102 lines
3.0 KiB
Python
102 lines
3.0 KiB
Python
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from enum import Enum
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from settings import *
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ROAD_TILE = 0
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class Rotation(Enum):
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UP = 0
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RIGHT = 1
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DOWN = 2
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LEFT = 3
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NONE = 100
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def __int__(self):
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return self.value
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class Node:
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def __init__(self, x: int, y: int, rotation: Rotation):
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self.x = x
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self.y = y
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self.g_cost = 0
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self.h_cost = 0
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self.parent = 0
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self.rotation = rotation
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def f_cost(self):
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return self.g_cost + self.h_cost
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def get_neighbours(node: Node, searched_list: list[Node], array: list[list[int]]) -> list[Node]:
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neighbours = []
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for offset_x in range (-1, 2):
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for offset_y in range (-1, 2):
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# don't look for cross neighbours
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if(abs(offset_x) + abs(offset_y) == 1):
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x = node.x + offset_x
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y = node.y + offset_y
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# prevent out of map coords
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if (x >= 0 and x <= MAP_WIDTH and y >= 0 and y <= MAP_HEIGHT):
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if(array[y][x] == ROAD_TILE and (x, y) not in searched_list):
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neighbour = Node(x, y, Rotation.NONE)
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neighbour.rotation = get_needed_rotation(node, neighbour)
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neighbours.append(neighbour)
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return neighbours
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# move cost schema:
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# - move from tile to tile: 10
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# - add extra 10 (1 rotation) if it exists
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def get_h_cost(start_node: Node, target_node: Node) -> int:
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distance_x = abs(start_node.x - target_node.x)
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distance_y = abs(start_node.y - target_node.y)
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cost = (distance_x + distance_y) * 10
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if(distance_x > 0 and distance_y > 0):
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cost += 10
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return cost
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# move cost schema:
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# - move from tile to tile: 10
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# - every rotation 90*: 10
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def get_neighbour_cost(start_node: Node, target_node: Node) -> int:
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new_rotation = get_needed_rotation(start_node, target_node)
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rotate_change = abs(get_rotate_change(start_node.rotation, new_rotation))
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if (rotate_change == 0):
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return 10
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elif (rotate_change == 1 or rotate_change == 3):
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return 20
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else:
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return 30
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# translate rotation change to move
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def get_move(start_node: Node, target_node: Node) -> list[str]:
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rotate_change = get_rotate_change(start_node.rotation, target_node.rotation)
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if (rotate_change == 0):
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return ["forward"]
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if (abs(rotate_change) == 2):
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return ["right", "right", "forward"]
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if (rotate_change < 0 or rotate_change == 3):
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return ["right", "forward"]
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else:
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return ["left", "forward"]
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# simple calc func
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def get_rotate_change(rotationA: Rotation, rotationB: Rotation) -> int:
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return int(rotationA) - int(rotationB)
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# get new rotation for target_node as neighbour of start_node
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def get_needed_rotation(start_node: Node, target_node: Node) -> Rotation:
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if (start_node.x - target_node.x > 0):
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return Rotation.LEFT
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if (start_node.x - target_node.x < 0):
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return Rotation.RIGHT
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if (start_node.y - target_node.y > 0):
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return Rotation.UP
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if (start_node.y - target_node.y < 0):
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return Rotation.DOWN
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