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@geoffb geoffb/astar.js
Created Jan 12, 2011

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Simple A* Pathfinding
var AStar;
(function () {
var Node = function (index, x, y, parent) {
this.index = index;
this.x = x;
this.y = y;
this.parent = parent || null;
this.f = 0;
this.g = 0;
};
Node.prototype.getDistance = function (node) {
return (
Math.abs(this.x - node.x)
+ Math.abs(this.y - node.y)
);
};
var Map = function (grid) {
this.grid = grid;
this.width = grid[0].length;
this.height = grid.length;
};
Map.prototype.isWalkable = function (x, y) {
if (
x < 0
|| y < 0
|| x >= this.width
|| y >= this.height
) {
// Outside the map. Totally NOT walkable!
return false;
}
return (!this.grid[y][x]);
};
Map.prototype.makeNode = function (x, y, parent) {
return new Node(
(x + (y * this.width)),
x, y, parent
);
};
Map.prototype.getAdjacent = function (n) {
var a = [];
// North
if (this.isWalkable(n.x, n.y - 1)) {
a.push(this.makeNode(n.x, n.y - 1, n));
}
// South
if (this.isWalkable(n.x, n.y + 1)) {
a.push(this.makeNode(n.x, n.y + 1, n));
}
// West
if (this.isWalkable(n.x - 1, n.y)) {
a.push(this.makeNode(n.x - 1, n.y, n));
}
// East
if (this.isWalkable(n.x + 1, n.y)) {
a.push(this.makeNode(n.x + 1, n.y, n));
}
return a;
};
AStar = function (grid, startX, startY, goalX, goalY) {
// The search area
var map = new Map(grid);
// The start and goal nodes
var start = map.makeNode(startX, startY);
var goal = map.makeNode(goalX, goalY);
// List to keep track of open and closed nodes
var openList = [start];
var closedList = [];
var len = 0;
while (len = openList.length) {
var minF = {
index: -1,
f: Infinity
};
// Find the node on the open list
// with the lowest F
for (var i = 0; i < len; ++i) {
if (openList[i].f < minF.f) {
minF.f = openList[i].f;
minF.index = i;
}
}
// Remove this node from the open list
var node = openList.splice(minF.index, 1)[0];
if (node.index === goal.index) {
// Hooray! We found the goal node!
// Create the final path
var path = [];
do {
path.push([node.x, node.y]);
} while (node = node.parent);
// ...and flip it so it's in the right order
path.reverse();
return path;
} else {
// Haven't found the goal node yet...
// Get adjacent nodes
var adjacent = map.getAdjacent(node);
// Calculate values for adjacent nodes
// and add them to the open list if
// they aren't already closed
for (var i = 0, j = adjacent.length; i < j; ++i) {
var n = adjacent[i];
if (!closedList[n.index]) {
n.g = (node.g + n.getDistance(node));
n.f = (n.g + n.getDistance(goal));
openList.push(n);
closedList[n.index] = true;
}
}
}
}
// We didn't find a path to the goal :(
return null;
};
}());
<!DOCTYPE html>
<html lang="en">
<head>
<title>A* Pathfinding Example</title>
</head>
<body>
<script src="astar.js"></script>
<script>
var map = [
[0, 0, 0, 1, 0],
[0, 1, 0, 1, 0],
[0, 1, 0, 0, 0],
[0, 1, 1, 1, 0],
[0, 0, 0, 1, 0]
];
var path = AStar(map, 0, 0, 4, 4);
if (path) {
for (var i = 0; i < path.length; ++i) {
console.log(path[i]);
}
} else {
console.log("No path found :(");
}
</script>
</body>
</html>
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