From 76411983fd71189eb932916090d4b037e5ad348f Mon Sep 17 00:00:00 2001 From: ivanmayes Date: Tue, 25 Jul 2017 11:20:06 -0500 Subject: [PATCH 1/4] Added options to avoid staircasing effect --- src/finders/AStarFinder.js | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/src/finders/AStarFinder.js b/src/finders/AStarFinder.js index d7e63430..dec0dc56 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) { @@ -59,7 +65,10 @@ 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, + lastDirection = undefined, abs = Math.abs, SQRT2 = Math.SQRT2, node, neighbors, neighbor, i, l, x, y, ng; @@ -98,6 +107,14 @@ 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) { From 1435db7439ff655e7c9c67e4d4844c044f02eaf2 Mon Sep 17 00:00:00 2001 From: ivanmayes Date: Tue, 25 Jul 2017 11:22:49 -0500 Subject: [PATCH 2/4] Added input for avoiding staircasing to A* demo --- visual/index.html | 2 ++ visual/js/panel.js | 5 ++++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/visual/index.html b/visual/index.html index 59710a9e..38ed9e91 100644 --- a/visual/index.html +++ b/visual/index.html @@ -72,6 +72,8 @@

Options



+ +

diff --git a/visual/js/panel.js b/visual/js/panel.js index 19185d58..ad2055c4 100644 --- a/visual/js/panel.js +++ b/visual/js/panel.js @@ -41,6 +41,8 @@ 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; @@ -59,7 +61,8 @@ var Panel = { allowDiagonal: allowDiagonal, dontCrossCorners: dontCrossCorners, heuristic: PF.Heuristic[heuristic], - weight: weight + weight: weight, + avoidStaircase: avoidStaircase }); } break; From 8781568efb0679e750e026a03489d7c5d899b72f Mon Sep 17 00:00:00 2001 From: ivanmayes Date: Tue, 25 Jul 2017 13:15:25 -0500 Subject: [PATCH 3/4] Cleaned up from linting --- src/finders/AStarFinder.js | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/finders/AStarFinder.js b/src/finders/AStarFinder.js index dec0dc56..33e6213a 100644 --- a/src/finders/AStarFinder.js +++ b/src/finders/AStarFinder.js @@ -68,9 +68,8 @@ AStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) { avoidStaircase = this.avoidStaircase, turnPenalty = this.turnPenalty, weight = this.weight, - lastDirection = undefined, 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; @@ -110,8 +109,8 @@ AStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) { // 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; + 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; } From d26d1e63c519b741738d2d61ee5d583f756f1f2f Mon Sep 17 00:00:00 2001 From: ivanmayes Date: Tue, 25 Jul 2017 13:15:35 -0500 Subject: [PATCH 4/4] Added options to demo --- visual/index.html | 10 +++++++--- visual/js/panel.js | 9 +++++++-- visual/lib/pathfinding-browser.min.js | 2 +- 3 files changed, 15 insertions(+), 6 deletions(-) diff --git a/visual/index.html b/visual/index.html index 38ed9e91..6109a663 100644 --- a/visual/index.html +++ b/visual/index.html @@ -72,10 +72,14 @@

Options



- -
- +
+
+ +
+ +
+ diff --git a/visual/js/panel.js b/visual/js/panel.js index ad2055c4..98af7fc0 100644 --- a/visual/js/panel.js +++ b/visual/js/panel.js @@ -45,7 +45,11 @@ var Panel = { '.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(); @@ -62,7 +66,8 @@ var Panel = { dontCrossCorners: dontCrossCorners, heuristic: PF.Heuristic[heuristic], weight: weight, - avoidStaircase: avoidStaircase + 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 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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 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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)}); 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r,a,s;for(null==o&&(o=i),r=t[n];n>e&&(s=n-1>>1,a=t[s],o(r,a)<0);)t[n]=a,n=s;return t[n]=r},g=function(t,e,n){var o,r,a,s,l;for(null==n&&(n=i),r=t.length,l=e,a=t[e],o=2*e+1;o=0&&t=0&&e-s&&(l-=s,t+=o),h0&&(new Date).getTime()-u>1e3*this.timeLimit)return 1/0;var s=e+p(t,g)*this.weight;if(s>i)return s;if(t==g)return n[a]=[t.x,t.y],t;var l,d,b,v,A=o.getNeighbors(t,this.diagonalMovement);for(b=0,l=1/0;v=A[b];++b){if(this.trackRecursion&&(v.retainCount=v.retainCount+1||1,v.tested!==!0&&(v.tested=!0)),d=f(v,e+c(t,v),i,n,a+1),d instanceof r)return n[a]=[t.x,t.y],d;this.trackRecursion&&0===--v.retainCount&&(v.tested=!1),d