75 lines
2.9 KiB
Python
75 lines
2.9 KiB
Python
import os
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import json
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import uuid
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from dataclasses import dataclass, field
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from copy import deepcopy
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from collections import defaultdict
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from heapq import heappush, heappop
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import pygame
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import pygame_gui
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from classes import Rock
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def path_exists(data, path):
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current = data
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for key in path:
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if isinstance(current, dict) and key in current:
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current = current[key]
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else:
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return False
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return True
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def find_way(cells, start, goal):
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"""Находит путь от start=(row, col) к goal=(row, col). row=y (строка), col=x (столбец)"""
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rows = len(cells)
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if rows == 0:
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return None
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cols = len(cells[0])
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def is_passable(cell):
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# Проходимо, если НЕ Rock в terrain И creature_obj отсутствует
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return (cell.terrain_obj is None or not isinstance(cell.terrain_obj, Rock))
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# Проверка границ и проходимости старт/гол
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s_row, s_col = start
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g_row, g_col = goal
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if not (0 <= s_row < rows and 0 <= s_col < cols and 0 <= g_row < rows and 0 <= g_col < cols):
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return None
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start_cell = cells[s_row][s_col]
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goal_cell = cells[g_row][g_col]
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if not is_passable(start_cell) or not is_passable(goal_cell):
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print(f"Старт/гол непроходимы: start={is_passable(start_cell)}, goal={is_passable(goal_cell)}")
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return None
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# A* поиск (используем прямые row,col вместо ID для простоты)
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directions = [(-1, 0), (1, 0), (0, -1), (0, 1)] # вверх, вниз, лево, право
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open_set = []
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# f_score = g + h (h=манхэттен)
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h = abs(s_row - g_row) + abs(s_col - g_col)
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heappush(open_set, (h, 0, s_row, s_col)) # f, g, row, col
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came_from = {}
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g_score = defaultdict(lambda: float('inf'))
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g_score[(s_row, s_col)] = 0
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while open_set:
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_, _, row, col = heappop(open_set)
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if (row, col) == (g_row, g_col):
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# Восстанавливаем путь
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path = []
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current = (row, col)
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while current in came_from:
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path.append(current)
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current = came_from[current]
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path.append(start)
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return path[::-1]
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for dr, dc in directions:
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nr, nc = row + dr, col + dc
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if 0 <= nr < rows and 0 <= nc < cols:
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if is_passable(cells[nr][nc]):
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tentative_g = g_score[(row, col)] + 1
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pos = (nr, nc)
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if tentative_g < g_score[pos]:
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came_from[pos] = (row, col)
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g_score[pos] = tentative_g
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f = tentative_g + abs(nr - g_row) + abs(nc - g_col)
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heappush(open_set, (f, tentative_g, nr, nc))
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print("Путь не найден (нет связи)")
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return None |