From 5c5243eb34a381b8266653a8286042c167866fdf Mon Sep 17 00:00:00 2001 From: PWR Date: Thu, 7 Mar 2024 11:46:08 +0100 Subject: [PATCH] Manually add changes from https://github.com/qiao/PathFinding.js/pull/150 --- package.json | 9 +- pnpm-lock.yaml | 3373 ++++++++++++++++++++++++++++++++++++ src/finders/AStarFinder.js | 32 +- visual/index.html | 448 ++--- visual/js/panel.js | 292 ++-- 5 files changed, 3783 insertions(+), 371 deletions(-) create mode 100644 pnpm-lock.yaml diff --git a/package.json b/package.json index 9b785d42..1d19607f 100644 --- a/package.json +++ b/package.json @@ -48,5 +48,10 @@ "type": "MIT", "url": "http://opensource.org/licenses/mit-license.php" } - ] -} + ], + "pnpm": { + "overrides": { + "graceful-fs": "^4.2.11" + } + } +} \ No newline at end of file diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml new file mode 100644 index 00000000..7038325e --- /dev/null +++ b/pnpm-lock.yaml @@ -0,0 +1,3373 @@ +lockfileVersion: '6.0' + +settings: + autoInstallPeers: true + 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wordwrap: 0.0.2 + dev: true diff --git a/src/finders/AStarFinder.js b/src/finders/AStarFinder.js index 95e865ee..4dc6fd87 100644 --- a/src/finders/AStarFinder.js +++ b/src/finders/AStarFinder.js @@ -1,6 +1,6 @@ -var Heap = require('heap'); -var Util = require('../core/Util'); -var Heuristic = require('../core/Heuristic'); +var Heap = require('heap'); +var Util = require('../core/Util'); +var Heuristic = require('../core/Heuristic'); var DiagonalMovement = require('../core/DiagonalMovement'); /** @@ -15,6 +15,10 @@ var DiagonalMovement = require('../core/DiagonalMovement'); * (defaults to manhattan). * @param {integer} opt.weight Weight to apply to the heuristic to allow for suboptimal paths, * in order to speed up the search. + * @param {number} opt.avoidStarcasing Add penalties to discourage turning and + * causing a 'staircase' effect (defaults to false). + * @param {number} opt.turnPenalty Penalty to add to turning. Higher numbers + * discourage turning more (defaults to 1). */ function AStarFinder(opt) { opt = opt || {}; @@ -23,6 +27,8 @@ function AStarFinder(opt) { this.heuristic = opt.heuristic || Heuristic.manhattan; this.weight = opt.weight || 1; this.diagonalMovement = opt.diagonalMovement; + this.avoidStaircase = opt.avoidStaircase; + this.turnPenalty = opt.turnPenalty || 1; if (!this.diagonalMovement) { if (!this.allowDiagonal) { @@ -50,17 +56,19 @@ function AStarFinder(opt) { * @return {Array.<[number, number]>} The path, including both start and * end positions. */ -AStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) { - var openList = new Heap(function(nodeA, nodeB) { - return nodeA.f - nodeB.f; - }), +AStarFinder.prototype.findPath = function (startX, startY, endX, endY, grid) { + var openList = new Heap(function (nodeA, nodeB) { + return nodeA.f - nodeB.f; + }), startNode = grid.getNodeAt(startX, startY), endNode = grid.getNodeAt(endX, endY), heuristic = this.heuristic, diagonalMovement = this.diagonalMovement, + avoidStaircase = this.avoidStaircase, + turnPenalty = this.turnPenalty, weight = this.weight, abs = Math.abs, SQRT2 = Math.SQRT2, - node, neighbors, neighbor, i, l, x, y, ng; + node, neighbors, neighbor, lastDirection, i, l, x, y, ng; // set the `g` and `f` value of the start node to be 0 startNode.g = 0; @@ -97,6 +105,14 @@ AStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) { // and calculate the next g score ng = node.g + neighbor.cost + ((x - node.x === 0 || y - node.y === 0) ? 1 : SQRT2); + // if we're avoiding staircasing, add penalties if the direction + // will change + if (avoidStaircase) { + lastDirection = node.parent == undefined ? undefined : { x: node.x - node.parent.x, y: node.y - node.parent.y }; + var turned = lastDirection == undefined ? 0 : lastDirection.x != x - node.x || lastDirection.y != y - node.y; + ng += turnPenalty * turned; + } + // check if the neighbor has not been inspected yet, or // can be reached with smaller cost from the current node if (!neighbor.opened || ng < neighbor.g) { diff --git a/visual/index.html b/visual/index.html index 59710a9e..ce75facc 100644 --- a/visual/index.html +++ b/visual/index.html @@ -1,235 +1,245 @@ - - - PathFinding.js - - - - - - - - - - - - - - - - - - - - - - - - - -
- -
-
-

Instructions

- hide -
- Click within the white grid and drag your mouse to draw obstacles.
- Drag the green node to set the start position.
- Drag the red node to set the end position.
- Choose an algorithm from the right-hand panel.
- Click Start Search in the lower-right corner to start the animation. -
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Select Algorithm

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A*

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Heuristic

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+ + + PathFinding.js + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
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+

Instructions

+ hide +
+ Click within the white grid and drag your mouse to draw obstacles.
+ Drag the green node to set the start position.
+ Drag the red node to set the end position.
+ Choose an algorithm from the right-hand panel.
+ Click Start Search in the lower-right corner to start the animation. +
+ +
+
+

Select Algorithm

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+ +
+

A*

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Heuristic

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+ Project Hosted on Github +
- + - - + \ No newline at end of file diff --git a/visual/js/panel.js b/visual/js/panel.js index 19185d58..cce1469f 100644 --- a/visual/js/panel.js +++ b/visual/js/panel.js @@ -2,17 +2,17 @@ * The control panel. */ var Panel = { - init: function() { + init: function () { var $algo = $('#algorithm_panel'); $('.panel').draggable(); $('.accordion').accordion({ collapsible: false, }); - $('.option_label').click(function() { + $('.option_label').click(function () { $(this).prev().click(); }); - $('#hide_instructions').click(function() { + $('#hide_instructions').click(function () { $('#instructions_panel').slideUp(); }); $('#play_panel').css({ @@ -24,159 +24,167 @@ var Panel = { * Get the user selected path-finder. * TODO: clean up this messy code. */ - getFinder: function() { + getFinder: function () { var finder, selected_header, heuristic, allowDiagonal, biDirectional, dontCrossCorners, weight, trackRecursion, timeLimit; - + selected_header = $( '#algorithm_panel ' + '.ui-accordion-header[aria-selected=true]' ).attr('id'); - + switch (selected_header) { - case 'astar_header': - allowDiagonal = typeof $('#astar_section ' + - '.allow_diagonal:checked').val() !== 'undefined'; - biDirectional = typeof $('#astar_section ' + - '.bi-directional:checked').val() !=='undefined'; - dontCrossCorners = typeof $('#astar_section ' + - '.dont_cross_corners:checked').val() !=='undefined'; - - /* parseInt returns NaN (which is falsy) if the string can't be parsed */ - weight = parseInt($('#astar_section .spinner').val()) || 1; - weight = weight >= 1 ? weight : 1; /* if negative or 0, use 1 */ - - heuristic = $('input[name=astar_heuristic]:checked').val(); - if (biDirectional) { - finder = new PF.BiAStarFinder({ - allowDiagonal: allowDiagonal, - dontCrossCorners: dontCrossCorners, + case 'astar_header': + allowDiagonal = typeof $('#astar_section ' + + '.allow_diagonal:checked').val() !== 'undefined'; + biDirectional = typeof $('#astar_section ' + + '.bi-directional:checked').val() !== 'undefined'; + dontCrossCorners = typeof $('#astar_section ' + + '.dont_cross_corners:checked').val() !== 'undefined'; + avoidStaircase = typeof $('#astar_section ' + + '.avoid_staircase:checked').val() !== 'undefined'; + + /* parseInt returns NaN (which is falsy) if the string can't be parsed */ + turnPenalty = parseInt($('#astar_section .turn_penalty').val()) || 1; + turnPenalty = turnPenalty >= 1 ? turnPenalty : 1; /* if negative or 0, use 1 */ + + /* parseInt returns NaN (which is falsy) if the string can't be parsed */ + weight = parseInt($('#astar_section .astar_weight').val()) || 1; + weight = weight >= 1 ? weight : 1; /* if negative or 0, use 1 */ + + heuristic = $('input[name=astar_heuristic]:checked').val(); + if (biDirectional) { + finder = new PF.BiAStarFinder({ + allowDiagonal: allowDiagonal, + dontCrossCorners: dontCrossCorners, + heuristic: PF.Heuristic[heuristic], + weight: weight + }); + } else { + finder = new PF.AStarFinder({ + allowDiagonal: allowDiagonal, + dontCrossCorners: dontCrossCorners, + heuristic: PF.Heuristic[heuristic], + weight: weight, + avoidStaircase: avoidStaircase, + turnPenalty: turnPenalty + }); + } + break; + + case 'breadthfirst_header': + allowDiagonal = typeof $('#breadthfirst_section ' + + '.allow_diagonal:checked').val() !== 'undefined'; + biDirectional = typeof $('#breadthfirst_section ' + + '.bi-directional:checked').val() !== 'undefined'; + dontCrossCorners = typeof $('#breadthfirst_section ' + + '.dont_cross_corners:checked').val() !== 'undefined'; + if (biDirectional) { + finder = new PF.BiBreadthFirstFinder({ + allowDiagonal: allowDiagonal, + dontCrossCorners: dontCrossCorners + }); + } else { + finder = new PF.BreadthFirstFinder({ + allowDiagonal: allowDiagonal, + dontCrossCorners: dontCrossCorners + }); + } + break; + + case 'bestfirst_header': + allowDiagonal = typeof $('#bestfirst_section ' + + '.allow_diagonal:checked').val() !== 'undefined'; + biDirectional = typeof $('#bestfirst_section ' + + '.bi-directional:checked').val() !== 'undefined'; + dontCrossCorners = typeof $('#bestfirst_section ' + + '.dont_cross_corners:checked').val() !== 'undefined'; + heuristic = $('input[name=bestfirst_heuristic]:checked').val(); + if (biDirectional) { + finder = new PF.BiBestFirstFinder({ + allowDiagonal: allowDiagonal, + dontCrossCorners: dontCrossCorners, + heuristic: PF.Heuristic[heuristic] + }); + } else { + finder = new PF.BestFirstFinder({ + allowDiagonal: allowDiagonal, + dontCrossCorners: dontCrossCorners, + heuristic: PF.Heuristic[heuristic] + }); + } + break; + + case 'dijkstra_header': + allowDiagonal = typeof $('#dijkstra_section ' + + '.allow_diagonal:checked').val() !== 'undefined'; + biDirectional = typeof $('#dijkstra_section ' + + '.bi-directional:checked').val() !== 'undefined'; + dontCrossCorners = typeof $('#dijkstra_section ' + + '.dont_cross_corners:checked').val() !== 'undefined'; + if (biDirectional) { + finder = new PF.BiDijkstraFinder({ + allowDiagonal: allowDiagonal, + dontCrossCorners: dontCrossCorners + }); + } else { + finder = new PF.DijkstraFinder({ + allowDiagonal: allowDiagonal, + dontCrossCorners: dontCrossCorners + }); + } + break; + + case 'jump_point_header': + trackRecursion = typeof $('#jump_point_section ' + + '.track_recursion:checked').val() !== 'undefined'; + heuristic = $('input[name=jump_point_heuristic]:checked').val(); + + finder = new PF.JumpPointFinder({ + trackJumpRecursion: trackRecursion, heuristic: PF.Heuristic[heuristic], - weight: weight + diagonalMovement: PF.DiagonalMovement.IfAtMostOneObstacle }); - } else { - finder = new PF.AStarFinder({ - allowDiagonal: allowDiagonal, - dontCrossCorners: dontCrossCorners, + break; + case 'orth_jump_point_header': + trackRecursion = typeof $('#orth_jump_point_section ' + + '.track_recursion:checked').val() !== 'undefined'; + heuristic = $('input[name=orth_jump_point_heuristic]:checked').val(); + + finder = new PF.JumpPointFinder({ + trackJumpRecursion: trackRecursion, heuristic: PF.Heuristic[heuristic], - weight: weight - }); - } - break; - - case 'breadthfirst_header': - allowDiagonal = typeof $('#breadthfirst_section ' + - '.allow_diagonal:checked').val() !== 'undefined'; - biDirectional = typeof $('#breadthfirst_section ' + - '.bi-directional:checked').val() !== 'undefined'; - dontCrossCorners = typeof $('#breadthfirst_section ' + - '.dont_cross_corners:checked').val() !=='undefined'; - if (biDirectional) { - finder = new PF.BiBreadthFirstFinder({ - allowDiagonal: allowDiagonal, - dontCrossCorners: dontCrossCorners + diagonalMovement: PF.DiagonalMovement.Never }); - } else { - finder = new PF.BreadthFirstFinder({ - allowDiagonal: allowDiagonal, - dontCrossCorners: dontCrossCorners - }); - } - break; - - case 'bestfirst_header': - allowDiagonal = typeof $('#bestfirst_section ' + - '.allow_diagonal:checked').val() !== 'undefined'; - biDirectional = typeof $('#bestfirst_section ' + - '.bi-directional:checked').val() !== 'undefined'; - dontCrossCorners = typeof $('#bestfirst_section ' + - '.dont_cross_corners:checked').val() !=='undefined'; - heuristic = $('input[name=bestfirst_heuristic]:checked').val(); - if (biDirectional) { - finder = new PF.BiBestFirstFinder({ - allowDiagonal: allowDiagonal, - dontCrossCorners: dontCrossCorners, - heuristic: PF.Heuristic[heuristic] - }); - } else { - finder = new PF.BestFirstFinder({ + break; + case 'ida_header': + allowDiagonal = typeof $('#ida_section ' + + '.allow_diagonal:checked').val() !== 'undefined'; + dontCrossCorners = typeof $('#ida_section ' + + '.dont_cross_corners:checked').val() !== 'undefined'; + trackRecursion = typeof $('#ida_section ' + + '.track_recursion:checked').val() !== 'undefined'; + + heuristic = $('input[name=jump_point_heuristic]:checked').val(); + + weight = parseInt($('#ida_section input[name=astar_weight]').val()) || 1; + weight = weight >= 1 ? weight : 1; /* if negative or 0, use 1 */ + + timeLimit = parseInt($('#ida_section input[name=time_limit]').val()); + + // Any non-negative integer, indicates "forever". + timeLimit = (timeLimit <= 0 || isNaN(timeLimit)) ? -1 : timeLimit; + + finder = new PF.IDAStarFinder({ + timeLimit: timeLimit, + trackRecursion: trackRecursion, allowDiagonal: allowDiagonal, dontCrossCorners: dontCrossCorners, - heuristic: PF.Heuristic[heuristic] - }); - } - break; - - case 'dijkstra_header': - allowDiagonal = typeof $('#dijkstra_section ' + - '.allow_diagonal:checked').val() !== 'undefined'; - biDirectional = typeof $('#dijkstra_section ' + - '.bi-directional:checked').val() !=='undefined'; - dontCrossCorners = typeof $('#dijkstra_section ' + - '.dont_cross_corners:checked').val() !=='undefined'; - if (biDirectional) { - finder = new PF.BiDijkstraFinder({ - allowDiagonal: allowDiagonal, - dontCrossCorners: dontCrossCorners - }); - } else { - finder = new PF.DijkstraFinder({ - allowDiagonal: allowDiagonal, - dontCrossCorners: dontCrossCorners + heuristic: PF.Heuristic[heuristic], + weight: weight }); - } - break; - - case 'jump_point_header': - trackRecursion = typeof $('#jump_point_section ' + - '.track_recursion:checked').val() !== 'undefined'; - heuristic = $('input[name=jump_point_heuristic]:checked').val(); - - finder = new PF.JumpPointFinder({ - trackJumpRecursion: trackRecursion, - heuristic: PF.Heuristic[heuristic], - diagonalMovement: PF.DiagonalMovement.IfAtMostOneObstacle - }); - break; - case 'orth_jump_point_header': - trackRecursion = typeof $('#orth_jump_point_section ' + - '.track_recursion:checked').val() !== 'undefined'; - heuristic = $('input[name=orth_jump_point_heuristic]:checked').val(); - - finder = new PF.JumpPointFinder({ - trackJumpRecursion: trackRecursion, - heuristic: PF.Heuristic[heuristic], - diagonalMovement: PF.DiagonalMovement.Never - }); - break; - case 'ida_header': - allowDiagonal = typeof $('#ida_section ' + - '.allow_diagonal:checked').val() !== 'undefined'; - dontCrossCorners = typeof $('#ida_section ' + - '.dont_cross_corners:checked').val() !=='undefined'; - trackRecursion = typeof $('#ida_section ' + - '.track_recursion:checked').val() !== 'undefined'; - - heuristic = $('input[name=jump_point_heuristic]:checked').val(); - - weight = parseInt($('#ida_section input[name=astar_weight]').val()) || 1; - weight = weight >= 1 ? weight : 1; /* if negative or 0, use 1 */ - - timeLimit = parseInt($('#ida_section input[name=time_limit]').val()); - - // Any non-negative integer, indicates "forever". - timeLimit = (timeLimit <= 0 || isNaN(timeLimit)) ? -1 : timeLimit; - - finder = new PF.IDAStarFinder({ - timeLimit: timeLimit, - trackRecursion: trackRecursion, - allowDiagonal: allowDiagonal, - dontCrossCorners: dontCrossCorners, - heuristic: PF.Heuristic[heuristic], - weight: weight - }); - - break; + + break; } return finder;