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richy486/astar.p8

Created December 17, 2015 22:09
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A* pathfinding in pico-8
Raw
astar.p8
pico-8 cartridge // http://www.pico-8.com
version 5
__lua__
-- A* pathfinding
-- by @richy486
function _init()
printh("---------------")
printh("starting a star")
wallId = 1
start = getSpecialTile(17)
goal = getSpecialTile(16)
printh("start...")
frontier = {}
insert(frontier, start, 0)
came_from = {}
came_from[vectoindex(start)] = nil
cost_so_far = {}
cost_so_far[vectoindex(start)] = 0
while (#frontier > 0 and #frontier < 1000) do
current = popEnd(frontier)
if vectoindex(current) == vectoindex(goal) then
break
end
local neighbours = getNeighbours(current)
for next in all(neighbours) do
local nextIndex = vectoindex(next)
local new_cost = cost_so_far[vectoindex(current)] -- add extra costs here
if (cost_so_far[nextIndex] == nil) or (new_cost < cost_so_far[nextIndex]) then
cost_so_far[nextIndex] = new_cost
local priority = new_cost + heuristic(goal, next)
insert(frontier, next, priority)
came_from[nextIndex] = current
if (nextIndex != vectoindex(start)) and (nextIndex != vectoindex(goal)) then
mset(next[1],next[2],19)
end
end
end
end
printh("find goal..")
current = came_from[vectoindex(goal)]
path = {}
local cindex = vectoindex(current)
local sindex = vectoindex(start)
while cindex != sindex do
add(path, current)
current = came_from[cindex]
cindex = vectoindex(current)
end
reverse(path)
for point in all(path) do
mset(point[1],point[2],18)
end
printh("..done")
end
function _update()
end
function _draw()
cls()
mapdraw(0,0,0,0,16,16)
end
-- manhattan distance on a square grid
function heuristic(a, b)
return abs(a[1] - b[1]) + abs(a[2] - b[2])
end
-- find all existing neighbours of a position that are not walls
function getNeighbours(pos)
local neighbours={}
local x = pos[1]
local y = pos[2]
if x > 0 and (mget(x-1,y) != wallId) then
add(neighbours,{x-1,y})
end
if x < 15 and (mget(x+1,y) != wallId) then
add(neighbours,{x+1,y})
end
if y > 0 and (mget(x,y-1) != wallId) then
add(neighbours,{x,y-1})
end
if y < 15 and (mget(x,y+1) != wallId) then
add(neighbours,{x,y+1})
end
-- for making diagonals
if (x+y) % 2 == 0 then
reverse(neighbours)
end
return neighbours
end
-- find the first location of a specific tile type
function getSpecialTile(tileid)
for x=0,15 do
for y=0,15 do
local tile = mget(x,y)
if tile == tileid then
return {x,y}
end
end
end
printh("did not find tile: "..tileid)
end
-- insert into start of table
function insert(t, val)
for i=(#t+1),2,-1 do
t[i] = t[i-1]
end
t[1] = val
end
-- insert into table and sort by priority
function insert(t, val, p)
if #t >= 1 then
add(t, {})
for i=(#t),2,-1 do
local next = t[i-1]
if p < next[2] then
t[i] = {val, p}
return
else
t[i] = next
end
end
t[1] = {val, p}
else
add(t, {val, p})
end
end
-- pop the last element off a table
function popEnd(t)
local top = t[#t]
del(t,t[#t])
return top[1]
end
function reverse(t)
for i=1,(#t/2) do
local temp = t[i]
local oppindex = #t-(i-1)
t[i] = t[oppindex]
t[oppindex] = temp
end
end
-- translate a 2d x,y coordinate to a 1d index and back again
function vectoindex(vec)
return maptoindex(vec[1],vec[2])
end
function maptoindex(x, y)
return ((x+1) * 16) + y
end
function indextomap(index)
local x = (index-1)/16
local y = index - (x*w)
return {x,y}
end
-- pop the first element off a table (unused
function pop(t)
local top = t[1]
for i=1,(#t) do
if i == (#t) then
del(t,t[i])
else
t[i] = t[i+1]
end
end
return top
end
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