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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,209 @@ | ||
| import { wait } from "../helper/Timmer"; | ||
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| type Node = { | ||
| id: string, | ||
| prevNode: string|null, | ||
| gn: number, | ||
| hn: number, | ||
| fn: number | ||
| } | ||
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| export class Astar { | ||
| path:any = []; | ||
| path_b:any = []; | ||
| track: {[key: string]: any} = {}; | ||
| visited:string[] = []; | ||
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| public async search(graph:any, hurestic:any, start: any, goal: any) { | ||
| let queue: Node[] = []; | ||
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| queue.push({ | ||
| id: start, | ||
| prevNode: null, | ||
| gn: 0, | ||
| hn: this.calculate_hn(goal, start), | ||
| fn: this.calculate_hn(goal, start) + 0 | ||
| }); | ||
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| while (queue.length > 0) { | ||
| var node = queue.shift(); | ||
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| document.getElementById(node!.id)!.firstElementChild!.classList.remove('boom-visited'); | ||
| document.getElementById(node!.id)!.firstElementChild!.classList.add('marker'); | ||
| await wait(15); | ||
| document.getElementById(node!.id)!.firstElementChild!.classList.remove('marker'); | ||
| document.getElementById(node!.id)!.firstElementChild!.classList.add('visited'); | ||
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| if (node!.id === goal) { | ||
| console.log(hurestic); | ||
| console.log(this.visited); | ||
| console.log(this.track) | ||
| console.log(node); | ||
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| this.solve(node!, false) | ||
| this.drawPath() | ||
| break; | ||
| } | ||
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| for (var neighbour of graph[node!.id]) { | ||
| if (!this.visited.includes(node!.id) && !this.visited.includes(neighbour) && !document.getElementById(neighbour)!.firstElementChild!.classList.contains('wall')){ | ||
| let new_gn = node!.gn + this.getWeight(neighbour); | ||
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| let existingNode = this.hasNode(queue, neighbour); | ||
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| console.log(existingNode); | ||
| if(existingNode!=null) { | ||
| existingNode.prevNode = node!.id, | ||
| existingNode.gn = new_gn, | ||
| existingNode.hn = this.calculate_hn(goal, neighbour) | ||
| } else { | ||
| queue.push({ | ||
| id: neighbour, | ||
| prevNode: node!.id, | ||
| gn: new_gn, | ||
| hn: this.calculate_hn(goal, neighbour), | ||
| fn: this.calculate_hn(goal, neighbour) + new_gn | ||
| }); | ||
| } | ||
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| this.track[node!.id] = node!.prevNode; | ||
| } | ||
| } | ||
| this.visited.push(node!.id); | ||
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| queue.sort((a,b) => a.fn - b.fn) | ||
| } | ||
| } | ||
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| public async search_bomb(graph:any, hurestic:any, start: any, goal: any, bomb:any) { | ||
| let queue: Node[] = []; | ||
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| queue.push({ | ||
| id: start, | ||
| prevNode: null, | ||
| gn: 0, | ||
| hn: this.calculate_hn(bomb, start), | ||
| fn: this.calculate_hn(bomb, start) + 0 | ||
| }); | ||
|
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| while (queue.length > 0) { | ||
| var node = queue.shift(); | ||
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| document.getElementById(node!.id)!.firstElementChild!.classList.add('marker'); | ||
| await wait(15) | ||
| document.getElementById(node!.id)!.firstElementChild!.classList.remove('marker'); | ||
| document.getElementById(node!.id)!.firstElementChild!.classList.add('boom-visited'); | ||
|
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| if (node!.id === bomb) { | ||
| console.log(hurestic); | ||
| console.log(this.visited); | ||
| console.log(this.track) | ||
| console.log(node); | ||
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| this.solve(node!, true) | ||
| this.visited = [] | ||
| this.track = {} | ||
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| this.search(graph,hurestic, bomb, goal); | ||
| break; | ||
| } | ||
|
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| for (var neighbour of graph[node!.id]) { | ||
| if (!this.visited.includes(node!.id) && !this.visited.includes(neighbour) && !document.getElementById(neighbour)!.firstElementChild!.classList.contains('wall')){ | ||
| let new_gn = node!.gn + this.getWeight(neighbour); | ||
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| let existingNode = this.hasNode(queue, neighbour); | ||
|
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| console.log(existingNode); | ||
| if(existingNode!=null) { | ||
| existingNode.prevNode = node!.id, | ||
| existingNode.gn = new_gn, | ||
| existingNode.hn = this.calculate_hn(bomb, neighbour) | ||
| } else { | ||
| queue.push({ | ||
| id: neighbour, | ||
| prevNode: node!.id, | ||
| gn: new_gn, | ||
| hn: this.calculate_hn(bomb, neighbour), | ||
| fn: this.calculate_hn(bomb, neighbour) + new_gn | ||
| }); | ||
| } | ||
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| this.track[node!.id] = node!.prevNode; | ||
| } | ||
| } | ||
| this.visited.push(node!.id); | ||
|
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| queue.sort((a,b) => a.fn - b.fn) | ||
| } | ||
| } | ||
|
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| getWeight(id:any){ | ||
| return parseInt(document.getElementById(id)!.getAttribute('weight')!) | ||
| } | ||
|
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| public async drawPath(){ | ||
| for(var item of this.path_b){ | ||
| document.getElementById(item)!.firstElementChild!.classList.remove('visited'); | ||
| document.getElementById(item)!.firstElementChild!.classList.remove('boom-visited'); | ||
| document.getElementById(item)!.firstElementChild!.classList.remove('path'); | ||
| document.getElementById(item)!.firstElementChild!.classList.add('path-marker'); | ||
| await wait(15); | ||
| document.getElementById(item)!.firstElementChild!.classList.remove('path-marker'); | ||
| document.getElementById(item)!.firstElementChild!.classList.add('path'); | ||
| await wait(15); | ||
| } | ||
| await wait(15); | ||
| for(var item of this.path){ | ||
| document.getElementById(item)!.firstElementChild!.classList.remove('visited'); | ||
| document.getElementById(item)!.firstElementChild!.classList.remove('boom-visited'); | ||
| document.getElementById(item)!.firstElementChild!.classList.remove('path'); | ||
| document.getElementById(item)!.firstElementChild!.classList.add('path-marker'); | ||
| await wait(15); | ||
| document.getElementById(item)!.firstElementChild!.classList.remove('path-marker'); | ||
| document.getElementById(item)!.firstElementChild!.classList.add('path'); | ||
| await wait(15); | ||
| } | ||
| } | ||
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| solve(goal:Node, isBomb:boolean) { | ||
| let arr = []; | ||
| arr.push(goal.id); | ||
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| let ele = goal.prevNode; | ||
| arr.push(ele) | ||
| while (this.track[ele!] != null) { | ||
| console.log(arr); | ||
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| arr.push(this.track[ele!]); | ||
| ele = this.track[ele!]; | ||
| } | ||
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| if(!isBomb) { | ||
| this.path = arr.reverse() | ||
| console.log(this.path); | ||
| } else { | ||
| this.path_b = arr.reverse(); | ||
| console.log(this.path_b); | ||
| } | ||
| } | ||
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| hasNode(queue: Node[], node: string) { | ||
| for(let n of queue) { | ||
| if (n.id == node) { | ||
| return n; | ||
| } | ||
| } | ||
| return null; | ||
| } | ||
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| calculate_hn(id1: string, id2: string) { | ||
| var a = id1.replace('[', '').replace(']', '').split(','); | ||
| var b = id2.replace('[', '').replace(']', '').split(','); | ||
| return (Math.abs(parseInt(b[0]) - parseInt(a[0]))) + Math.abs(parseInt(b[1]) - parseInt(a[1])); | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,38 +1,52 @@ | ||
| export class Grid{ | ||
| mapGrid(row:number, col:number){ | ||
| let graph:any = {}; | ||
| mapGrid(row:number, col:number): {[key: string]:string[]} { | ||
| let graph:{[key: string]:string[]} = {}; | ||
| let i =0; | ||
| while(i < row){ | ||
| for(var j = 0; j<col; j++){ | ||
| var node = `[${i},${j}]`; | ||
| var neighbor = []; | ||
| var topEle = document.getElementById(`[${i-1},${j}]`); | ||
| var rightEle = document.getElementById(`[${i},${j+1}]`); | ||
| var leftEle = document.getElementById(`[${i},${j-1}]`); | ||
| var bottomEle = document.getElementById(`[${i+1},${j}]`); | ||
| var neighbour = []; | ||
| var topElement = document.getElementById(`[${i-1},${j}]`); | ||
| var rightElement = document.getElementById(`[${i},${j+1}]`); | ||
| var leftElement = document.getElementById(`[${i},${j-1}]`); | ||
| var bottomElement = document.getElementById(`[${i+1},${j}]`); | ||
|
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| if(topEle != null){ | ||
| neighbor.push(`[${i-1},${j}]`); | ||
| if(topElement != null){ | ||
| neighbour.push(`[${i-1},${j}]`); | ||
| } | ||
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| if(rightEle != null){ | ||
| neighbor.push(`[${i},${j+1}]`); | ||
| if(rightElement != null){ | ||
| neighbour.push(`[${i},${j+1}]`); | ||
| } | ||
|
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| if(bottomEle != null){ | ||
| neighbor.push(`[${i+1},${j}]`); | ||
| if(bottomElement != null){ | ||
| neighbour.push(`[${i+1},${j}]`); | ||
| } | ||
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| if(leftEle != null){ | ||
| neighbor.push(`[${i},${j-1}]`); | ||
| if(leftElement != null){ | ||
| neighbour.push(`[${i},${j-1}]`); | ||
| } | ||
|
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| graph[node] = neighbor | ||
| graph[node] = neighbour | ||
| } | ||
| i++; | ||
| } | ||
| return graph; | ||
| } | ||
|
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| } | ||
|
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| mapHurestic(goal: string, row: number, col: number) { | ||
| let hurestic: {[key: string]: number} = {}; | ||
| let cordinate = goal.replace('[', '').replace(']', '').split(','); | ||
| let goal_row:number = parseInt(cordinate[0]); | ||
| let goal_col = parseInt(cordinate[1]); | ||
|
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| for (let i = 0; i < row; i++) { | ||
| for (let j = 0; j < col; j++) { | ||
| hurestic[`[${i},${j}]`] = Math.abs(goal_row - i) + Math.abs(goal_col - j); | ||
| } | ||
| } | ||
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| return hurestic; | ||
| } | ||
| } |