Created
April 23, 2020 08:04
-
-
Save Langerz82/570cc1ad5431ad5ade0b661d8d7a2350 to your computer and use it in GitHub Desktop.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
define(function() { | |
var AStar = (function () { | |
/** | |
* A* (A-Star) algorithm for a path finder | |
* @originalauthor Andrea Giammarchi | |
* @revisedauthor Langerz82 | |
* @license Proprietary. | |
*/ | |
function diagonalSuccessors($N, $S, $E, $W, N, S, E, W, grid, rows, cols, result, i) { | |
if($N) { | |
$E && !grid[N][E] && (result[i++] = {x:E, y:N}); | |
$W && !grid[N][W] && (result[i++] = {x:W, y:N}); | |
} | |
if($S){ | |
$E && !grid[S][E] && (result[i++] = {x:E, y:S}); | |
$W && !grid[S][W] && (result[i++] = {x:W, y:S}); | |
} | |
return result; | |
} | |
function diagonalSuccessorsFree($N, $S, $E, $W, N, S, E, W, grid, rows, cols, result, i) { | |
$N = N > -1; | |
$S = S < rows; | |
$E = E < cols; | |
$W = W > -1; | |
if($E) { | |
$N && !grid[N][E] && (result[i++] = {x:E, y:N}); | |
$S && !grid[S][E] && (result[i++] = {x:E, y:S}); | |
} | |
if($W) { | |
$N && !grid[N][W] && (result[i++] = {x:W, y:N}); | |
$S && !grid[S][W] && (result[i++] = {x:W, y:S}); | |
} | |
return result; | |
} | |
function nothingToDo($N, $S, $E, $W, N, S, E, W, grid, rows, cols, result, i) { | |
return result; | |
} | |
function successors(find, x, y, grid, rows, cols){ | |
var result = [], | |
i = 0; | |
var | |
Ny = (y - 1), | |
X1 = (x % 1 == 0) ? x : Math.floor(x), | |
X2 = (x % 1 == 0) ? x : Math.ceil(x), | |
Sy = (y + 1), | |
Wx = (x - 1), | |
Y1 = (y % 1 == 0) ? y : Math.floor(y), | |
Y2 = (y % 1 == 0) ? y : Math.ceil(y), | |
Ex = (x + 1); | |
var $N, $S, $E, $W; | |
if ((y % 1 == 0) && (x % 1 == 0)) | |
{ | |
$N = Ny >= 0 && !grid[Ny][x]; | |
$S = Sy <= (rows-1) && !grid[Sy][x]; | |
$E = Ex <= (cols-1) && !grid[y][Ex]; | |
$W = Wx >= 0 && !grid[y][Wx]; | |
} | |
else | |
{ | |
$N = Ny >= 0 && !grid[Ny][X1] && Ny >= 0 && !grid[Ny][X2]; | |
$S = Sy <= (rows-1) && !grid[Sy][X1] && Sy <= (rows-1) && !grid[Sy][X2]; | |
$E = Ex <= (cols-1) && !grid[Y1][Ex] && Ex <= (cols-1) && !grid[Y2][Wx]; | |
$W = Wx >= 0 && !grid[Y1][Wx] && Wx >= 0 && !grid[Y2][Wx]; | |
} | |
$N && (result[i++] = {x:x, y:Ny}); | |
$E && (result[i++] = {x:Ex, y:y}); | |
$S && (result[i++] = {x:x, y:Sy}); | |
$W && (result[i++] = {x:Wx, y:y}); | |
return find($N, $S, $E, $W, Ny, Sy, Ex, Wx, grid, rows, cols, result, i); | |
} | |
function diagonal(start, end, f1, f2) { | |
return f2(f1(start.x - end.x), f1(start.y - end.y)); | |
} | |
function euclidean(start, end, f1, f2) { | |
var | |
x = start.x - end.x, | |
y = start.y - end.y | |
; | |
return f2(x * x + y * y); | |
} | |
function manhattan(start, end, f1, f2) { | |
return f1(start.x - end.x) + f1(start.y - end.y); | |
} | |
function AStar(grid, start, end, f) { | |
var | |
cols = grid[0].length, | |
rows = grid.length, | |
limit = (cols * rows), | |
f1 = Math.abs, | |
f2 = Math.max, | |
list = {}, | |
result = [], | |
open = [{x:start[0], y:start[1], rx:start[0], ry:start[1], f:0, g:0, v:start[0] + start[1]*cols}], | |
length = 1, | |
adj, distance, find, i, j, max, min, current, next | |
; | |
end2 = {x:end[0], y:end[1], rx:end[0], ry:end[1], v:end[0] + end[1]*cols}; | |
switch (f) { | |
case "Diagonal": | |
find = diagonalSuccessors; | |
case "DiagonalFree": | |
distance = diagonal; | |
break; | |
case "Euclidean": | |
find = diagonalSuccessors; | |
case "EuclideanFree": | |
f2 = Math.sqrt; | |
distance = euclidean; | |
break; | |
default: | |
distance = manhattan; | |
find = nothingToDo; | |
break; | |
} | |
find || (find = diagonalSuccessorsFree); | |
do { | |
max = limit; | |
min = 0; | |
for(i = 0; i < length; ++i) { | |
if((f = open[i].f) < max) { | |
max = f; | |
min = i; | |
} | |
}; | |
current = open.splice(min, 1)[0]; | |
if (current.v != end2.v) { | |
--length; | |
next = successors(find, current.x, current.y, grid, rows, cols); | |
for(i = 0, j = next.length; i < j; ++i){ | |
(adj = next[i]).p = current; | |
adj.f = adj.g = 0; | |
adj.v = adj.x + adj.y * cols; | |
if(!(adj.v in list)){ | |
adj.f = (adj.g = current.g + distance(adj, current, f1, f2)) + distance(adj, end, f1, f2); | |
open[length++] = adj; | |
list[adj.v] = 1; | |
} | |
} | |
} else { | |
i = length = 0; | |
do { | |
result[i++] = [current.rx, current.ry]; | |
} while (current = current.p); | |
result.reverse(); | |
} | |
} while (length); | |
log.error(JSON.stringify(result)); | |
/*for (var i=3; i < (result.length-1); ++i) | |
{ | |
if ((Math.abs(result[i-2][0] - result[i][0]) >= 2 && Math.abs(result[i-2][1] - result[i][1]) == 0) || | |
(Math.abs(result[i-2][1] - result[i][1]) >= 2 && Math.abs(result[i-2][0] - result[i][0]) == 0)) | |
result.splice(--i,1); | |
}*/ | |
return []; | |
} | |
return {AStar}; | |
}()); | |
return AStar; | |
}); |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment