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