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zmiany na potrzebe prezentacji. Wykrywanie trasy przez półki

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This commit is contained in:
tonywesoly 2022-04-29 08:59:52 +02:00
parent e8dfdfda68
commit 676b9c49c5
1 changed files with 4 additions and 2 deletions
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6
astar.py
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@ -51,7 +51,8 @@ class Node:
if self.walkable: if self.walkable:
return self.g_cost + self.h_cost return self.g_cost + self.h_cost
else: else:
return math.inf return 0
# return math.inf
class Pathfinding: class Pathfinding:
@ -107,7 +108,8 @@ class Pathfinding:
self.path = path self.path = path
for neighbour in self.succ(current_node): for neighbour in self.succ(current_node):
if not neighbour.walkable or neighbour in explored: # if not neighbour.walkable or neighbour in explored:
if neighbour in explored:
continue continue
new_movement_cost_to_neighbour = current_node.g_cost + self.get_distance(current_node,neighbour) new_movement_cost_to_neighbour = current_node.g_cost + self.get_distance(current_node,neighbour)
if new_movement_cost_to_neighbour < neighbour.g_cost or not neighbour in fringe: if new_movement_cost_to_neighbour < neighbour.g_cost or not neighbour in fringe: