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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,18 +1,19 @@ | ||
| module.exports = { | ||
| 'Heap' : require('heap'), | ||
| 'Node' : require('./core/Node'), | ||
| 'Grid' : require('./core/Grid'), | ||
| 'Util' : require('./core/Util'), | ||
| 'Heuristic' : require('./core/Heuristic'), | ||
| 'AStarFinder' : require('./finders/AStarFinder'), | ||
| 'BestFirstFinder' : require('./finders/BestFirstFinder'), | ||
| 'BreadthFirstFinder' : require('./finders/BreadthFirstFinder'), | ||
| 'DijkstraFinder' : require('./finders/DijkstraFinder'), | ||
| 'BiAStarFinder' : require('./finders/BiAStarFinder'), | ||
| 'BiBestFirstFinder' : require('./finders/BiBestFirstFinder'), | ||
| 'BiBreadthFirstFinder' : require('./finders/BiBreadthFirstFinder'), | ||
| 'BiDijkstraFinder' : require('./finders/BiDijkstraFinder'), | ||
| 'JumpPointFinder' : require('./finders/JumpPointFinder'), | ||
| 'IDAStarFinder' : require('./finders/IDAStarFinder'), | ||
| 'OrthogonalJumpPointFinder' : require('./finders/OrthogonalJumpPointFinder') | ||
| 'Heap' : require('heap'), | ||
| 'Node' : require('./core/Node'), | ||
| 'Grid' : require('./core/Grid'), | ||
| 'Util' : require('./core/Util'), | ||
| 'Heuristic' : require('./core/Heuristic'), | ||
| 'AStarFinder' : require('./finders/AStarFinder'), | ||
| 'BestFirstFinder' : require('./finders/BestFirstFinder'), | ||
| 'BreadthFirstFinder' : require('./finders/BreadthFirstFinder'), | ||
| 'DijkstraFinder' : require('./finders/DijkstraFinder'), | ||
| 'BiAStarFinder' : require('./finders/BiAStarFinder'), | ||
| 'BiBestFirstFinder' : require('./finders/BiBestFirstFinder'), | ||
| 'BiBreadthFirstFinder' : require('./finders/BiBreadthFirstFinder'), | ||
| 'BiDijkstraFinder' : require('./finders/BiDijkstraFinder'), | ||
| 'IDAStarFinder' : require('./finders/IDAStarFinder'), | ||
| 'JumpPointFinder' : require('./finders/JumpPointFinder'), | ||
| 'OrthogonalJumpPointFinder' : require('./finders/OrthogonalJumpPointFinder'), | ||
| 'TraceFinder' : require('./finders/TraceFinder') | ||
| }; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,108 @@ | ||
| var Heap = require('heap'); | ||
| var Util = require('../core/Util'); | ||
| var Heuristic = require('../core/Heuristic'); | ||
|
|
||
| /** | ||
| * A* path-finder. | ||
| * based upon https://github.com/bgrins/javascript-astar | ||
| * @constructor | ||
| * @param {object} opt | ||
| * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed. | ||
| * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching block corners. | ||
| * @param {function} opt.heuristic Heuristic function to estimate the distance | ||
| * (defaults to manhattan). | ||
| * @param {integer} opt.weight Weight to apply to the heuristic to allow for suboptimal paths, | ||
| * in order to speed up the search. | ||
| */ | ||
| function TraceFinder(opt) { | ||
| opt = opt || {}; | ||
| this.allowDiagonal = opt.allowDiagonal; | ||
| this.dontCrossCorners = opt.dontCrossCorners; | ||
| this.heuristic = opt.heuristic || Heuristic.manhattan; | ||
| } | ||
|
|
||
| /** | ||
| * Find and return the the path. | ||
| * @return {Array.<[number, number]>} The path, including both start and | ||
| * end positions. | ||
| */ | ||
| TraceFinder.prototype.findPath = function(startX, startY, endX, endY, grid) { | ||
|
|
||
| var openList = new Heap(function(nodeA, nodeB) { | ||
| return nodeA.f - nodeB.f; | ||
| }), | ||
| startNode = grid.getNodeAt(startX, startY), | ||
| endNode = grid.getNodeAt(endX, endY), | ||
| heuristic = this.heuristic, | ||
| allowDiagonal = this.allowDiagonal, | ||
| dontCrossCorners = this.dontCrossCorners, | ||
| abs = Math.abs, SQRT2 = Math.SQRT2, | ||
| node, neighbors, neighbor, i, l, x, y, ng; | ||
|
|
||
| // set the `g` and `f` value of the start node to be 0 | ||
| startNode.g = 0; | ||
| startNode.f = 0; | ||
|
|
||
| // push the start node into the open list | ||
| openList.push(startNode); | ||
| startNode.opened = true; | ||
|
|
||
| // while the open list is not empty | ||
| while (!openList.empty()) { | ||
| // pop the position of node which has the minimum `f` value. | ||
| node = openList.pop(); | ||
| node.closed = true; | ||
|
|
||
| // if reached the end position, construct the path and return it | ||
| if (node === endNode) { | ||
| return Util.backtrace(endNode); | ||
| } | ||
|
|
||
| // get neigbours of the current node | ||
| neighbors = grid.getNeighbors(node, allowDiagonal, dontCrossCorners); | ||
|
|
||
| var ar = neighbors.length; | ||
|
|
||
| for (i = 0, l = neighbors.length; i < l; ++i) { | ||
| neighbor = neighbors[i]; | ||
|
|
||
| if (neighbor.closed) { | ||
| continue; | ||
| } | ||
|
|
||
| x = neighbor.x; | ||
| y = neighbor.y; | ||
|
|
||
| // get the distance between current node and the neighbor | ||
| // and calculate the next g score | ||
| ng = node.g + ((x - node.x === 0 || y - node.y === 0) ? 1 : SQRT2); | ||
|
|
||
| // check if the neighbor has not been inspected yet, or | ||
| // can be reached with smaller cost from the current node | ||
| if (!neighbor.opened || ng < neighbor.g) { | ||
| neighbor.g = ng * ar/9; //the trace magic | ||
| neighbor.h = neighbor.h || heuristic(abs(x - endX), abs(y - endY)); | ||
| neighbor.f = neighbor.g + neighbor.h; | ||
| neighbor.parent = node; | ||
|
|
||
| if (!neighbor.opened) { | ||
| //openList.push(neighbor); | ||
| openList.push(neighbor); | ||
| neighbor.opened = true; | ||
| } else { | ||
| // the neighbor can be reached with smaller cost. | ||
| // Since its f value has been updated, we have to | ||
| // update its position in the open list | ||
|
|
||
| //openList.updateItem(neighbor); | ||
| openList.updateItem(neighbor); | ||
| } | ||
| } | ||
| } // end for each neighbor | ||
| } // end while not open list empty | ||
|
|
||
| // fail to find the path | ||
| return []; | ||
| }; | ||
|
|
||
| module.exports = TraceFinder; |
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