Pathfinder.js

/**
 *    ____       _   _     _____ _           _ _                _         
 *   |  _ \ __ _| |_| |__ |  ___(_)_ __   __| (_)_ __   __ _   (_)___     
 *   | |_) / _` | __| '_ \| |_  | | '_ \ / _` | | '_ \ / _` |  | / __|    
 *   |  __/ (_| | |_| | | |  _| | | | | | (_| | | | | | (_| |_ | \__ \    
 *   |_|   \__,_|\__|_| |_|_|   |_|_| |_|\__,_|_|_| |_|\__, (_)/ |___/    
 *                                                     |___/ |__/         
 *   https://github.com/qiao/PathFinding.js
 */
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a.f-b.f}),i=e.getNodeAt(a,b),j=e.getNodeAt(c,d),k=this.heuristic,l=this.allowDiagonal,m=Math.abs,n=Math.SQRT2,o,p,q,r,s,t,u,v;i.g=0,i.f=0,h.push(i),i.opened=!0;while(!h.empty()){o=h.pop(),o.closed=!0;if(o===j)return g.backtrace(j);p=e.getNeighbors(o,l);for(r=0,s=p.length;r<s;++r){q=p[r];if(q.closed)continue;t=q.x,u=q.y,v=o.g+(t-o.x===0||u-o.y===0?1:n);if(!q.opened||v<q.g)q.g=v,q.h=q.h||k(m(t-c),m(u-d)),q.f=q.g+q.h,q.parent=o,q.opened?h.updateItem(q):(h.push(q),q.opened=!0)}}return[]},b.exports=i}),a.define("/finders/BestFirstFinder.js",function(a,b,c,d,e){function g(a){f.call(this,a);var b=this.heuristic;this.heuristic=function(a,c){return b(a,c)*1e6}}var f=a("./AStarFinder");g.prototype=new f,g.prototype.constructor=g,b.exports=g}),a.define("/finders/BreadthFirstFinder.js",function(a,b,c,d,e){function g(a){a=a||{},this.allowDiagonal=a.allowDiagonal}var f=a("../core/Util");g.prototype.findPath=function(a,b,c,d,e){var g=[],h=this.allowDiagonal,i=e.getNodeAt(a,b),j=e.getNodeAt(c,d),k,l,m,n,o;g.push(i),i.opened=!0;while(g.length){m=g.shift(),m.closed=!0;if(m===j)return f.backtrace(j);k=e.getNeighbors(m,h);for(n=0,o=k.length;n<o;++n){l=k[n];if(l.closed||l.opened)continue;g.push(l),l.opened=!0,l.parent=m}}return[]},b.exports=g}),a.define("/finders/DijkstraFinder.js",function(a,b,c,d,e){function g(a){f.call(this,a),this.heuristic=function(a,b){return 0}}var f=a("./AStarFinder");g.prototype=new f,g.prototype.constructor=g,b.exports=g}),a.define("/finders/BiAStarFinder.js",function(a,b,c,d,e){function i(a){a=a||{},this.allowDiagonal=a.allowDiagonal,this.heuristic=a.heuristic||h.manhattan}var f=a("../core/Heap"),g=a("../core/Util"),h=a("../core/Heuristic");i.prototype.findPath=function(a,b,c,d,e){var h=function(a,b){return a.f-b.f},i=new f(h),j=new f(h),k=e.getNodeAt(a,b),l=e.getNodeAt(c,d),m=this.heuristic,n=this.allowDiagonal,o=Math.abs,p=Math.SQRT2,q,r,s,t,u,v,w,x,y=1,z=2;k.g=0,k.f=0,i.push(k),k.opened=y,l.g=0,l.f=0,j.push(l),l.opened=z;while(!i.empty()&&!j.empty()){q=i.pop(),q.closed=!0,r=e.getNeighbors(q,n);for(t=0,u=r.length;t<u;++t){s=r[t];if(s.closed)continue;if(s.opened===z)return g.biBacktrace(q,s);v=s.x,w=s.y,x=q.g+(v-q.x===0||w-q.y===0?1:p);if(!s.opened||x<s.g)s.g=x,s.h=s.h||m(o(v-c),o(w-d)),s.f=s.g+s.h,s.parent=q,s.opened?i.updateItem(s):(i.push(s),s.opened=y)}q=j.pop(),q.closed=!0,r=e.getNeighbors(q,n);for(t=0,u=r.length;t<u;++t){s=r[t];if(s.closed)continue;if(s.opened===y)return g.biBacktrace(s,q);v=s.x,w=s.y,x=q.g+(v-q.x===0||w-q.y===0?1:p);if(!s.opened||x<s.g)s.g=x,s.h=s.h||m(o(v-a),o(w-b)),s.f=s.g+s.h,s.parent=q,s.opened?j.updateItem(s):(j.push(s),s.opened=z)}}return[]},b.exports=i}),a.define("/finders/BiBestFirstFinder.js",function(a,b,c,d,e){function g(a){f.call(this,a);var b=this.heuristic;this.heuristic=function(a,c){return b(a,c)*1e6}}var f=a("./BiAStarFinder");g.prototype=new f,g.prototype.constructor=g,b.exports=g}),a.define("/finders/BiBreadthFirstFinder.js",function(a,b,c,d,e){function g(a){a=a||{},this.allowDiagonal=a.allowDiagonal}var f=a("../core/Util");g.prototype.findPath=function(a,b,c,d,e){var g=e.getNodeAt(a,b),h=e.getNodeAt(c,d),i=[],j=[],k,l,m,n=this.allowDiagonal,o=0,p=1,q,r;i.push(g),g.opened=!0,g.by=o,j.push(h),h.opened=!0,h.by=p;while(i.length&&j.length){m=i.shift(),m.closed=!0,k=e.getNeighbors(m,n);for(q=0,r=k.length;q<r;++q){l=k[q];if(l.closed)continue;if(l.opened){if(l.by===p)return f.biBacktrace(m,l);continue}i.push(l),l.parent=m,l.opened=!0,l.by=o}m=j.shift(),m.closed=!0,k=e.getNeighbors(m,n);for(q=0,r=k.length;q<r;++q){l=k[q];if(l.closed)continue;if(l.opened){if(l.by===o)return f.biBacktrace(l,m);continue}j.push(l),l.parent=m,l.opened=!0,l.by=p}}return[]},b.exports=g}),a.define("/finders/BiDijkstraFinder.js",function(a,b,c,d,e){function g(a){f.call(this,a),this.heuristic=function(a,b){return 0}}var f=a("./BiAStarFinder");g.prototype=new f,g.prototype.constructor=g,b.exports=g}),a.define("/finders/JumpPointFinder.js",function(a,b,c,d,e){function i(a){a=a||{},this.heuristic=a.heuristic||h.manhattan}var f=a("../core/Heap"),g=a("../core/Util"),h=a("../core/Heuristic");i.prototype.findPath=function(a,b,c,d,e){var h=this.openList=new f(function(a,b){return a.f-b.f}),i=this.startNode=e.getNodeAt(a,b),j=this.endNode=e.getNodeAt(c,d),k;this.grid=e,i.g=0,i.f=0,h.push(i),i.opened=!0;while(!h.empty()){k=h.pop(),k.closed=!0;if(k===j)return g.backtrace(j);this._identifySuccessors(k)}return[]},i.prototype._identifySuccessors=function(a){var b=this.grid,c=this.heuristic,d=this.openList,e=this.endNode.x,f=this.endNode.y,g,i,j,k,l,m=a.x,n=a.y,o,p,q,r,s,t,u,v=Math.abs,w=Math.max;g=this._findNeighbors(a);for(k=0,l=g.length;k<l;++k){i=g[k],j=this._jump(i[0],i[1],m,n);if(j){o=j[0],p=j[1],u=b.getNodeAt(o,p);if(u.closed)continue;s=h.euclidean(v(o-m),v(p-n)),t=a.g+s;if(!u.opened||t<u.g)u.g=t,u.h=u.h||c(v(o-e),v(p-f)),u.f=u.g+u.h,u.parent=a,u.opened?d.updateItem(u):(d.push(u),u.opened=!0)}}},i.prototype._jump=function(a,b,c,d){var e=this.grid,f=a-c,g=b-d,h,i;if(!e.isWalkableAt(a,b))return null;if(e.getNodeAt(a,b)===this.endNode)return[a,b];if(f!==0&&g!==0){if(e.isWalkableAt(a-f,b+g)&&!e.isWalkableAt(a-f,b)||e.isWalkableAt(a+f,b-g)&&!e.isWalkableAt(a,b-g))return[a,b]}else if(f!==0){if(e.isWalkableAt(a+f,b+1)&&!e.isWalkableAt(a,b+1)||e.isWalkableAt(a+f,b-1)&&!e.isWalkableAt(a,b-1))return[a,b]}else if(e.isWalkableAt(a+1,b+g)&&!e.isWalkableAt(a+1,b)||e.isWalkableAt(a-1,b+g)&&!e.isWalkableAt(a-1,b))return[a,b];if(f!==0&&g!==0){h=this._jump(a+f,b,a,b),i=this._jump(a,b+g,a,b);if(h||i)return[a,b]}return e.isWalkableAt(a+f,b)||e.isWalkableAt(a,b+g)?this._jump(a+f,b+g,a,b):null},i.prototype._findNeighbors=function(a){var b=a.parent,c=a.x,d=a.y,e=this.grid,f,g,h,i,j,k,l=[],m,n,o,p;if(b)f=b.x,g=b.y,j=(c-f)/Math.max(Math.abs(c-f),1),k=(d-g)/Math.max(Math.abs(d-g),1),j!==0&&k!==0?(e.isWalkableAt(c,d+k)&&l.push([c,d+k]),e.isWalkableAt(c+j,d)&&l.push([c+j,d]),(e.isWalkableAt(c,d+k)||e.isWalkableAt(c+j,d))&&l.push([c+j,d+k]),!e.isWalkableAt(c-j,d)&&e.isWalkableAt(c,d+k)&&l.push([c-j,d+k]),!e.isWalkableAt(c,d-k)&&e.isWalkableAt(c+j,d)&&l.push([c+j,d-k])):j===0?e.isWalkableAt(c,d+k)&&(e.isWalkableAt(c,d+k)&&l.push([c,d+k]),e.isWalkableAt(c+1,d)||l.push([c+1,d+k]),e.isWalkableAt(c-1,d)||l.push([c-1,d+k])):e.isWalkableAt(c+j,d)&&(e.isWalkableAt(c+j,d)&&l.push([c+j,d]),e.isWalkableAt(c,d+1)||l.push([c+j,d+1]),e.isWalkableAt(c,d-1)||l.push([c+j,d-1]));else{m=e.getNeighbors(a,!0);for(o=0,p=m.length;o<p;++o)n=m[o],l.push([n.x,n.y])}return l},b.exports=i}),a.define("/PathFinding.js",function(a,b,c,d,e){b.exports={Node:a("./core/Node"),Grid:a("./core/Grid"),Heap:a("./core/Heap"),Util:a("./core/Util"),Heuristic:a("./core/Heuristic"),AStarFinder:a("./finders/AStarFinder"),BestFirstFinder:a("./finders/BestFirstFinder"),BreadthFirstFinder:a("./finders/BreadthFirstFinder"),DijkstraFinder:a("./finders/DijkstraFinder"),BiAStarFinder:a("./finders/BiAStarFinder"),BiBestFirstFinder:a("./finders/BiBestFirstFinder"),BiBreadthFirstFinder:a("./finders/BiBreadthFirstFinder"),BiDijkstraFinder:a("./finders/BiDijkstraFinder"),JumpPointFinder:a("./finders/JumpPointFinder")}}),a("/PathFinding.js"),a("/PathFinding")}()