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Fix corner cutting of pointsToAvoid #100

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Fix corner cutting of pointsToAvoid #100

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ecd30e1
fix: pointsToAvoid are not walkable
robbeman May 20, 2022
a545221
test: disable corner cutting of `pointsToAvoid`
robbeman May 28, 2022
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4 changes: 2 additions & 2 deletions bin/easystar-0.4.4.js
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Expand Up @@ -272,7 +272,7 @@ if(0!==instance.openList.size()){var searchNode=instance.openList.pop();// Handl
if(instance.endX!==searchNode.x||instance.endY!==searchNode.y)searchNode.list=0,searchNode.y>0&&checkAdjacentNode(instance,searchNode,0,-1,1*getTileCost(searchNode.x,searchNode.y-1)),searchNode.x<collisionGrid[0].length-1&&checkAdjacentNode(instance,searchNode,1,0,1*getTileCost(searchNode.x+1,searchNode.y)),searchNode.y<collisionGrid.length-1&&checkAdjacentNode(instance,searchNode,0,1,1*getTileCost(searchNode.x,searchNode.y+1)),searchNode.x>0&&checkAdjacentNode(instance,searchNode,-1,0,1*getTileCost(searchNode.x-1,searchNode.y)),diagonalsEnabled&&(searchNode.x>0&&searchNode.y>0&&(allowCornerCutting||isTileWalkable(collisionGrid,acceptableTiles,searchNode.x,searchNode.y-1,searchNode)&&isTileWalkable(collisionGrid,acceptableTiles,searchNode.x-1,searchNode.y,searchNode))&&checkAdjacentNode(instance,searchNode,-1,-1,1.4*getTileCost(searchNode.x-1,searchNode.y-1)),searchNode.x<collisionGrid[0].length-1&&searchNode.y<collisionGrid.length-1&&(allowCornerCutting||isTileWalkable(collisionGrid,acceptableTiles,searchNode.x,searchNode.y+1,searchNode)&&isTileWalkable(collisionGrid,acceptableTiles,searchNode.x+1,searchNode.y,searchNode))&&checkAdjacentNode(instance,searchNode,1,1,1.4*getTileCost(searchNode.x+1,searchNode.y+1)),searchNode.x<collisionGrid[0].length-1&&searchNode.y>0&&(allowCornerCutting||isTileWalkable(collisionGrid,acceptableTiles,searchNode.x,searchNode.y-1,searchNode)&&isTileWalkable(collisionGrid,acceptableTiles,searchNode.x+1,searchNode.y,searchNode))&&checkAdjacentNode(instance,searchNode,1,-1,1.4*getTileCost(searchNode.x+1,searchNode.y-1)),searchNode.x>0&&searchNode.y<collisionGrid.length-1&&(allowCornerCutting||isTileWalkable(collisionGrid,acceptableTiles,searchNode.x,searchNode.y+1,searchNode)&&isTileWalkable(collisionGrid,acceptableTiles,searchNode.x-1,searchNode.y,searchNode))&&checkAdjacentNode(instance,searchNode,-1,1,1.4*getTileCost(searchNode.x-1,searchNode.y+1)));else{var path=[];path.push({x:searchNode.x,y:searchNode.y});for(var parent=searchNode.parent;null!=parent;)path.push({x:parent.x,y:parent.y}),parent=parent.parent;path.reverse();var ip=path;instance.callback(ip),delete instances[instanceId],instanceQueue.shift()}}else instance.callback(null),delete instances[instanceId],instanceQueue.shift();else
// This instance was cancelled
instanceQueue.shift()}};// Private methods follow
var checkAdjacentNode=function(instance,searchNode,x,y,cost){var adjacentCoordinateX=searchNode.x+x,adjacentCoordinateY=searchNode.y+y;if((void 0===pointsToAvoid[adjacentCoordinateY]||void 0===pointsToAvoid[adjacentCoordinateY][adjacentCoordinateX])&&isTileWalkable(collisionGrid,acceptableTiles,adjacentCoordinateX,adjacentCoordinateY,searchNode)){var node=coordinateToNode(instance,adjacentCoordinateX,adjacentCoordinateY,searchNode,cost);void 0===node.list?(node.list=1,instance.openList.push(node)):searchNode.costSoFar+cost<node.costSoFar&&(node.costSoFar=searchNode.costSoFar+cost,node.parent=searchNode,instance.openList.updateItem(node))}},isTileWalkable=function(collisionGrid,acceptableTiles,x,y,sourceNode){var directionalCondition=directionalConditions[y]&&directionalConditions[y][x];if(directionalCondition){var direction=calculateDirection(sourceNode.x-x,sourceNode.y-y);if(!function(){for(var i=0;i<directionalCondition.length;i++)if(directionalCondition[i]===direction)return!0;return!1}())return!1}for(var i=0;i<acceptableTiles.length;i++)if(collisionGrid[y][x]===acceptableTiles[i])return!0;return!1},calculateDirection=function(diffX,diffY){if(0===diffX&&-1===diffY)return EasyStar.TOP;if(1===diffX&&-1===diffY)return EasyStar.TOP_RIGHT;if(1===diffX&&0===diffY)return EasyStar.RIGHT;if(1===diffX&&1===diffY)return EasyStar.BOTTOM_RIGHT;if(0===diffX&&1===diffY)return EasyStar.BOTTOM;if(-1===diffX&&1===diffY)return EasyStar.BOTTOM_LEFT;if(-1===diffX&&0===diffY)return EasyStar.LEFT;if(-1===diffX&&-1===diffY)return EasyStar.TOP_LEFT;throw new Error("These differences are not valid: "+diffX+", "+diffY)},getTileCost=function(x,y){return pointsToCost[y]&&pointsToCost[y][x]||costMap[collisionGrid[y][x]]},coordinateToNode=function(instance,x,y,parent,cost){if(void 0!==instance.nodeHash[y]){if(void 0!==instance.nodeHash[y][x])return instance.nodeHash[y][x]}else instance.nodeHash[y]={};var simpleDistanceToTarget=getDistance(x,y,instance.endX,instance.endY);if(null!==parent)var costSoFar=parent.costSoFar+cost;else costSoFar=0;var node=new Node(parent,x,y,costSoFar,simpleDistanceToTarget);return instance.nodeHash[y][x]=node,node},getDistance=function(x1,y1,x2,y2){
var checkAdjacentNode=function(instance,searchNode,x,y,cost){var adjacentCoordinateX=searchNode.x+x,adjacentCoordinateY=searchNode.y+y;if((void 0===pointsToAvoid[adjacentCoordinateY]||void 0===pointsToAvoid[adjacentCoordinateY][adjacentCoordinateX])&&isTileWalkable(collisionGrid,acceptableTiles,adjacentCoordinateX,adjacentCoordinateY,searchNode)){var node=coordinateToNode(instance,adjacentCoordinateX,adjacentCoordinateY,searchNode,cost);void 0===node.list?(node.list=1,instance.openList.push(node)):searchNode.costSoFar+cost<node.costSoFar&&(node.costSoFar=searchNode.costSoFar+cost,node.parent=searchNode,instance.openList.updateItem(node))}},isTileWalkable=function(collisionGrid,acceptableTiles,x,y,sourceNode){if(pointsToAvoid[y]&&pointsToAvoid[y][x])return!1;var directionalCondition=directionalConditions[y]&&directionalConditions[y][x];if(directionalCondition){var direction=calculateDirection(sourceNode.x-x,sourceNode.y-y);if(!function(){for(var i=0;i<directionalCondition.length;i++)if(directionalCondition[i]===direction)return!0;return!1}())return!1}for(var i=0;i<acceptableTiles.length;i++)if(collisionGrid[y][x]===acceptableTiles[i])return!0;return!1},calculateDirection=function(diffX,diffY){if(0===diffX&&-1===diffY)return EasyStar.TOP;if(1===diffX&&-1===diffY)return EasyStar.TOP_RIGHT;if(1===diffX&&0===diffY)return EasyStar.RIGHT;if(1===diffX&&1===diffY)return EasyStar.BOTTOM_RIGHT;if(0===diffX&&1===diffY)return EasyStar.BOTTOM;if(-1===diffX&&1===diffY)return EasyStar.BOTTOM_LEFT;if(-1===diffX&&0===diffY)return EasyStar.LEFT;if(-1===diffX&&-1===diffY)return EasyStar.TOP_LEFT;throw new Error("These differences are not valid: "+diffX+", "+diffY)},getTileCost=function(x,y){return pointsToCost[y]&&pointsToCost[y][x]||costMap[collisionGrid[y][x]]},coordinateToNode=function(instance,x,y,parent,cost){if(void 0!==instance.nodeHash[y]){if(void 0!==instance.nodeHash[y][x])return instance.nodeHash[y][x]}else instance.nodeHash[y]={};var simpleDistanceToTarget=getDistance(x,y,instance.endX,instance.endY);if(null!==parent)var costSoFar=parent.costSoFar+cost;else costSoFar=0;var node=new Node(parent,x,y,costSoFar,simpleDistanceToTarget);return instance.nodeHash[y][x]=node,node},getDistance=function(x1,y1,x2,y2){
// Octile distance
var dx,dy;return diagonalsEnabled?(dx=Math.abs(x1-x2))<(dy=Math.abs(y1-y2))?1.4*dx+dy:1.4*dy+dx:(dx=Math.abs(x1-x2))+(dy=Math.abs(y1-y2))};// Helpers
},EasyStar.TOP="TOP",EasyStar.TOP_RIGHT="TOP_RIGHT",EasyStar.RIGHT="RIGHT",EasyStar.BOTTOM_RIGHT="BOTTOM_RIGHT",EasyStar.BOTTOM="BOTTOM",EasyStar.BOTTOM_LEFT="BOTTOM_LEFT",EasyStar.LEFT="LEFT",EasyStar.TOP_LEFT="TOP_LEFT"},
Expand Down Expand Up @@ -345,7 +345,7 @@ heappushpop=function(array,item,cmp){var _ref;return null==cmp&&(cmp=defaultCmp)
/*
Transform list into a heap, in-place, in O(array.length) time.
*/
heapify=function(array,cmp){var i,_i,_len,_ref1,_results,_results1;for(null==cmp&&(cmp=defaultCmp),_results=[],_i=0,_len=(_ref1=function(){_results1=[];for(var _j=0,_ref=floor(array.length/2);0<=_ref?_j<_ref:_j>_ref;0<=_ref?_j++:_j--)_results1.push(_j);return _results1}.apply(this).reverse()).length;_i<_len;_i++)i=_ref1[_i],_results.push(_siftup(array,i,cmp));return _results},
heapify=function(array,cmp){var i,_i,_len,_ref1,_results,_results1;for(null==cmp&&(cmp=defaultCmp),_ref1=function(){_results1=[];for(var _j=0,_ref=floor(array.length/2);0<=_ref?_j<_ref:_j>_ref;0<=_ref?_j++:_j--)_results1.push(_j);return _results1}.apply(this).reverse(),_results=[],_i=0,_len=_ref1.length;_i<_len;_i++)i=_ref1[_i],_results.push(_siftup(array,i,cmp));return _results},
/*
Update the position of the given item in the heap.
This function should be called every time the item is being modified.
Expand Down