def _inspect_adjacent(self, node):
pos = Point(node.x, node.y)
for neighbor in self._adjacency_list(pos):
new_g = node.g + pos.diagnol_distance(neighbor)
if neighbor.blocks_move:
continue
self._searched_nodes.add(neighbor)
if new_g < neighbor.g:
# this path is better
if neighbor in self._open:
# new path is better, take it out of open
self._open.remove(neighbor)
#self._open_set.discard(neighbor.coord)
if neighbor.coord in self._closed_set:
self._closed_set.add(neighbor.coord)
if neighbor not in self._open and \
neighbor.coord not in self._closed_set:
neighbor.g = new_g
neighbor.h = self._heuristic(neighbor, self.target_node)
neighbor.f = neighbor.g + neighbor.h
neighbor.parent = node
heapq.heappush(self._open, neighbor)
def _heuristic(self, node_a, node_b):
p_a = Point(node_a.x, node_a.y)
return p_a.diagnol_distance(node_b)