diff options
| -rw-r--r-- | pathfinding.py | 80 |
1 files changed, 47 insertions, 33 deletions
diff --git a/pathfinding.py b/pathfinding.py index c126559..61f32a8 100644 --- a/pathfinding.py +++ b/pathfinding.py @@ -42,16 +42,37 @@ class Graph: self.blobs = blobs +class Grid: + def __init__(self, origin, radius, density, default=None): + self.radius = radius + self.density = density + self.origin = origin + self.data = [[default for x in range(int(2*radius//density+1))] for x in range(int(2*radius//density+1))] + def getpos(self, x, y = None): + if y == None: + x,y=x[0],x[1] + return ( int(x-self.origin.x+self.radius)//self.density, int(y-self.origin.y+self.radius)//self.density ) + + def at(self, x, y = None): + xx,yy = self.getpos(x,y) + return self.data[xx][yy] + + def set(self, val, x, y = None): + xx,yy = self.getpos(x,y) + self.data[xx][yy] = val + + def is_border(self, x, y): + xx,yy = self.getpos(x,y) + return (xx in [0,len(self.data)-1] or yy in [0, len(self.data[xx])-1]) # A* code taken and adapted from https://gist.github.com/jamiees2/5531924 class Node: - def __init__(self,value,point,point_in_grid, is_in_wormhole_plane, graph, cell): + def __init__(self,value,point, is_in_wormhole_plane, graph, cell): self.value = value self.point = point - self.point_in_grid = point_in_grid self.parent = None self.H = 0 self.G = 0 @@ -60,7 +81,7 @@ class Node: self.find_near_wormholes(50) def find_near_wormholes(self, radius): - self.near_wormholes = list(filter(lambda blob : (self.point - blob.point).len() < radius, self.graph.blobs)) + self.near_wormholes = [] # list(filter(lambda blob : (self.point - blob.point).len() < radius, self.graph.blobs)) def move_cost(self,other): dist = distance(self, other) @@ -72,15 +93,14 @@ class Node: return max(dist, 5*dist - 500) def siblings(self): - x,y = self.point_in_grid - links = [self.graph.grid[d[0]][d[1]] for d in [(x-1, y),(x-1,y-1),(x,y - 1),(x+1,y-1),(x+1,y),(x+1,y+1),(x,y + 1),(x-1,y+1)]] + x,y = self.graph.grid.getpos(self.point) + links = [self.graph.grid.data[d[0]][d[1]] for d in [(x-1, y),(x-1,y-1),(x,y - 1),(x+1,y-1),(x+1,y),(x+1,y+1),(x,y + 1),(x-1,y+1)]] return [link for link in links if link.value != None] + self.near_wormholes def distance(point,point2): return math.sqrt((point.point[0] - point2.point[0])**2 + (point.point[1]-point2.point[1])**2) -def aStar(start, goal, grid): - print("aStar("+str(start.point)+"="+str(start.point_in_grid)+", "+str(goal.point)+"="+str(goal.point_in_grid)+")") +def aStar(start, goal): openset = set() closedset = set() @@ -133,52 +153,46 @@ class PathfindingTesterStrategy: self.path = None self.gui = gui - def build_grid(self): + def build_graph(self): graph = Graph(None, []) - graph.blobs = [ Node(0, c.pos, Vec( int((c.pos.x - self.c.player.center.x + grid_radius) // grid_density), int((c.pos.y - self.c.player.center.y + grid_radius) // grid_density) ), True, graph, c) for c in self.c.world.cells.values() if c.is_food ] + graph.blobs = [ Node(0, c.pos, True, graph, c) for c in self.c.world.cells.values() if c.is_food ] - graph.grid = [[0 for x in range(int(2*grid_radius//grid_density+1))] for x in range(int(2*grid_radius//grid_density+1))] + graph.grid = Grid(self.c.player.center, grid_radius, grid_density, 0) interesting_cells = list(filter(lambda c : not (c.is_food or c in self.c.player.own_cells), self.c.player.world.cells.values())) + + x_range = range( int(self.c.player.center.x-grid_radius), int(self.c.player.center.x+grid_radius+1), grid_density) + y_range = range( int(self.c.player.center.y-grid_radius), int(self.c.player.center.y+grid_radius+1), grid_density) for cell in interesting_cells: - for x in range(-grid_radius,grid_radius+1,grid_density): - gridx = (x+grid_radius) // grid_density - for y in range(-grid_radius,grid_radius+1,grid_density): - gridy = (y+grid_radius) // grid_density - - relpos = (cell.pos.x - (x+self.c.player.center.x), cell.pos.y - (y+self.c.player.center.y)) + for x in x_range: + for y in y_range: + relpos = (cell.pos.x - x, cell.pos.y - y) dist_sq = relpos[0]**2 + relpos[1]**2 if dist_sq < cell.size**2 *3: - graph.grid[gridx][gridy] += 100000000 - - for x in range(-grid_radius,grid_radius+1,grid_density): - gridx = (x+grid_radius) // grid_density - for y in range(-grid_radius,grid_radius+1,grid_density): - gridy = (y+grid_radius) // grid_density + graph.grid.set(100000000, x,y) - if (gridx in [0,len(graph.grid)-1] or gridy in [0, len(graph.grid[gridx])-1]): + for x in x_range: + for y in y_range: + if graph.grid.is_border(x,y): val = None else: - val = graph.grid[gridx][gridy] + val = graph.grid.at(x,y) - graph.grid[gridx][gridy] = Node(val, self.c.player.center+Vec(x,y), Vec(gridx, gridy), False, graph, None) + graph.grid.set(Node(val, Vec(x,y), False, graph, None), x,y) for blob in graph.blobs: - blob.find_near_wormholes(200) + blob.find_near_wormholes(50) - return graph.grid + return graph def plan_path(self): - goalx = int((self.gui.marker[0][0] - self.c.player.center[0] + grid_radius)/grid_density) - goaly = int((self.gui.marker[0][1] - self.c.player.center[1] + grid_radius)/grid_density) - - grid = self.build_grid() + graph = self.build_graph() - path = aStar(grid[int(grid_radius/grid_density)][int(grid_radius/grid_density)], grid[goalx][goaly], grid) + path = aStar(graph.grid.at(self.c.player.center), graph.grid.at(self.gui.marker[0])) return path def path_is_valid(self, path): @@ -198,7 +212,7 @@ class PathfindingTesterStrategy: self.path = self.plan_path() for node in self.path: - print (node.point_in_grid) + print (node.point) print("="*10) |