def g(self, current_link: Link, current_node: Node, child_node: Node):
"""
Calculate the cost/ distance from start to the child node.
:param current_link: Current link from the current node to the child node.
:param current_node: Current parent node.
:param child_node: Child node of the current node.
:return: Whether the g score could be set or not.
"""
# No link to the neighbor room, link can be blasted
# Blasting a hole in a wall with a tritanium-blaster costs 3 minutes, can be used in all
# directions expect up
if current_link is None:
if not self.is_cheaper(current_node, child_node, 3):
return False
child_node.g = current_node.g + 3
child_node.regeneration_time = current_node.regeneration_time - 3
child_node.tritanium_blaster = current_node.tritanium_blaster - 1
child_node.energy_units = current_node.energy_units
child_node.parent_link_type = 'wall or ground blasted'
return True
# Path with or without a drone
if self.is_open(current_node, child_node, current_link):
return True
# Door costs 2 minutes
if self.is_door(current_node, child_node, current_link):
return True
# Up the ladder costs 2 minutes
# Down costs 1/2 minute
if self.is_ladder(current_node, child_node, current_link):
return True
return False
def is_ladder(self, current_node: Node, child_node: Node, current_link: Link):
"""
Check whether the link is a ladder and the path is cheaper.
Up the ladder costs 2 minutes.
Down costs 1/2 minute.
:param current_node: The current node.
:param child_node: The child node of the current node.
:param current_link: The link from the current to the child node.
:return: Whether the link is a ladder and cheaper or not.
"""
if current_link.is_ladder:
# Check if the ladder has been went up or down
if current_node.position[2] <= child_node.position[2]:
if not self.is_cheaper(current_node, child_node, 2, energy_unit_cost=2):
return False
child_node.g = current_node.g + 2
child_node.regeneration_time = current_node.regeneration_time - 2
child_node.parent_link_type = 'ladder up'
else:
if not self.is_cheaper(current_node, child_node, 0.5, energy_unit_cost=2):
return False
child_node.g = current_node.g + 0.5
child_node.regeneration_time = current_node.regeneration_time - 0.5
child_node.parent_link_type = 'ladder down'
child_node.tritanium_blaster = current_node.tritanium_blaster
child_node.energy_units = current_node.energy_units
return True
return False
def is_open(self, current_node: Node, child_node: Node, current_link: Link):
"""
Check whether the link is open and the path is cheaper.
Path with or without a drone.
:param current_node: The current node.
:param child_node: The child node of the current node.
:param current_link: The link from the current to the child node.
:return: Whether the link is open and cheaper or not.
"""
if current_link.is_open:
# Destroying a drone costs 3 minutes and one energy unit
# 5 minute regeneration time before a new drone can be fought
if current_link.is_sentinel:
# Check if any energy units are left
if current_node.energy_units == 0:
return False
# Check whether a regeneration is set or not, if so, take a brake
# A 1 minute Break can always be used and repeated
if current_node.regeneration_time == 0:
if not self.is_cheaper(current_node, child_node, 3, energy_unit_cost=1):
return False
child_node.g = current_node.g + 3
child_node.parent_link_type = 'drone'
else:
if not self.is_cheaper(current_node,
child_node, 3 + current_node.regeneration_time,
energy_unit_cost=1):
return False
child_node.g = current_node.g + 3 + current_node.regeneration_time
child_node.parent_link_type = 'drone & %f minutes regeneration' %\
current_node.regeneration_time
child_node.energy_units = current_node.energy_units - 1
child_node.regeneration_time = 5
child_node.tritanium_blaster = current_node.tritanium_blaster
# No obstacle, costs 1 minute
else:
if not self.is_cheaper(current_node, child_node, 1):
return False
child_node.g = current_node.g + 1
child_node.regeneration_time = current_node.regeneration_time - 1
child_node.tritanium_blaster = current_node.tritanium_blaster
child_node.energy_units = current_node.energy_units
child_node.parent_link_type = 'open'
return True
return False
def is_door(self, current_node: Node, child_node: Node, current_link: Link):
"""
Check whether the link is a door and the path is cheaper.
Door costs 2 minutes.
:param current_node: The current node.
:param child_node: The child node of the current node.
:param current_link: The link from the current to the child node.
:return: Whether the link is a door and cheaper or not.
"""
if current_link.is_door:
if not self.is_cheaper(current_node, child_node, 2):
return False
child_node.g = current_node.g + 2
child_node.regeneration_time = current_node.regeneration_time - 2
child_node.tritanium_blaster = current_node.tritanium_blaster
child_node.energy_units = current_node.energy_units
child_node.parent_link_type = 'door'
return True
return False
