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-rw-r--r--pathfinding.py21
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')