def test_astar_no_valid_path(self):
a = Node(name='A', pos=Vector2(0, 0))
b = Node(name='B', pos=Vector2(3, 3))
c = Node(name='C', pos=Vector2(2, 0))
d = Node(name='D', pos=Vector2(2, 1))
e = Node(name='E', pos=Vector2(3, 4))
f = Node(name='F', pos=Vector2(5, 5))
g = {a: [d], b: [c], c: [b, d, e], d: [a, b, c], e: [c], f: []}
graph = Graph(g)
path = graph.astar(a, f)
assert path.path is None
def test__astar_with_disablers(self):
a = Node(name='A', pos=Vector2(0, 0))
b = Node(name='B', pos=Vector2(3, 3))
c = Node(name='C', pos=Vector2(2, 0))
d = Node(name='D', pos=Vector2(2, 1))
e = Node(name='E', pos=Vector2(3, 4))
f = Node(name='F', pos=Vector2(5, 5))
g = {a: [d], b: [c], c: [b, d, e], d: [a, b, c], e: [c, f], f: []}
graph = Graph(g)
graph.disable_edges(graph.edge_between(d, c), "BLOCK")
path = graph.astar(a, e)
assert path.path == [a, d, b, c, e]
class GridGraph:
def __init__(
self,
grid: AGrid,
connect_adjacents: bool = True,
connect_diagonals: bool = True,
):
self._diagonal_connections = {}
self._connect_adjacents = connect_adjacents
self._connect_diagonals = connect_diagonals
self.grid = grid
self.pos_node_map = self._build_position_node_map(
ncols=self.grid.nColumns, nrows=self.grid.nRows)
graph_dict = self.graph_dict_provider(self.pos_node_map)
self.graph = Graph(graph_dict=graph_dict)
def _build_position_node_map(self, ncols: int, nrows: int):
pos_node_map = {}
for col in range(0, ncols):
for row in range(0, nrows):
pos = Vector2(row, col)
pos_node_map[pos] = Node(str(pos), pos)
return pos_node_map
def graph_dict_provider(
self, pos_node_map: Dict[IVector, Node]) -> Dict[Node, List[Node]]:
return self.build_graph_dict(pos_node_map,
connect_adjacents=self._connect_adjacents,
connect_diagonals=self._connect_diagonals)
def build_graph_dict(
self,
pos_node_map: Dict[IVector, Node],
connect_adjacents: bool = True,
connect_diagonals: bool = True) -> Dict[Node, List[Node]]:
graph_dict = {}
for pos in pos_node_map.keys():
graph_dict[pos_node_map[pos]] = []
adjacents = [
Vector2(pos.x - 1, pos.y) if pos_node_map.get(
Vector2(pos.x - 1, pos.y), None) else None, # left
Vector2(pos.x + 1, pos.y) if pos_node_map.get(
Vector2(pos.x + 1, pos.y), None) else None, # right
Vector2(pos.x, pos.y - 1) if pos_node_map.get(
Vector2(pos.x, pos.y - 1), None) else None, # up
Vector2(pos.x, pos.y + 1) if pos_node_map.get(
Vector2(pos.x, pos.y + 1), None) else None, # down
]
diagonals = [
Vector2(pos.x - 1, pos.y -
1) if pos_node_map.get(Vector2(pos.x - 1, pos.y -
1), None) else None,
# UpLeft
Vector2(pos.x + 1, pos.y -
1) if pos_node_map.get(Vector2(pos.x + 1, pos.y -
1), None) else None,
# UpRight
Vector2(pos.x - 1, pos.y +
1) if pos_node_map.get(Vector2(pos.x - 1, pos.y +
1), None) else None,
# DownLeft
Vector2(pos.x + 1, pos.y +
1) if pos_node_map.get(Vector2(pos.x + 1, pos.y +
1), None) else None
# DownRight
]
connections = []
# add adjacents to connections list
if connect_adjacents:
connections += adjacents
# add diagonals to connections list
if connect_diagonals:
connections += diagonals
# add diagonal connections to a saved dict for quick id later
for connection in diagonals:
if connection:
self._diagonal_connections.setdefault(
pos, []).append(connection)
# add connections to the graph_dict for each node
for connection_pos in connections:
try:
if connection_pos:
graph_dict[pos_node_map[pos]].append(
pos_node_map[connection_pos])
except:
print(f"{connection_pos} \n" f"{pos_node_map}")
print(f"connection pos: {type(connection_pos)}")
print(
f"first pos_node_map pos: {type([x for x in pos_node_map.keys()][0])}"
)
raise
return graph_dict
def toggle_allow_diagonal_connections(self, disabler):
self._allow_diagonal_connections = not self._allow_diagonal_connections
print(
f"{len(self._diagonal_connections)}\n {self._diagonal_connections}"
)
import time
print("start")
tic = time.perf_counter()
if self._allow_diagonal_connections:
print("enable")
self.graph.enable_edges(self._diagonal_connections, disabler)
else:
print("disable")
self.graph.disable_edges(self._diagonal_connections, disabler)
toc = time.perf_counter()
print(f"Toggled the diagonal connections in {toc - tic:0.4f} seconds")
def astar_between_grid_pos(self, start: Vector2,
end: Vector2) -> AStarResults:
start = self.graph.nodes_at_point(start)[0]
end = self.graph.nodes_at_point(end)[0]
results = self.graph.astar(start, end)
return results