119 lines
4.7 KiB
Python
119 lines
4.7 KiB
Python
import math
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from operator import ne
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import pygame
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from Global_variables import Global_variables as G_var
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from Min_heap import Min_heap
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from Node import Node, State
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from Package import Package
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from Shelf import Shelf
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class Pathfinding:
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def __init__(self, enviroment_2d):
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# self.grid = []
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self.grid = [[ # tworze pustej tablicy o wymiarach naszej kraty
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None
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for y in range(G_var().DIMENSION_Y)]
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for x in range(G_var().DIMENSION_X)
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]
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for x in range(G_var().DIMENSION_X): # zapełnianie tablicy obiektami Node
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for y in range(G_var().DIMENSION_Y):
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is_walkable = True
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if isinstance(enviroment_2d[x][y], Shelf):
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is_walkable = False
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self.grid[x][y] = Node(State(1, x, y), is_walkable)
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self.path = []
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def succ(self,node): #funckja zwraca sąsiadów noda w argumencie
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node_x = node.state.x
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node_y = node.state.y
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neighbours = []
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neighbours_cords = [[1,0],[-1,0],[0,-1],[0,1]]
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for cord in neighbours_cords:
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neighbour_x = node_x + cord[0]
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neighbour_y = node_y + cord[1]
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if(neighbour_x >= 0 and neighbour_x < G_var().DIMENSION_X and neighbour_y >= 0 and neighbour_y < G_var().DIMENSION_Y):
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neighbours.append(self.grid[neighbour_x][neighbour_y])
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return neighbours
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def find_path(self, starting_state, target_state): # algorytm wyszukiwania trasy
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start_node = self.grid[starting_state.x][starting_state.y]
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target_node = self.grid[target_state.x][target_state.y]
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# fringe = []
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fringe = Min_heap()
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explored = []
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is_target_node_walkable = True
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if not target_node.walkable:
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target_node.walkable = True
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is_target_node_walkable = False
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# fringe.append(start_node)
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fringe.insert(start_node)
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# while len(fringe) > 0:
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while fringe.count() > 0:
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# current_node = fringe[0]
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current_node = fringe.extract()
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# for i in range(1, len(fringe)):
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# if fringe[i].f_cost() < current_node.f_cost() or (fringe[i].f_cost() == current_node.f_cost() and fringe[i].h_cost < current_node.h_cost):
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# current_node = fringe[i]
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# fringe.remove(current_node)
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explored.append(current_node)
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if current_node.state == target_node.state:
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path = self.retrace_path(start_node,target_node)
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self.path = path
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return
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for neighbour in self.succ(current_node):
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if not neighbour.walkable or neighbour in explored:
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# if neighbour in explored:
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continue
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new_movement_cost_to_neighbour = current_node.g_cost + self.get_distance(current_node,neighbour)
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# if new_movement_cost_to_neighbour < neighbour.g_cost or not neighbour in fringe:
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if new_movement_cost_to_neighbour < neighbour.g_cost or not fringe.contains(neighbour):
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neighbour.g_cost = new_movement_cost_to_neighbour
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neighbour.h_cost = self.get_distance(neighbour,target_node)
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neighbour.parent = current_node
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# if not neighbour in fringe:
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if not fringe.contains(neighbour):
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fringe.insert(neighbour)
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target_node.walkable = is_target_node_walkable
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def get_distance(self, node_a, node_b): # funckja liczy dystans dla odległości między dwoma nodami
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dist_x = abs(node_a.state.x - node_b.state.x)
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dist_y = abs(node_a.state.y - node_b.state.y)
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if dist_x > dist_y:
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return 10 * (dist_x - dist_y)
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return 10 * (dist_y - dist_x)
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def retrace_path(self, start_node, end_node): # funkcja zwraca tablice która ma w sobie wartosci pola parent
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# od end_node do start_node
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path = []
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current_node = end_node
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while current_node != start_node:
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path.append(current_node)
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current_node = current_node.parent
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path.reverse()
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return path
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def draw_path(self, window): # rysuję ścieżkę na ekranie
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color = (213, 55, 221)
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for node in self.path:
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node_x = node.state.x
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node_y = node.state.y
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block = pygame.Rect(
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node_x * G_var().RECT_SIZE, node_y *
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G_var().RECT_SIZE, G_var().RECT_SIZE, G_var().RECT_SIZE
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)
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pygame.draw.rect(window,
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color,
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block) |