diff options
| -rw-r--r-- | pathfinding.py | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/pathfinding.py b/pathfinding.py index 662ecfe..076213c 100644 --- a/pathfinding.py +++ b/pathfinding.py @@ -1,5 +1,6 @@ from gui import marker, marker_updated import gui +import math # A* code taken and adapted from https://gist.github.com/jamiees2/5531924 @@ -17,15 +18,15 @@ class Node: # assert other in siblings(self,grid). otherwise this makes no sense # assert that siblings are only in horizontal or vertical directions. otherwise # someone must replace the number "1" by appropriate distances - return manhattan(self, other) + (self.value + other.value)/2 + return distance(self, other) + (self.value + other.value)/2 def siblings(point,grid): x,y = point.point_in_grid links = [grid[d[0]][d[1]] for d in [(x-1, y),(x,y - 1),(x,y + 1),(x+1,y)]] return [link for link in links if link.value != None] -def manhattan(point,point2): - return abs(point.point[0] - point2.point[0]) + abs(point.point[1]-point2.point[1]) +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)+")") @@ -65,7 +66,7 @@ def aStar(start, goal, grid): else: #If it isn't in the open set, calculate the G and H score for the node node.G = current.G + current.move_cost(node) - node.H = manhattan(node, goal) + node.H = distance(node, goal) node.parent = current openset.add(node) |