diff options
| -rw-r--r-- | pathfinding.py | 60 |
1 files changed, 31 insertions, 29 deletions
diff --git a/pathfinding.py b/pathfinding.py index 8529b93..11d698f 100644 --- a/pathfinding.py +++ b/pathfinding.py @@ -72,52 +72,54 @@ def aStar(start, goal, grid): raise ValueError('No Path Found') -path = None grid_radius=1100 grid_density=30 class PathfindingTesterStrategy: def __init__(self, c): self.c = c + self.path = None - def process_frame(self): - global path + def plan_path(self): + goalx = int((marker[0][0] - self.c.player.center[0] + grid_radius)/grid_density) + goaly = int((marker[0][1] - self.c.player.center[1] + grid_radius)/grid_density) + + grid = [] + for x in range(-grid_radius,grid_radius+1,grid_density): + gridline = [] + for y in range(-grid_radius,grid_radius+1,grid_density): + val = 0 + + for cell in self.c.player.world.cells.values(): + relpos = (cell.pos.x - (x+self.c.player.center.x), cell.pos.y - (y+self.c.player.center.y)) + dist_sq = relpos[0]**2 + relpos[1]**2 + if dist_sq < cell.size**2 *3: + val += 100000000 + + gridline.append(Node(None if (x in [-grid_radius,grid_radius] or y in [-grid_radius,grid_radius]) else val, (self.c.player.center[0]+x,self.c.player.center[1]+y), (int((x+grid_radius)/grid_density), int((y+grid_radius)/grid_density)))) + grid.append(gridline) + path = aStar(grid[int(grid_radius/grid_density)][int(grid_radius/grid_density)], grid[goalx][goaly], grid) + return path + + def process_frame(self): if marker_updated[0]: marker_updated[0]=False - - goalx = int((marker[0][0] - self.c.player.center[0] + grid_radius)/grid_density) - goaly = int((marker[0][1] - self.c.player.center[1] + grid_radius)/grid_density) - grid = [] - for x in range(-grid_radius,grid_radius+1,grid_density): - gridline = [] - for y in range(-grid_radius,grid_radius+1,grid_density): - val = 0 - - for cell in self.c.player.world.cells.values(): - relpos = (cell.pos.x - (x+self.c.player.center.x), cell.pos.y - (y+self.c.player.center.y)) - dist_sq = relpos[0]**2 + relpos[1]**2 - if dist_sq < cell.size**2 *3: - val += 100000000 - - gridline.append(Node(None if (x in [-grid_radius,grid_radius] or y in [-grid_radius,grid_radius]) else val, (self.c.player.center[0]+x,self.c.player.center[1]+y), (int((x+grid_radius)/grid_density), int((y+grid_radius)/grid_density)))) - grid.append(gridline) - - path = aStar(grid[int(grid_radius/grid_density)][int(grid_radius/grid_density)], grid[goalx][goaly], grid) - for node in path: + self.path = self.plan_path() + for node in self.path: print (node.point_in_grid) print("="*10) - for (node1,node2) in zip(path,path[1:]): + for (node1,node2) in zip(self.path,self.path[1:]): gui.draw_line(node1.point, node2.point, (0,0,0)) - if path: - relx, rely = path[0].point[0]-self.c.player.center.x, path[0].point[1]-self.c.player.center.y + if self.path: + relx, rely = self.path[0].point[0]-self.c.player.center.x, self.path[0].point[1]-self.c.player.center.y if relx*relx + rely*rely < 10**2: - path=path[1:] + self.path=self.path[1:] - if path: - return path[0].point + if self.path: + return self.path[0].point return marker[0] |