s464968/AIprojekt-wozek
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

fixes

Browse Source
This commit is contained in:
tonywesoly 2022-05-12 22:53:12 +02:00
parent b771ac0f00
commit 76f78b9e58
1 changed files with 7 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Astar.py
View File

@ -46,6 +46,7 @@ class Pathfinding:
# fringe = []
fringe = Min_heap()
explored = []
# explored = set()
is_target_node_walkable = True
if not target_node.walkable:
@ -64,16 +65,20 @@ class Pathfinding:
# fringe.remove(current_node)
explored.append(current_node)
# explored.add(current_node)
if current_node.state == target_node.state:
path = self.retrace_path(start_node,target_node)
self.path = path
target_node.walkable = is_target_node_walkable
return
for neighbour in self.succ(current_node):
if not neighbour.walkable or neighbour in explored:
# if neighbour in explored:
neighbour_in_explored = [e for e in explored if e.state == neighbour.state]
if not neighbour.walkable or len(neighbour_in_explored) > 0:
continue
# if neighbour in explored:
# continue
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 fringe.contains(neighbour):
@ -83,7 +88,6 @@ class Pathfinding:
# if not neighbour in fringe:
if not fringe.contains(neighbour):
fringe.insert(neighbour)
target_node.walkable = is_target_node_walkable
def get_distance(self, node_a, node_b): # funckja liczy dystans dla odległości między dwoma nodami