From c0218840998cdf900fac695671546e8b83529188 Mon Sep 17 00:00:00 2001 From: s473603 Date: Thu, 25 May 2023 22:51:00 +0200 Subject: [PATCH] storage added, a-star fixed --- field.py | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/field.py b/field.py index bfdc107..e2dee84 100644 --- a/field.py +++ b/field.py @@ -86,7 +86,7 @@ def draw_interface(): grid = Grid(BOARD_SIZE, BOARD_SIZE, BLOCK_SIZE) graph1 = Graph(grid) - graph1.initialize_graph(grid) + #graph1.initialize_graph(grid) fl_running = True @@ -179,15 +179,15 @@ class Grid: class Graph: def __init__(self, grid: Grid): self.graph = {} - self.initialize_graph(grid) + # self.initialize_graph(grid) - def initialize_graph(self, grid: Grid): - for y, row in enumerate(grid.grid): - for x, col in enumerate(row): - for direction in Direction: - self.graph[(x, y, direction)] = get_next_nodes(x, y, direction, grid) + # def initialize_graph(self, grid: Grid): + # for y, row in enumerate(grid.grid): + # for x, col in enumerate(row): + # for direction in Direction: + # self.graph[(x, y, direction)] = get_next_nodes(x, y, direction, grid) - def a_star(self, start, goal): + def a_star(self, start, goal, grid: Grid): # not finished yet https://www.youtube.com/watch?v=abHftC1GU6w queue = PriorityQueue() queue.put((0, start)) @@ -203,7 +203,7 @@ class Graph: returnGoal=cur_node break - next_nodes = self.graph[cur_node] + next_nodes = get_next_nodes(cur_node[0], cur_node[1], cur_node[2], grid) for next_node in next_nodes: neigh_cost, neigh_node = next_node @@ -384,23 +384,23 @@ def decisionTree(startpoint, endpoint, tractor, grid, graph1): arr.append(eight) - a1, c1 = graph1.a_star(startpoint, endpoint) + a1, c1 = graph1.a_star(startpoint, endpoint, grid) b1 = getRoad(startpoint, c1, a1) cost1 = getCost(tractor, grid, b1) - a2, c2 = graph1.a_star(startpoint, (SPAWN_POINT[0], SPAWN_POINT[1], Direction.RIGHT)) + a2, c2 = graph1.a_star(startpoint, (SPAWN_POINT[0], SPAWN_POINT[1], Direction.RIGHT), grid) b2 = getRoad(startpoint, c2, a2) cost2 = getCost(tractor, grid, b2) - a3, c3 = graph1.a_star(startpoint, (SKLEP_POINT[0], SKLEP_POINT[1], Direction.RIGHT)) + a3, c3 = graph1.a_star(startpoint, (SKLEP_POINT[0], SKLEP_POINT[1], Direction.RIGHT), grid) b3 = getRoad(startpoint, c3, a3) cost3 = getCost(tractor, grid, b3) - a4, c4 = graph1.a_star(c1, (SPAWN_POINT[0], SPAWN_POINT[1], Direction.RIGHT)) + a4, c4 = graph1.a_star(c1, (SPAWN_POINT[0], SPAWN_POINT[1], Direction.RIGHT), grid) b4 = getRoad(c1, c4, a4) cost4 = getCost(tractor, grid, b4) - a5, c5 = graph1.a_star(c3, (SPAWN_POINT[0], SPAWN_POINT[1], Direction.RIGHT)) + a5, c5 = graph1.a_star(c3, (SPAWN_POINT[0], SPAWN_POINT[1], Direction.RIGHT), grid) b5 = getRoad(c3, c5, a5) cost5 = getCost(tractor, grid, b5)