A* search

This commit is contained in:
s481904 2024-04-27 00:34:03 +02:00
parent 1315b33894
commit 8cdf6d8118
2 changed files with 191 additions and 2 deletions

155
astar.py Normal file
View File

@ -0,0 +1,155 @@
import pygame
from board import Board
from constant import width, height, rows, cols
from tractor import Tractor
import heapq
import math
fps = 2
WIN = pygame.display.set_mode((width, height))
pygame.display.set_caption('Inteligenty Traktor')
class Node:
def __init__(self, x, y):
self.x = x
self.y = y
self.f = 0
self.g = 0
self.h = 0
self.cost = 1
self.visited = False
self.closed = False
self.parent = None
def __lt__(self, other):
return self.f < other.f
def neighbors(self, grid):
ret = []
x, y = self.x, self.y
if x > 0 and grid[x - 1][y]:
ret.append(grid[x - 1][y])
if x < len(grid) - 1 and grid[x + 1][y]:
ret.append(grid[x + 1][y])
if y > 0 and grid[x][y - 1]:
ret.append(grid[x][y - 1])
if y < len(grid[0]) - 1 and grid[x][y + 1]:
ret.append(grid[x][y + 1])
return ret
def init(grid):
for x in range(len(grid)):
for y in range(len(grid[x])):
node = grid[x][y]
node.f = 0
node.g = 0
node.h = 0
node.cost = 1
node.visited = False
node.closed = False
node.parent = None
def heap():
return []
def search(grid, start, end, board, heuristic=None):
init(grid)
if heuristic is None:
heuristic = manhattan
open_heap = heap()
heapq.heappush(open_heap, start)
while open_heap:
current_node = heapq.heappop(open_heap)
if (current_node.x, current_node.y) == (end.x, end.y):
ret = []
while current_node.parent:
ret.append(current_node)
current_node = current_node.parent
ret.append(start)
ret_path = ret[::-1]
for node in ret_path:
print(f"({node.x}, {node.y}): {node.g}")
print("Znaleziono ścieżkę [(x,y)jako(kolumna,wiersz)] o koszcie:", ret_path[-1].g)
return ret_path, start
current_node.closed = True
for neighbor in current_node.neighbors(grid):
if neighbor.closed:
continue
g_score = current_node.g + board.get_cost(neighbor.x, neighbor.y)
been_visited = neighbor.visited
if not been_visited or g_score < neighbor.g:
neighbor.visited = True
neighbor.parent = current_node
neighbor.h = neighbor.h or heuristic((neighbor.x, neighbor.y), (end.x, end.y))
neighbor.g = g_score
neighbor.f = neighbor.g + neighbor.h
if not been_visited:
heapq.heappush(open_heap, neighbor)
print("Nie znaleziono ścieżki.")
return None
def manhattan(pos0, pos1):
d1 = abs(pos1[0] - pos0[0])
d2 = abs(pos1[1] - pos0[1])
return d1 + d2
def main():
rotation = ["left", "up", "right", "down"]
run = True
clock = pygame.time.Clock()
board = Board()
board.load_images()
start_row, start_col = 1, 1
end_row, end_col = 5, 0
tractor = Tractor(start_row, start_col)
board.set_grass(start_row, start_col)
board.set_grass(end_row, end_col)
grid = [[Node(x, y) for y in range(rows)] for x in range(cols)]
start = grid[start_row][start_col]
end = grid[end_row][end_col]
path, start_node = search(grid, start, end, board)
while run:
clock.tick(fps)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
if not path:
run = False
continue
next_node = path.pop(0) if path else start_node
tractor.row, tractor.col = next_node.y, next_node.x
#rotation
board.draw_cubes(WIN)
tractor.draw(WIN)
pygame.display.update()
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
return
main()

View File

@ -8,6 +8,7 @@ class Board:
self.board = []
self.load_images()
self.generate_board()
self.load_costs()
def load_images(self):
@ -16,6 +17,7 @@ class Board:
self.rock= pygame.image.load("board/rock.png")
self.weeds = pygame.image.load("board/weeds.png")
self.soil = pygame.image.load("board/zyzna.png")
self.carrot = pygame.image.load("board/carrot.png")
def generate_board(self):
self.board = [[random.choice([0,1,2,3,4,5,6,7,8,9]) for _ in range(rows)] for _ in range(cols)]
@ -41,9 +43,35 @@ class Board:
win.blit(self.grass, cube_rect)
elif cube == 10:
win.blit(self.soil, cube_rect)
elif cube == 11:
carrot_scale = pygame.transform.scale(self.carrot, (size,size))
win.blit(self.carrot, cube_rect)
win.blit(carrot_scale, cube_rect)
else:
win.blit(self.dirt, cube_rect)
def load_costs(self):
self.costs = {
0: 100, #kamien
1: 2, #chwasty
2: 1, #po trawie
3: 1, #po trawie
4: 1, #po trawie
5: 1, #po trawie
6: 3, #ziemia
7: 3, #ziemia
8: 3, #ziemia
9: 3, #ziemia
10: 4, #zyzna
11: 10 #marchewka
}
def get_cost(self, row, col):
tile_type = self.board[row][col]
return self.costs.get(tile_type, 1)
def is_rock(self, row, col):
return self.board[row][col] == 0
@ -56,5 +84,11 @@ class Board:
def is_dirt(self,row,col):
return self.board[row][col] in (6,7,8,9)
def is_soil(self, row, col):
return self.board[row][col] == 10
def set_soil(self, row, col):
self.board[row][col] = 10
def set_carrot(self, row, col):
self.board[row][col] = 11