1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
|
package main
import (
"fmt"
"math"
"golang.org/x/exp/slices"
)
type Move struct {
IsActive bool
Origin Point
Destination Point
Path []Point
}
type Node struct {
CostFromOrigin int
CostToDestination int
Parent Point
}
func (n Node) Cost() int {
return n.CostFromOrigin + n.CostToDestination
}
type PathSearch struct {
origin Point
destination Point
openList map[Point]Node
closedList map[Point]Node
blocked map[Point]bool
}
func SearchPath(origin Point, destination Point, blocked map[Point]bool) ([]Point, bool) {
search := PathSearch{
origin: origin,
destination: destination,
openList: map[Point]Node{},
closedList: map[Point]Node{},
blocked: blocked,
}
return search.search()
}
func (s *PathSearch) addNeighbours(point Point, node Node) {
if point.X >= 100 {
s.consider(Point{point.X - 100, point.Y}, point)
}
if point.X <= soil.Size.X-100 {
s.consider(Point{point.X + 100, point.Y}, point)
}
if point.Y >= 100 {
s.consider(Point{point.X, point.Y - 100}, point)
}
if point.Y <= soil.Size.Y-100 {
s.consider(Point{point.X, point.Y + 100}, point)
}
}
func (s *PathSearch) consider(neighbor Point, point Point) {
if s.blocked[neighbor] {
return
}
if _, ok := s.closedList[neighbor]; !ok {
node := Node{
CostFromOrigin: s.closedList[point].CostFromOrigin + int(Distance(point, neighbor)),
CostToDestination: int(Distance(neighbor, s.destination)),
Parent: point,
}
existing, ok := s.openList[neighbor]
if !ok || existing.Cost() > node.Cost() {
s.openList[neighbor] = node
}
}
}
// openList must not be empty
func (s *PathSearch) bestOpenNode() (Point, Node) {
bestPoint := Point{}
bestNode := Node{}
bestCost := math.MaxInt32
for point, node := range s.openList {
if cost := node.Cost(); cost < bestCost {
bestPoint = point
bestNode = node
bestCost = cost
}
}
return bestPoint, bestNode
}
func (s *PathSearch) buildPath() []Point {
point := s.destination
path := []Point{s.destination}
node := s.closedList[s.destination]
for point != s.origin {
point = node.Parent
path = append(path, point)
node = s.closedList[point]
}
slices.Reverse(path)
return path
}
func (s *PathSearch) search() ([]Point, bool) {
s.openList[s.origin] = Node{CostFromOrigin: 0, CostToDestination: int(Distance(s.origin, s.destination)), Parent: s.origin}
point := s.origin
var node Node
for point != s.destination && len(s.openList) > 0 {
point, node = s.bestOpenNode()
s.closedList[point] = node
delete(s.openList, point)
s.addNeighbours(point, node)
}
if point == s.destination {
return s.buildPath(), true
}
return []Point{}, false
}
func NewMove(origin Point, destination Point, blocked map[Point]bool) Move {
current := Point{
origin.X/100*100 + 50,
origin.Y/100*100 + 50,
}
search, ok := SearchPath(current, destination, blocked)
if !ok {
fmt.Println("No path found")
return Move{IsActive: false}
}
return Move{IsActive: true, Origin: origin, Destination: destination, Path: search}
}
func (m *Move) Update(position Point, speed int) Point {
if !m.IsActive {
return position
}
next := m.Path[0]
if Distance(position, next) < float64(speed) {
if next == m.Destination {
m.IsActive = false
} else {
m.Path = m.Path[1:]
}
return next
}
remainingMove := next.Sub(position)
delta := remainingMove.Mul(speed).Div(int(Length(remainingMove)))
return position.Add(delta)
}
|
