Press n or j to go to the next uncovered block, b, p or k for the previous block.
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* PathFinding.
* Module for path finding function
*/
export const PathFinding = {
/**
* dijikstras
* Implementation of dijikstras algorithm
*/
dijikstras({ graph, start, finish, exclude }) {
let startPlace = graph.find((t) => PathFinding.inArea(t, start));
if (startPlace == null) {
startPlace = graph.map((t) => ({
node: t,
cost: PathFinding.distanceFromArea(t, start),
})).sort((a, b) => a.cost - b.cost)[0].node;
}
const finishPlace = graph.find((t) => PathFinding.inArea(t, finish));
// Can't find a destination -> no route possible
if (!finishPlace) { return []; }
// No route necessary
if (startPlace === finishPlace) {
return [finish];
}
const nextPlaces = [];
const key = (t) => `${t.x}:${t.y}`;
const been = { };
let place = { ...finishPlace, from: { x: finish.x, y: finish.y }, cost: 0 };
while (place && (place.x !== startPlace.x || place.y !== startPlace.y)) {
// Don't go in a cycle/loop
const { points } = place;
for (let i = 0; i < points.length; i++) {
const point = points[i];
if (exclude && exclude.some((t) => point.x === t.x && point.y === t.y)) {
continue;
}
const k = key(point);
if (been[k]) { continue; }
const newPlace = { ...point.neighbor, from: { ...point, from: place.from } };
newPlace.cost = (place.cost || 0)
+ PathFinding.moveCost(place.from || place, point);
// + PathFinding.distanceCost(point, start);
nextPlaces.push(newPlace);
been[k] = true;
}
// Sort ascending order
nextPlaces.sort((place1, place2) => place1.cost - place2.cost);
// Remove the first element of array
place = nextPlaces.shift();
}
// "place" is now the destination (and it has a "from" property), or undefined
const path = [];
// Trim starting "moves" that aren't going anywhere
while (place && place.from && place.x === place.from.x && place.y === place.from.y) {
place = place.from;
}
let lastDirection = place && PathFinding.getDirection(place, place.from);
// Go backwards through the path using the "from"s that setup before:
while (place) {
const newDirection = PathFinding.getDirection(place, place.from);
if (lastDirection !== newDirection) {
path.push({ x: place.x, y: place.y });
lastDirection = newDirection;
}
place = place.from;
}
return path;
},
getGatewayPoint(to, from, actorSize) {
if (to.width === 1 || to.height === 1) { return { x: to.x, y: to.y }; }
const margin = Math.floor(actorSize / 2);
const toXEnd = to.x + to.width;
const fromXEnd = from.x + from.width;
const toYEnd = to.y + to.height;
// They have the same x
if (toXEnd === from.x || to.x === fromXEnd) {
const lastStart = Math.max(to.y, from.y);
const firstEnd = Math.min(toYEnd, from.y + from.height);
const sameLine = toXEnd === from.x
? toXEnd - margin
: to.x + margin;
return {
x: sameLine,
y: lastStart + Math.floor((firstEnd - lastStart) / 2),
};
}
// They have the same y
const lastStart = Math.max(to.x, from.x);
const firstEnd = Math.min(toXEnd, fromXEnd);
const sameLine = toYEnd === from.y
? toYEnd - margin
: to.y + margin;
return {
x: lastStart + Math.floor((firstEnd - lastStart) / 2),
y: sameLine,
};
},
/**
* getDirection.
* Gets the direction between two points
* @returns {string} something like: '0:0', '-1:0', '1:1', 'origin'
*/
getDirection(start, finish) {
return finish
? `${start.x - finish.x}:${start.y - finish.y}`
: 'origin';
},
/**
* inArea.
*
* @param {} area
* @param {} point
*/
inArea(area, point) {
return area.x <= point.x
&& area.y <= point.y
&& area.x + area.width > point.x
&& area.y + area.height > point.y;
},
/**
* distanceCost.
*
* @param start
* @param finish
* @returns {number} - distance between start a finish
*/
distanceCost(start, finish) {
return ((Math.sqrt((finish.x - start.x) ** 2) + (finish.y - start.y) ** 2)) / 2;
},
distanceFromArea(area, point) {
const xdist = area.x < point.x && (area.x + area.width) > point.x
? 0
: Math.min(
Math.abs(area.x - point.x),
Math.abs(area.x - point.x + area.width),
);
const ydist = area.y < point.y && (area.y + area.height) > point.y
? 0
: Math.min(
Math.abs(area.y - point.y),
Math.abs(area.y - point.y + area.height),
);
return xdist + ydist;
},
/**
* moveCost.
* A sperate cost calculation for each move.
* @param {} start
* @param {} finish
*/
moveCost(start, finish) {
return Math.sqrt((start.x - finish.x) ** 2 + (start.y - finish.y) ** 2);
},
gridToSubgraph({ grid, width, height, actorSize, x, y }) {
const subWidth = Math.floor(width / 2);
const remainderWidth = width - subWidth;
const subHeight = Math.floor(height / 2);
const remainderHeight = height - subHeight;
const isFree = !PathFinding.hasBlock({ grid, x, y, width, height });
if (width < actorSize && height < actorSize) { return []; }
if (isFree) {
const area = { x, y, width, height, neighbors: [] };
return [area];
}
if (subWidth === 0) {
return [];
}
const topLeft = PathFinding.gridToSubgraph({
grid,
width: subWidth,
height: subHeight,
actorSize,
x,
y,
});
const topRight = PathFinding.gridToSubgraph({
grid,
width: remainderWidth,
height: subHeight,
actorSize,
x: x + subWidth,
y,
});
const botLeft = PathFinding.gridToSubgraph({
grid,
width: subWidth,
height: remainderHeight,
actorSize,
x,
y: y + subHeight,
});
const botRight = PathFinding.gridToSubgraph({
grid,
width: remainderWidth,
height: remainderHeight,
actorSize,
x: x + subWidth,
y: y + subHeight,
});
/* eslint-disable no-param-reassign */
const topLeftPotentials = [...topRight, ...botLeft];
topLeft.forEach((k) => {
k.neighbors = k.neighbors.concat(topLeftPotentials.filter(
(t) => PathFinding.areNeighbors(k, t, actorSize),
));
});
const topRightPotentials = [...topLeft, ...botRight];
topRight.forEach((k) => {
k.neighbors = k.neighbors.concat(topRightPotentials.filter(
(t) => PathFinding.areNeighbors(k, t, actorSize),
));
});
const botLeftPotentials = [...topLeft, ...botRight];
botLeft.forEach((k) => {
k.neighbors = k.neighbors.concat(botLeftPotentials.filter(
(t) => PathFinding.areNeighbors(k, t, actorSize),
));
});
const botRightPotentials = [...topRight, ...botLeft];
botRight.forEach((k) => {
k.neighbors = k.neighbors.concat(botRightPotentials.filter(
(t) => PathFinding.areNeighbors(k, t, actorSize),
));
});
/* eslint-enable no-param-reassign */
return [...topLeft, ...topRight, ...botLeft, ...botRight];
},
gridToGraph({ grid, width, height, actorSize }) {
const res = PathFinding.gridToSubgraph({
grid,
width,
height,
actorSize,
x: 0,
y: 0,
});
const graph = res.filter((t, i, self) => self.indexOf(t) === i);
return PathFinding.splitGraphIntoPoints(graph, actorSize);
// return graph;
},
hasBlock({ grid, x, y, width, height }) {
for (let i = y; i < y + height; i++) {
for (let j = x; j < x + width; j++) {
if (grid[i] != null && grid[i][j] > 0) {
return true;
}
}
}
return false;
},
areNeighbors(a, b, overlap) {
if (a.x + a.width === b.x || b.x + b.width === a.x) {
const lastStart = Math.max(a.y, b.y);
const firstEnd = Math.min(a.y + a.height, b.y + b.height);
return firstEnd - lastStart >= overlap;
}
if (a.y + a.height === b.y || b.y + b.height === a.y) {
const lastStart = Math.max(a.x, b.x);
const firstEnd = Math.min(a.x + a.width, b.x + b.width);
return firstEnd - lastStart >= overlap;
}
return false;
},
splitGraphIntoPoints(graph, minSize, replace = {}) {
const key = (t) => `${t.x}:${t.y}`;
const newMap = graph.map((t) => {
const newNode = { ...t };
// eslint-disable-next-line no-param-reassign
replace[key(t)] = newNode;
return newNode;
});
newMap.forEach((t) => {
const node = t;
if (node.points == null) {
node.points = node.neighbors.map((k) => {
const neighborKey = key(k);
const neighbor = replace[neighborKey] != null
? replace[neighborKey]
: PathFinding.splitGraphIntoPoints([k], minSize, replace)[0];
// eslint-disable-next-line no-param-reassign
replace[neighborKey] = neighbor;
return {
...PathFinding.getGatewayPoint(k, node, minSize),
neighbor,
};
});
}
});
return newMap;
},
};
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