def pathFind(start, end):
if (ValidatePoint.validate(start) > 0 and ValidatePoint.validate(end) > 0):
start = ValidatePoint.getPoint(start)
start[5] = ValidatePoint.getChildren(start, [])
return calcPath(start,end)
else:
if (ValidatePoint.validate(start) < 0):
raise Exception("Cannot validate start point.")
else:
raise Exception("Cannot validate end point.")
def calcPath(start, end): start[3] = 0 start[4] = ValidatePoint.calcDistance(start,end) start.append(0) curNode = start leaves = [curNode] expandedNodes = [] while not ValidatePoint.isEqual(curNode, end): leaves.remove(curNode) expandedNodes.append(curNode) curNode[5] = ValidatePoint.getChildren(curNode, expandedNodes) for node in curNode[5]: node[3] = curNode[3] + ValidatePoint.calcDistance(node, curNode) node[4] = ValidatePoint.calcDistance(node, end) node.append(curNode) leaves.append(node) curNode = findLeastCost(leaves) return backwardTraverse(curNode, start)