if self.checkField(current,point4):
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neighbourlist.append(point4)
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return neighbourlist
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def checkField(self,current, point):
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if not (point.getX() < 0 or point.getX() > COLS - 1 or point.getY() < 0 or point.getY() > ROWS - 1 or point.__eq__(current)) and point not in self.board.stoneMap:
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return True
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return False
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def minKey(self, fscore, openlist):
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minkey = Point(0,0)
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minValue = float('inf')
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for point in openlist:
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value = fscore.get(point, 10000)
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if value < minValue:
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minValue = value
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minkey = point
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return minkey
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