def create_path(self, dest, gamemap):
if not gamemap.is_valid_pixel_pos(dest):
return []
if not self.can_traverse(dest, gamemap):
dest = self.__find_traversable_point(dest, gamemap)
def neighbors(point):
neighbors = []
for x in range(-1, 2):
for y in range(-1, 2):
if (x * gamemapping.squ_width, y * gamemapping.squ_width
) != (0, 0) and gamemap.is_valid_pixel_pos(
(point[0] + x * gamemapping.squ_width,
point[1] + y * gamemapping.squ_width)):
neighbors.append(
(point[0] + x * gamemapping.squ_width,
point[1] + y * gamemapping.squ_width))
return neighbors
def heuristic(point, dest):
return math.sqrt((point[0] - dest[0])**2 + (point[1] - dest[1])**2)
def collide_squ_width(a, b):
return a[0] >= b[0] and a[1] >= b[1] and a[
0] <= b[0] + gamemapping.squ_width and a[
1] <= b[1] + gamemapping.squ_width
came_from = {}
cost_so_far = {}
start_point = (int(self.location[0]), int(self.location[1]))
current_point = start_point
came_from[start_point] = None
cost_so_far[start_point] = 0
frontier = PriorityQueue()
frontier.put(start_point, 0)
while not frontier.is_empty():
# print("path finding...")
current_point = frontier.pop()
# print("current point = ", current_point, " dest = ", dest, " ", current_point == dest)
if collide_squ_width(current_point, dest):
break
for neighbor in neighbors(current_point):
# print("neighbor ", neighbor)
new_cost = cost_so_far[current_point] + self.get_traverse_cost(
neighbor, gamemap)
if (neighbor not in cost_so_far.keys() or new_cost <
cost_so_far[neighbor]) and self.can_traverse(
neighbor, gamemap):
cost_so_far[neighbor] = new_cost
priority = cost_so_far[neighbor] + heuristic(
neighbor, dest)
frontier.put(neighbor, priority)
came_from[neighbor] = current_point
# rel_point = (gamemap.rect.x + current_point[0], gamemap.rect.y + current_point[1])
# screen.set_at(rel_point, (0, 0, 0))
# pygame.display.flip()
if not collide_squ_width(current_point, dest):
return []
path = []
while current_point != start_point:
# print("path construction...")
path.insert(0, current_point)
current_point = came_from[current_point]
return path
