diff --git a/src/finders/AStarFinder.js b/src/finders/AStarFinder.js
index d7e63430..33e6213a 100644
--- a/src/finders/AStarFinder.js
+++ b/src/finders/AStarFinder.js
@@ -16,6 +16,10 @@ var DiagonalMovement = require('../core/DiagonalMovement');
* (defaults to manhattan).
* @param {number} 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 || {};
@@ -24,6 +28,8 @@ 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) {
@@ -59,9 +65,11 @@ AStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) {
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;
+ lastDirection, node, neighbors, neighbor, i, l, x, y, ng;
// set the `g` and `f` value of the start node to be 0
startNode.g = 0;
@@ -98,6 +106,14 @@ AStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) {
// and calculate the next g score
ng = node.g + ((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..6109a663 100644
--- a/visual/index.html
+++ b/visual/index.html
@@ -72,8 +72,14 @@ Options
-
+
+
+
+
+
+
+
diff --git a/visual/js/panel.js b/visual/js/panel.js
index 19185d58..98af7fc0 100644
--- a/visual/js/panel.js
+++ b/visual/js/panel.js
@@ -41,9 +41,15 @@ var Panel = {
'.bi-directional:checked').val() !=='undefined';
dontCrossCorners = typeof $('#astar_section ' +
'.dont_cross_corners:checked').val() !=='undefined';
+ avoidStaircase = typeof $('#astar_section ' +
+ '.avoid_staircase:checked').val() !=='undefined';
/* parseInt returns NaN (which is falsy) if the string can't be parsed */
- weight = parseInt($('#astar_section .spinner').val()) || 1;
+ 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();
@@ -59,7 +65,9 @@ var Panel = {
allowDiagonal: allowDiagonal,
dontCrossCorners: dontCrossCorners,
heuristic: PF.Heuristic[heuristic],
- weight: weight
+ weight: weight,
+ avoidStaircase: avoidStaircase,
+ turnPenalty: turnPenalty
});
}
break;
diff --git a/visual/lib/pathfinding-browser.min.js b/visual/lib/pathfinding-browser.min.js
index 76ec7840..ea21ca3d 100644
--- a/visual/lib/pathfinding-browser.min.js
+++ b/visual/lib/pathfinding-browser.min.js
@@ -1 +1 @@
-!function(t){if("object"==typeof exports&&"undefined"!=typeof module)module.exports=t();else if("function"==typeof define&&define.amd)define([],t);else{var e;"undefined"!=typeof window?e=window:"undefined"!=typeof global?e=global:"undefined"!=typeof self&&(e=self),e.PF=t()}}(function(){return function t(e,r,i){function n(s,a){if(!r[s]){if(!e[s]){var u="function"==typeof require&&require;if(!a&&u)return u(s,!0);if(o)return o(s,!0);var h=new Error("Cannot find module '"+s+"'");throw h.code="MODULE_NOT_FOUND",h}var l=r[s]={exports:{}};e[s][0].call(l.exports,function(t){var r=e[s][1][t];return n(r?r:t)},l,l.exports,t,e,r,i)}return r[s].exports}for(var o="function"==typeof require&&require,s=0;st?-1:t>e?1:0},h=function(t,e,n,o,s){var a;if(null==n&&(n=0),null==s&&(s=r),0>n)throw new Error("lo must be non-negative");for(null==o&&(o=t.length);o>n;)a=i((n+o)/2),s(e,t[a])<0?o=a:n=a+1;return[].splice.apply(t,[n,n-n].concat(e)),e},s=function(t,e,i){return null==i&&(i=r),t.push(e),d(t,0,t.length-1,i)},o=function(t,e){var i,n;return null==e&&(e=r),i=t.pop(),t.length?(n=t[0],t[0]=i,g(t,0,e)):n=i,n},u=function(t,e,i){var n;return null==i&&(i=r),n=t[0],t[0]=e,g(t,0,i),n},a=function(t,e,i){var n;return null==i&&(i=r),t.length&&i(t[0],e)<0&&(n=[t[0],e],e=n[0],t[0]=n[1],g(t,0,i)),e},n=function(t,e){var n,o,s,a,u,h;for(null==e&&(e=r),a=function(){h=[];for(var e=0,r=i(t.length/2);r>=0?r>e:e>r;r>=0?e++:e--)h.push(e);return h}.apply(this).reverse(),u=[],o=0,s=a.length;s>o;o++)n=a[o],u.push(g(t,n,e));return u},f=function(t,e,i){var n;return null==i&&(i=r),n=t.indexOf(e),-1!==n?(d(t,0,n,i),g(t,n,i)):void 0},p=function(t,e,i){var o,s,u,h,l;if(null==i&&(i=r),s=t.slice(0,e),!s.length)return s;for(n(s,i),l=t.slice(e),u=0,h=l.length;h>u;u++)o=l[u],a(s,o,i);return s.sort(i).reverse()},c=function(t,e,i){var s,a,u,p,c,f,d,g,b,y;if(null==i&&(i=r),10*e<=t.length){if(p=t.slice(0,e).sort(i),!p.length)return p;for(u=p[p.length-1],g=t.slice(e),c=0,d=g.length;d>c;c++)s=g[c],i(s,u)<0&&(h(p,s,0,null,i),p.pop(),u=p[p.length-1]);return p}for(n(t,i),y=[],a=f=0,b=l(e,t.length);b>=0?b>f:f>b;a=b>=0?++f:--f)y.push(o(t,i));return y},d=function(t,e,i,n){var o,s,a;for(null==n&&(n=r),o=t[i];i>e&&(a=i-1>>1,s=t[a],n(o,s)<0);)t[i]=s,i=a;return t[i]=o},g=function(t,e,i){var n,o,s,a,u;for(null==i&&(i=r),o=t.length,u=e,s=t[e],n=2*e+1;o>n;)a=n+1,o>a&&!(i(t[n],t[a])<0)&&(n=a),t[e]=t[n],e=n,n=2*e+1;return t[e]=s,d(t,u,e,i)},t=function(){function t(t){this.cmp=null!=t?t:r,this.nodes=[]}return t.push=s,t.pop=o,t.replace=u,t.pushpop=a,t.heapify=n,t.nlargest=p,t.nsmallest=c,t.prototype.push=function(t){return s(this.nodes,t,this.cmp)},t.prototype.pop=function(){return o(this.nodes,this.cmp)},t.prototype.peek=function(){return this.nodes[0]},t.prototype.contains=function(t){return-1!==this.nodes.indexOf(t)},t.prototype.replace=function(t){return u(this.nodes,t,this.cmp)},t.prototype.pushpop=function(t){return a(this.nodes,t,this.cmp)},t.prototype.heapify=function(){return n(this.nodes,this.cmp)},t.prototype.updateItem=function(t){return f(this.nodes,t,this.cmp)},t.prototype.clear=function(){return this.nodes=[]},t.prototype.empty=function(){return 0===this.nodes.length},t.prototype.size=function(){return this.nodes.length},t.prototype.clone=function(){var e;return e=new t,e.nodes=this.nodes.slice(0),e},t.prototype.toArray=function(){return this.nodes.slice(0)},t.prototype.insert=t.prototype.push,t.prototype.remove=t.prototype.pop,t.prototype.top=t.prototype.peek,t.prototype.front=t.prototype.peek,t.prototype.has=t.prototype.contains,t.prototype.copy=t.prototype.clone,t}(),("undefined"!=typeof e&&null!==e?e.exports:void 0)?e.exports=t:window.Heap=t}.call(this)},{}],3:[function(t,e){function r(t,e,r){this.width=t,this.height=e,this.nodes=this._buildNodes(t,e,r)}var i=t("./Node");r.prototype._buildNodes=function(t,e,r){var n,o,s=new Array(e);for(n=0;e>n;++n)for(s[n]=new Array(t),o=0;t>o;++o)s[n][o]=new i(o,n);if(void 0===r)return s;if(r.length!==e||r[0].length!==t)throw new Error("Matrix size does not fit");for(n=0;e>n;++n)for(o=0;t>o;++o)r[n][o]&&(s[n][o].walkable=!1);return s},r.prototype.getNodeAt=function(t,e){return this.nodes[e][t]},r.prototype.isWalkableAt=function(t,e){return this.isInside(t,e)&&this.nodes[e][t].walkable},r.prototype.isInside=function(t,e){return t>=0&&t=0&&et;++t)for(u[t]=new Array(n),e=0;n>e;++e)u[t][e]=new i(e,t,s[t][e].walkable);return a.nodes=u,a},e.exports=r},{"./Node":5}],4:[function(t,e){e.exports={manhattan:function(t,e){return t+e},euclidean:function(t,e){return Math.sqrt(t*t+e*e)},octile:function(t,e){var r=Math.SQRT2-1;return e>t?r*t+e:r*e+t},chebyshev:function(t,e){return Math.max(t,e)}}},{}],5:[function(t,e){function r(t,e,r){this.x=t,this.y=e,this.walkable=void 0===r?!0:r}e.exports=r},{}],6:[function(t,e,r){function i(t){for(var e=[[t.x,t.y]];t.parent;)t=t.parent,e.push([t.x,t.y]);return e.reverse()}function n(t,e){var r=i(t),n=i(e);return r.concat(n.reverse())}function o(t){var e,r,i,n,o,s=0;for(e=1;et?1:-1,o=i>e?1:-1,u=s-a;;){if(p.push([t,e]),t===r&&e===i)break;h=2*u,h>-a&&(u-=a,t+=n),s>h&&(u+=s,e+=o)}return p}function a(t){var e,r,i,n,o,a,u=[],h=t.length;if(2>h)return u;for(o=0;h-1>o;++o)for(e=t[o],r=t[o+1],i=s(e[0],e[1],r[0],r[1]),n=i.length,a=0;n-1>a;++a)u.push(i[a]);return u.push(t[h-1]),u}function u(t,e){var r,i,n,o,a,u,h,l,p,c,f,d=e.length,g=e[0][0],b=e[0][1],y=e[d-1][0],A=e[d-1][1];for(r=g,i=b,a=[[r,i]],u=2;d>u;++u){for(l=e[u],n=l[0],o=l[1],p=s(r,i,n,o),f=!1,h=1;hl;++l)h=u[l],h.closed||(c=h.x,f=h.y,d=a.g+(0===c-a.x||0===f-a.y?1:x),(!h.opened||dl;++l)if(h=u[l],!h.closed){if(h.opened===C)return n.biBacktrace(a,h);c=h.x,f=h.y,d=a.g+(0===c-a.x||0===f-a.y?1:W),(!h.opened||dl;++l)if(h=u[l],!h.closed){if(h.opened===N)return n.biBacktrace(h,a);c=h.x,f=h.y,d=a.g+(0===c-a.x||0===f-a.y?1:W),(!h.opened||dh;++h)if(a=s[h],!a.closed)if(a.opened){if(a.by===A)return i.biBacktrace(u,a)}else f.push(a),a.parent=u,a.opened=!0,a.by=y;for(u=d.shift(),u.closed=!0,s=o.getNeighbors(u,g,b),h=0,l=s.length;l>h;++h)if(a=s[h],!a.closed)if(a.opened){if(a.by===y)return i.biBacktrace(a,u)}else d.push(a),a.parent=u,a.opened=!0,a.by=A}return[]},e.exports=r},{"../core/Util":6}],12:[function(t,e){function r(t){i.call(this,t),this.heuristic=function(){return 0}}var i=t("./BiAStarFinder");r.prototype=new i,r.prototype.constructor=r,e.exports=r},{"./BiAStarFinder":9}],13:[function(t,e){function r(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners}var i=t("../core/Util");r.prototype.findPath=function(t,e,r,n,o){var s,a,u,h,l,p=[],c=this.allowDiagonal,f=this.dontCrossCorners,d=o.getNodeAt(t,e),g=o.getNodeAt(r,n);for(p.push(d),d.opened=!0;p.length;){if(u=p.shift(),u.closed=!0,u===g)return i.backtrace(g);for(s=o.getNeighbors(u,c,f),h=0,l=s.length;l>h;++h)a=s[h],a.closed||a.opened||(p.push(a),a.opened=!0,a.parent=u)}return[]},e.exports=r},{"../core/Util":6}],14:[function(t,e){function r(t){i.call(this,t),this.heuristic=function(){return 0}}var i=t("./AStarFinder");r.prototype=new i,r.prototype.constructor=r,e.exports=r},{"./AStarFinder":7}],15:[function(t,e){function r(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.heuristic=t.heuristic||i.manhattan,this.weight=t.weight||1,this.trackRecursion=t.trackRecursion||!1,this.timeLimit=t.timeLimit||1/0}t("../core/Util");var i=t("../core/Heuristic"),n=t("../core/Node");r.prototype.findPath=function(t,e,r,i,o){var s,a,u,h=0,l=(new Date).getTime(),p=function(t,e){return this.heuristic(Math.abs(e.x-t.x),Math.abs(e.y-t.y))}.bind(this),c=function(t,e){return t.x===e.x||t.y===e.y?1:Math.SQRT2},f=function(t,e,r,i,s){if(h++,this.timeLimit>0&&(new Date).getTime()-l>1e3*this.timeLimit)return 1/0;var a=e+p(t,g)*this.weight;if(a>r)return a;if(t==g)return i[s]=[t.x,t.y],t;var u,d,b,y,A=o.getNeighbors(t,this.allowDiagonal,this.dontCrossCorners);for(b=0,u=1/0;y=A[b];++b){if(this.trackRecursion&&(y.retainCount=y.retainCount+1||1,y.tested!==!0&&(y.tested=!0)),d=f(y,e+c(t,y),r,i,s+1),d instanceof n)return i[s]=[t.x,t.y],d;this.trackRecursion&&0===--y.retainCount&&(y.tested=!1),u>d&&(u=d)}return u}.bind(this),d=o.getNodeAt(t,e),g=o.getNodeAt(r,i),b=p(d,g);for(s=0;!0;++s){if(a=[],u=f(d,0,b,a,0),1/0===u)return[];if(u instanceof n)return a;b=u}return[]},e.exports=r},{"../core/Heuristic":4,"../core/Node":5,"../core/Util":6}],16:[function(t,e){function r(t){t=t||{},this.heuristic=t.heuristic||o.manhattan,this.trackJumpRecursion=t.trackJumpRecursion||!1}var i=t("heap"),n=t("../core/Util"),o=t("../core/Heuristic");r.prototype.findPath=function(t,e,r,o,s){var a,u=this.openList=new i(function(t,e){return t.f-e.f}),h=this.startNode=s.getNodeAt(t,e),l=this.endNode=s.getNodeAt(r,o);for(this.grid=s,h.g=0,h.f=0,u.push(h),h.opened=!0;!u.empty();){if(a=u.pop(),a.closed=!0,a===l)return n.expandPath(n.backtrace(l));this._identifySuccessors(a)}return[]},r.prototype._identifySuccessors=function(t){var e,r,i,n,s,a,u,h,l,p,c=this.grid,f=this.heuristic,d=this.openList,g=this.endNode.x,b=this.endNode.y,y=t.x,A=t.y,k=Math.abs;for(Math.max,e=this._findNeighbors(t),n=0,s=e.length;s>n;++n)if(r=e[n],i=this._jump(r[0],r[1],y,A)){if(a=i[0],u=i[1],p=c.getNodeAt(a,u),p.closed)continue;h=o.octile(k(a-y),k(u-A)),l=t.g+h,(!p.opened||la;++a)s=o[a],f.push([s.x,s.y]);return f},e.exports=r},{"../core/Heuristic":4,"../core/Util":6,heap:1}],17:[function(t,e){function r(t){n.call(this,t),t=t||{},this.heuristic=t.heuristic||i.manhattan}var i=t("../core/Heuristic"),n=t("./JumpPointFinder");r.prototype=new n,r.prototype.constructor=r,r.prototype._jump=function(t,e,r,i){var n=this.grid,o=t-r,s=e-i;if(!n.isWalkableAt(t,e))return null;if(this.trackJumpRecursion===!0&&(n.getNodeAt(t,e).tested=!0),n.getNodeAt(t,e)===this.endNode)return[t,e];if(0!==o){if(n.isWalkableAt(t,e-1)&&!n.isWalkableAt(t-o,e-1)||n.isWalkableAt(t,e+1)&&!n.isWalkableAt(t-o,e+1))return[t,e]}else{if(0===s)throw new Error("Only horizontal and vertical movements are allowed");if(n.isWalkableAt(t-1,e)&&!n.isWalkableAt(t-1,e-s)||n.isWalkableAt(t+1,e)&&!n.isWalkableAt(t+1,e-s))return[t,e];if(this._jump(t+1,e,t,e)||this._jump(t-1,e,t,e))return[t,e]}return this._jump(t+o,e+s,t,e)},r.prototype._findNeighbors=function(t){var e,r,i,n,o,s,a,u,h=t.parent,l=t.x,p=t.y,c=this.grid,f=[];if(h)e=h.x,r=h.y,i=(l-e)/Math.max(Math.abs(l-e),1),n=(p-r)/Math.max(Math.abs(p-r),1),0!==i?(c.isWalkableAt(l,p-1)&&f.push([l,p-1]),c.isWalkableAt(l,p+1)&&f.push([l,p+1]),c.isWalkableAt(l+i,p)&&f.push([l+i,p])):0!==n&&(c.isWalkableAt(l-1,p)&&f.push([l-1,p]),c.isWalkableAt(l+1,p)&&f.push([l+1,p]),c.isWalkableAt(l,p+n)&&f.push([l,p+n]));else for(o=c.getNeighbors(t,!1),a=0,u=o.length;u>a;++a)s=o[a],f.push([s.x,s.y]);return f},e.exports=r},{"../core/Heuristic":4,"./JumpPointFinder":16}],18:[function(t,e){e.exports={Heap:t("heap"),Node:t("./core/Node"),Grid:t("./core/Grid"),Util:t("./core/Util"),Heuristic:t("./core/Heuristic"),AStarFinder:t("./finders/AStarFinder"),BestFirstFinder:t("./finders/BestFirstFinder"),BreadthFirstFinder:t("./finders/BreadthFirstFinder"),DijkstraFinder:t("./finders/DijkstraFinder"),BiAStarFinder:t("./finders/BiAStarFinder"),BiBestFirstFinder:t("./finders/BiBestFirstFinder"),BiBreadthFirstFinder:t("./finders/BiBreadthFirstFinder"),BiDijkstraFinder:t("./finders/BiDijkstraFinder"),IDAStarFinder:t("./finders/IDAStarFinder"),JumpPointFinder:t("./finders/JumpPointFinder"),OrthogonalJumpPointFinder:t("./finders/OrthogonalJumpPointFinder")}},{"./core/Grid":3,"./core/Heuristic":4,"./core/Node":5,"./core/Util":6,"./finders/AStarFinder":7,"./finders/BestFirstFinder":8,"./finders/BiAStarFinder":9,"./finders/BiBestFirstFinder":10,"./finders/BiBreadthFirstFinder":11,"./finders/BiDijkstraFinder":12,"./finders/BreadthFirstFinder":13,"./finders/DijkstraFinder":14,"./finders/IDAStarFinder":15,"./finders/JumpPointFinder":16,"./finders/OrthogonalJumpPointFinder":17,heap:1}]},{},[18])(18)});
\ No newline at end of file
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