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app.py
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app.py
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import pygame
import math
import sys
from queue import PriorityQueue
WIDTH = 800
WIN = pygame.display.set_mode((WIDTH, WIDTH))
pygame.display.set_caption("A* Path Finding")
RED = (255, 0, 0)
GREEN = (0, 255, 0)
BLUE = (0, 255, 0)
YELLOW = (255, 255, 0)
WHITE = (255, 255, 255)
BLACK = (0, 0, 0)
PURPLE = (128, 0, 128)
ORANGE = (255, 165 ,0)
GREY = (128, 128, 128)
TURQUOISE = (64, 224, 208)
class Node:
def __init__(self, row, col, width, total_rows):
self.row = row
self.col = col
self.x = row * width
self.y = col * width
self.color = WHITE
self.neighbors = []
self.width = width
self.total_rows = total_rows
# Get position of "spot" or "node" via row/col
def get_position(self):
return self.row, self.col
# Check if its closed by checking if the color is red
def is_closed(self):
return self.color == RED
def is_open(self):
return self.color == GREEN
def is_barrier(self):
return self.color == BLACK
def is_start(self):
return self.color == ORANGE
def is_end(self):
return self.color == TURQUOISE
def reset(self):
self.color = WHITE
def make_start(self):
self.color = ORANGE
def make_closed(self):
self.color = RED
def make_open(self):
self.color = GREEN
def make_barrier(self):
self.color ==BLACK
def make_end(self):
self.color = TURQUOISE
def make_path(self):
self.color = PURPLE
def draw(self, win):
pygame.draw.rect(win, self.color, (self.x, self.y, self.width, self.width))
def update_neighbors(self, grid):
self.neighbors = []
if self.row < self.total_rows -1 and not grid[self.row - 1][self.col].is_barrier():
self.neighbors.append(grid[self.row - 1][self.col])
if self.row > 0 and not grid[self.row - 1][self.cols].is_barrier():
self.neighbors.append(grid[self.row - 1][self.cols])
if self.cols < self.total_rows -1 and not grid[self.row][self.cols + 1].is_barrier():
self.neighbors.append(grid[self.row][self.cols + 1])
if self.cols > 0 and not grid[self.row][self.cols - 1].is_barrier():
self.neighbors.append(grid[self.row][self.cols - 1])
def __lt__(self, other):
return False
def heu(p1, p2):
x1, y1 = p1
x2, y2 = p2
return abs(x1 - x2 + abs(y1 - y2))
def make_grid(rows, width):
grid = []
gap = width // rows
for i in range(rows):
grid.append([])
for j in range(rows):
# Add new spot
node = Node(i, j, gap, rows)
grid[i].append(node)
return grid
def draw_grid(win, rows, width):
gap = width // rows
for i in range(rows):
pygame.draw.line(win, GREY, (0, i * gap), (width, i * gap))
for j in range(rows):
pygame.draw.line(win, GREY, (j * gap, 0), (j * gap, width))
def draw(win, grid, rows, width):
win.fill(WHITE)
for row in grid:
for spot in row:
spot.draw(win)
draw_grid(win, rows, width)
pygame.display.update()
def get_clicked_pos(pos, rows, width):
gap = width // rows
y, x = pos
row = y // gap
col = x // gap
return row, col
def definePath(draw, refNodePath, curNode):
while curNode in refNodePath:
curNode = refNodePath[curNode]
curNode.make_path()
draw()
def algorithim(draw, grid, start, end):
pQueue = PriorityQueue()
count = 0
pQueue.put((0, count, start))
initQueue = {start}
refNodePath = {}
gScore = {node: float("inf") for row in grid for node in row}
fScore = {node: float("inf") for row in grid for node in row}
gScore[start] = 0
fScore[start] = heu(start.get_position(), end.get_position())
while not pQueue.empty():
for event in pygame.event.get():
if event.type == pygame.QUIT:
return False
currentNode = pQueue.get()[2]
initQueue.remove(currentNode)
if currentNode == end:
start.make_start()
end.make_end()
definePath(draw, refNodePath, currentNode)
return True
for neighbor in currentNode.neighbors:
tempGScore = gScore[currentNode] + 1
if tempGScore < gScore[neighbor]:
refNodePath[neighbor] = currentNode
gScore[neighbor] = tempGScore
fScore[neighbor] = tempGScore + heu(neighbor.get_position(), end.get_position())
if neighbor not in initQueue:
count += 1
pQueue.put((fScore[neighbor], count, neighbor))
initQueue.add(neighbor)
neighbor.make_start()
if currentNode != end:
currentNode.make_end()
draw()
return False
def main(win, width):
ROWS = 50
grid = make_grid(ROWS, width)
start = None
end = None
run = True
started = False
while run:
ROWS = 40
grid = make_grid(ROWS, width)
start = None
end = None
running = True
while running:
draw(WIN, ROWS, width, grid)
for event in pygame.event.get():
if event.type == pygame.QUIT:
return False or running == False
if pygame.mouse.get_pressed()[0]:
current_position = pygame.mouse.get_pos()
row, col = get_clicked_pos(current_position, ROWS, width)
currentNode = grid[row][col]
if not start and currentNode != end:
start = currentNode
start.make_start()
elif not end and currentNode != start:
end = currentNode
end.make_end()
elif currentNode != start and currentNode != end:
currentNode.make_barrier()
elif pygame.mouse.get_pressed()[2]:
current_position = pygame.mouse.get_pos()
row, col = get_clicked_pos(current_position, ROWS, width)
currentNode = grid[row][col]
currentNode.reset()
if currentNode == start:
start = None
if currentNode == end:
end = None
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE and start and end:
for row in grid:
for node in row:
node.update_neighbors(grid)
algorithim(lambda: (draw(WIN, ROWS, width, grid), grid, start, end)
main(WIN, WIDTH)