1 line
9.5 KiB
JavaScript
1 line
9.5 KiB
JavaScript
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K=E.g+i.getCost(E,Q),r=i.visited;(!r||K<i.g)&&(i.visited=!0,i.parent=E,i.h=i.h||x(i,I),i.g=K,i.f=i.g+i.h,z.$7x(i),c&&(i.h<f.h||i.h===f.h&&i.g<f.g)&&(f=i),r?o.$10x(i):o.push(i))}}}return c?G(f):[]},$4x:{manhattan:function(p,K){var H=Math.abs(K.x-p.x),P=Math.abs(K.y-p.y);return H+P},diagonal:function(V,K){var u=1,$=Math.sqrt(2),P=Math.abs(K.x-V.x),R=Math.abs(K.y-V.y);return u*(P+R)+($-2*u)*Math.min(P,R)}},$5x:function(P){P.f=0,P.g=0,P.h=0,P.visited=!1,P.closed=!1,P.parent=null}};return _.prototype.$13x=function(){this.dirtyNodes=[];for(var L=0;L<this.nodes.length;L++)Z.$5x(this.nodes[L])},_.prototype.$6x=function(){for(var p=0;p<this.dirtyNodes.length;p++)Z.$5x(this.dirtyNodes[p]);this.dirtyNodes=[]},_.prototype.$7x=function(L){this.dirtyNodes.push(L)},_.prototype.neighbors=function(W){var b=[],t=W.x,r=W.y,C=this.grid;return 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q=this.content[0],X=this.content.pop();return this.content.length>0&&(this.content[0]=X,this.$12x(0)),q},remove:function(o){var H=this.content.indexOf(o),z=this.content.pop();H!==this.content.length-1&&(this.content[H]=z,this.scoreFunction(z)<this.scoreFunction(o)?this.$11x(H):this.$12x(H))},size:function(){return this.content.length},$10x:function(j){this.$11x(this.content.indexOf(j))},$11x:function(s){for(var M=this.content[s];s>0;){var d=(s+1>>1)-1,Q=this.content[d];if(!(this.scoreFunction(M)<this.scoreFunction(Q)))break;this.content[d]=M,this.content[s]=Q,s=d}},$12x:function(a){for(var v=this.content.length,F=this.content[a],o=this.scoreFunction(F);;){var p,D=a+1<<1,r=D-1,W=null;if(v>r){var N=this.content[r];p=this.scoreFunction(N),o>p&&(W=r)}if(v>D){var A=this.content[D],Q=this.scoreFunction(A);(null===W?o:p)>Q&&(W=D)}if(null===W)break;this.content[a]=this.content[W],this.content[W]=F,a=W}}},{astar:Z,Graph:_}});var w=g.Astar.Finder=function(q,T){var 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K=R.$16x,b=K.x-K.gridX/2,x=K.y-K.gridY/2,d=b+K.gridX*K.xLen,X=x+K.gridY*K.yLen;if(!(R.$18x(p.x,p.y,I.x,I.y,b,x,d,x)||R.$18x(p.x,p.y,I.x,I.y,d,x,d,X)||R.$18x(p.x,p.y,I.x,I.y,d,X,b,X)||R.$18x(p.x,p.y,I.x,I.y,b,X,b,x)))return[p,I]}i!==F&&(q=!0,F=i),C!==S&&(n=!0,S=C);var D=R.graph.grid[F.x][F.y],c=R.graph.grid[S.x][S.y],k=AStar.search(R.graph,D,c,{closest:R.$14x.closest,punish:R.$14x.turnPunish});if(!k||!k.length)return null;var j=[];j.push(p),q&&j.push(R.$1ew(k[0]));for(var O=1,J=k.length;J-1>O;O++)j.push(R.$1ew(k[O]));if(n)j.push(R.$1ew(k[J-1])),j.push(I);else{var H=k[J-1];S.x!==H.x||S.y!==H.y||R.$14x.toGridCenter?j.push(R.$1ew(H)):j.push(I)}return R.$14x.simplify&&(j=R.simplifyPath(j)),R.$20x=j,R.$21x(),j},w.prototype.debugOn=function(G){this.debugFlag=!0,this.debugSettings=G||{},this.$21x()},w.prototype.simplifyPath=function(B){var l=B.length;if(2>=l)return B;var R,D,t=[B[0],B[1]],i=t[0],I=t[1],h=1e-5;for(R=2;l>R;R++)D=B[R],Math.abs((I.x-i.x)*(D.y-i.y)-(I.y-i.y)*(D.x-i.x))<h?I=t[t.length-1]=D:(i=I,I=D,t.push(D));return t},w.prototype.$21x=function(){var W=this;if(W.$22x(),this.debugFlag){var c=W.grid;if(c){var _,G=W.gv;if(W.debugSettings.$16x!==!1){_=[];for(var t,I,u,f,P,M=[],b=W.$14x.gridSizeX/2,w=W.$14x.gridSizeY/2,o=c.length,l=o?c[0].length:0,Q=1;o-1>Q;Q++)for(var p=1;l-1>p;p++)c[Q][p]||(t=W.$1ew({x:Q,y:p}),I=t.x-b,u=t.x+b,f=t.y-w,P=t.y+w,_.push({x:I,y:f},{x:I,y:P},{x:u,y:P},{x:u,y:f}),M.push(1,2,2,2,5));var i=new g.Shape;i.s("shape.border.color","rgba(50, 50, 50, 0.2)"),i.s("shape.border.width",1),i.s("shape.background","rgba(200, 50, 100, 0.2)"),i.s("2d.editable",!1),i.s("2d.selectable",!1),i.setPoints(_),i.setSegments(M),W._debugInfo={grid:i},G.dm().add(i)}W.debugSettings.path!==!1&&(_=new 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