diff options
| -rw-r--r-- | pathfinding.py | 21 |
1 files changed, 9 insertions, 12 deletions
diff --git a/pathfinding.py b/pathfinding.py index 0540698..2a70fda 100644 --- a/pathfinding.py +++ b/pathfinding.py @@ -111,6 +111,8 @@ class Node: self.graph = graph self.is_in_wormhole_plane = is_in_wormhole_plane self.near_wormholes = near_wormholes + self.is_open = False + self.is_closed = False def __lt__(self, other): return False @@ -136,15 +138,13 @@ 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): - openset = set() openheap = [] - closedset = set() current = start - openset.add(current) + current.is_open = True openheap.append((0,current)) - while openset: + while openheap: #Find the item in the open set with the lowest F = G + H score current = heapq.heappop(openheap)[1] @@ -157,17 +157,14 @@ def aStar(start, goal): path.append(current) return path[::-1] - try: - openset.remove(current) - except KeyError: - pass - closedset.add(current) + current.is_open = False + current.is_closed = True for node in current.siblings(): - if node in closedset: + if node.is_closed: continue - if node in openset: + if node.is_open: #Check if we beat the G score new_g = current.G + current.move_cost(node) if node.G > new_g: @@ -184,7 +181,7 @@ def aStar(start, goal): node.parent = current - openset.add(node) + node.is_open=True heapq.heappush(openheap, (node.F, node)) raise ValueError('No Path Found') |