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astar broken, just like my spirits

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This commit is contained in:
Simon O'Shea
2023-08-08 20:07:50 -04:00
parent 45cb21030f
commit 615dbd003e
3 changed files with 27 additions and 9 deletions
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Pathfinding Visualizer/Assets/Scripts/PathNode.cs
+10 -7
View File
@@ -16,8 +16,8 @@ using UnityEngine;
public char lastMove; // for output/animation
public int distanceTraveled; // for calculating f(n) value
public double heuristic;
public static double fn; // distance traveled + heuristic value
bool canSample; // for expansion
public double fn; // distance traveled + heuristic value
//bool canSample; // for expansion
// construct node :)
public Node(Node parent, Vector2Int agent, List<Vector2Int> samples, char lastMove, int distanceTraveled, double heuristic)
@@ -50,8 +50,8 @@ using UnityEngine;
////////////////////////////////////
// store coordinates for all potential moves to be checked
Vector2Int up = new Vector2Int( this.agent.y - 1, this.agent.x );
Vector2Int down = new Vector2Int( this.agent.y + 1, this.agent.x );
Vector2Int up = new Vector2Int( this.agent.y + 1, this.agent.x );
Vector2Int down = new Vector2Int( this.agent.y - 1, this.agent.x );
Vector2Int left = new Vector2Int( this.agent.y, this.agent.x - 1 );
Vector2Int right = new Vector2Int( this.agent.y, this.agent.x + 1 );
@@ -117,14 +117,17 @@ using UnityEngine;
// check that agent is not trying to move into an obstacle
for (int i = 0; i < Pathfinder.obstacles.Count(); i++)
{
if (Pathfinder.obstacles[i].x == position.x && Pathfinder.obstacles[i].y == position.y)
if (Pathfinder.obstacles[i].x.Equals(position.x) && Pathfinder.obstacles[i].y.Equals(position.y))
return false;
}
// check that agent is not stepping out of the world
if (!((position.y >= 0) && (position.y <= Pathfinder.height - 1) && (position.x >= 0) && (position.x <= Pathfinder.width - 1)))
if ((position.y < 0) || (position.y > Pathfinder.height - 1) || (position.x < 0) || (position.x > Pathfinder.width - 1))
return false;
// check that agent is not stepping out of the world
// if (!((position.y >= 0) && (position.y <= Pathfinder.height - 1) && (position.x >= 0) && (position.x <= Pathfinder.width - 1)))
// return false;
return true;
}
Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs
+17 -1
View File
@@ -60,6 +60,7 @@ public class Pathfinder
Node initialState = new Node(null, agent, samples, '0', 0, 0);
List<Node> result = new List<Node>();
// Run AStar
if (algorithm == 0)
{
result = StartAStar(initialState);
@@ -96,6 +97,7 @@ public class Pathfinder
// check whether we are in goal state
if (currentNode.samples.Count() == 0)
{
Debug.Log("Gottem");
while (currentNode.parent != null)
{
solution.Add(currentNode);
@@ -108,7 +110,7 @@ public class Pathfinder
// if not, expand children and continue
List<Node> children = currentNode.expand(-1);
if (heuristic.Equals("h0"))
if (heuristic == 0)
h0(children);
/* else if (heuristic.Equals("h1"))
h1(children);
@@ -124,6 +126,20 @@ public class Pathfinder
return solution;
}
/* private Node GetLowestNode(List<Node> NodeList)
{
Node lowest = NodeList[0];
for (int i = 1; i < NodeList.Count; i++)
{
if (NodeList[i].fn < lowest.fn)
{
lowest = NodeList[i];
}
}
return lowest;
}*/
// HEURISTICS FOR ASTAR
public static List<Node> h0(List<Node> children)
{