// AstarPath returns a path from a position to another, including thoses
// positions, in the path order. It returns nil if no path was found.
AstarPath returns a path from a position to another, including thoses
positions, in the path order. It returns nil if no path was found.
// AstarPath returns a path from a position to another including thoses // positions in the path order . It returns nil if no path was found .
func (pr *PathRange) AstarPath(ast Astar, from, to gruid.Point) []gruid.Point {
	if !from.In(pr.Rg) || !to.In(pr.Rg) {
		return nil
	}
	pr.initAstar()
	nm := pr.AstarNodes
	nm.Idx++
	defer checkNodesIdx(nm)
	nqs := pr.AstarQueue[:0]
	nq := &nqs
	pqInit(nq)
	fromNode := nm.get(pr, from)
	fromNode.Open = true
	fromNode.Estimation = ast.Estimation(from, to)
	pqPush(nq, fromNode)
	for {
		if nq.Len() == 0 {
			return nil
		}
		n := pqPop(nq)
		n.Open = false
		n.Closed = true
		if n.P == to {
			path := []gruid.Point{}
			pn := n
			path = append(path, pn.P)
			for {
				if pn.P == from {
					break
				}
				pn = nm.at(pr, pn.Parent)
				path = append(path, pn.P)
			}
			for i := range path[:len(path)/2] {
				path[i], path[len(path)-i-1] = path[len(path)-i-1], path[i]
			}
			return path
		}
		for _, q := range ast.Neighbors(n.P) {
			if !q.In(pr.Rg) {
				continue
			}
			cost := n.Cost + ast.Cost(n.P, q)
			nbNode := nm.get(pr, q)
			if cost < nbNode.Cost {
				if nbNode.Open {
					pqRemove(nq, nbNode.Idx)
				}
				nbNode.Open = false
				nbNode.Closed = false
			}
			if !nbNode.Open && !nbNode.Closed {
				nbNode.Cost = cost
				nbNode.Open = true
				nbNode.Estimation = ast.Estimation(q, to)
				nbNode.Rank = cost + nbNode.Estimation
				nbNode.Parent = n.P
				pqPush(nq, nbNode)
			}
		}
	}
}
func ( pr * PathRange ) AstarPath ( ast Astar , from , to gruid . Point ) [ ] gruid . Point { if ! from . In ( pr . Rg ) || ! to . In ( pr . Rg ) { return nil } pr . initAstar ( ) nm := pr . AstarNodes nm . Idx ++ defer checkNodesIdx ( nm ) nqs := pr . AstarQueue [ : 0 ] nq := & nqs pqInit ( nq ) fromNode := nm . get ( pr , from ) fromNode . Open = true fromNode . Estimation = ast . Estimation ( from , to ) pqPush ( nq , fromNode ) for { if nq . Len ( ) == 0 { return nil } n := pqPop ( nq ) n . Open = false n . Closed = true if n . P == to { path := [ ] gruid . Point { } pn := n path = append ( path , pn . P ) for { if pn . P == from { break } pn = nm . at ( pr , pn . Parent ) path = append ( path , pn . P ) } for i := range path [ : len ( path ) / 2 ] { path [ i ] , path [ len ( path ) - i - 1 ] = path [ len ( path ) - i - 1 ] , path [ i ] } return path } for _ , q := range ast . Neighbors ( n . P ) { if ! q . In ( pr . Rg ) { continue } cost := n . Cost + ast . Cost ( n . P , q ) nbNode := nm . get ( pr , q ) if cost < nbNode . Cost { if nbNode . Open { pqRemove ( nq , nbNode . Idx ) } nbNode . Open = false nbNode . Closed = false } if ! nbNode . Open && ! nbNode . Closed { nbNode . Cost = cost nbNode . Open = true nbNode . Estimation = ast . Estimation ( q , to ) nbNode . Rank = cost + nbNode . Estimation nbNode . Parent = n . P pqPush ( nq , nbNode ) } } } }
AstarPath returns a path from a position to another, including thoses
positions, in the path order.
AstarPath returns a path from a position to another including thoses positions in the path order .
// There's no path. // Found a path to the goal.