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18 KiB
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r(t,e,r){this.x=t,this.y=e,this.walkable=void 0===r?!0:r}e.exports=r},{}],6:[function(t,e,r){function i(t){for(var e=[[t.x,t.y]];t.parent;)t=t.parent,e.push([t.x,t.y]);return e.reverse()}function n(t,e){var r=i(t),n=i(e);return r.concat(n.reverse())}function o(t){var e,r,i,n,o,s=0;for(e=1;e<t.length;++e)r=t[e-1],i=t[e],n=r[0]-i[0],o=r[1]-i[1],s+=Math.sqrt(n*n+o*o);return s}function s(t,e,r,i){var n,o,s,a,u,h,l=Math.abs,p=[];for(s=l(r-t),a=l(i-e),n=r>t?1:-1,o=i>e?1:-1,u=s-a;;){if(p.push([t,e]),t===r&&e===i)break;h=2*u,h>-a&&(u-=a,t+=n),s>h&&(u+=s,e+=o)}return p}function a(t){var e,r,i,n,o,a,u=[],h=t.length;if(2>h)return u;for(o=0;h-1>o;++o)for(e=t[o],r=t[o+1],i=s(e[0],e[1],r[0],r[1]),n=i.length,a=0;n-1>a;++a)u.push(i[a]);return u.push(t[h-1]),u}function u(t,e){var r,i,n,o,a,u,h,l,p,c,f,d=e.length,g=e[0][0],b=e[0][1],y=e[d-1][0],A=e[d-1][1];for(r=g,i=b,a=[[r,i]],u=2;d>u;++u){for(l=e[u],n=l[0],o=l[1],p=s(r,i,n,o),f=!1,h=1;h<p.length;++h)if(c=p[h],!t.isWalkableAt(c[0],c[1])){f=!0;break}f&&(lastValidCoord=e[u-1],a.push(lastValidCoord),r=lastValidCoord[0],i=lastValidCoord[1])}return a.push([y,A]),a}function h(t){if(t.length<3)return t;var e,r,i,n,o,s,a=[],u=t[0][0],h=t[0][1],l=t[1][0],p=t[1][1],c=l-u,f=p-h;for(o=Math.sqrt(c*c+f*f),c/=o,f/=o,a.push([u,h]),s=2;s<t.length;s++)e=l,r=p,i=c,n=f,l=t[s][0],p=t[s][1],c=l-e,f=p-r,o=Math.sqrt(c*c+f*f),c/=o,f/=o,(c!==i||f!==n)&&a.push([e,r]);return a.push([l,p]),a}r.backtrace=i,r.biBacktrace=n,r.pathLength=o,r.interpolate=s,r.expandPath=a,r.smoothenPath=u,r.compressPath=h},{}],7:[function(t,e){function r(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.heuristic=t.heuristic||o.manhattan,this.weight=t.weight||1}var i=t("heap"),n=t("../core/Util"),o=t("../core/Heuristic");r.prototype.findPath=function(t,e,r,o,s){var a,u,h,l,p,c,f,d,g=new i(function(t,e){return t.f-e.f}),b=s.getNodeAt(t,e),y=s.getNodeAt(r,o),A=this.heuristic,k=this.allowDiagonal,m=this.dontCrossCorners,v=this.weight,w=Math.abs,x=Math.SQRT2;for(b.g=0,b.f=0,g.push(b),b.opened=!0;!g.empty();){if(a=g.pop(),a.closed=!0,a===y)return n.backtrace(y);for(u=s.getNeighbors(a,k,m),l=0,p=u.length;p>l;++l)h=u[l],h.closed||(c=h.x,f=h.y,d=a.g+(0===c-a.x||0===f-a.y?1:x),(!h.opened||d<h.g)&&(h.g=d,h.h=h.h||v*A(w(c-r),w(f-o)),h.f=h.g+h.h,h.parent=a,h.opened?g.updateItem(h):(g.push(h),h.opened=!0)))}return[]},e.exports=r},{"../core/Heuristic":4,"../core/Util":6,heap:1}],8:[function(t,e){function r(t){i.call(this,t);var e=this.heuristic;this.heuristic=function(t,r){return 1e6*e(t,r)}}var i=t("./AStarFinder");r.prototype=new i,r.prototype.constructor=r,e.exports=r},{"./AStarFinder":7}],9:[function(t,e){function r(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.heuristic=t.heuristic||o.manhattan,this.weight=t.weight||1}var i=t("heap"),n=t("../core/Util"),o=t("../core/Heuristic");r.prototype.findPath=function(t,e,r,o,s){var a,u,h,l,p,c,f,d,g=function(t,e){return t.f-e.f},b=new i(g),y=new i(g),A=s.getNodeAt(t,e),k=s.getNodeAt(r,o),m=this.heuristic,v=this.allowDiagonal,w=this.dontCrossCorners,x=this.weight,F=Math.abs,W=Math.SQRT2,N=1,C=2;for(A.g=0,A.f=0,b.push(A),A.opened=N,k.g=0,k.f=0,y.push(k),k.opened=C;!b.empty()&&!y.empty();){for(a=b.pop(),a.closed=!0,u=s.getNeighbors(a,v,w),l=0,p=u.length;p>l;++l)if(h=u[l],!h.closed){if(h.opened===C)return n.biBacktrace(a,h);c=h.x,f=h.y,d=a.g+(0===c-a.x||0===f-a.y?1:W),(!h.opened||d<h.g)&&(h.g=d,h.h=h.h||x*m(F(c-r),F(f-o)),h.f=h.g+h.h,h.parent=a,h.opened?b.updateItem(h):(b.push(h),h.opened=N))}for(a=y.pop(),a.closed=!0,u=s.getNeighbors(a,v,w),l=0,p=u.length;p>l;++l)if(h=u[l],!h.closed){if(h.opened===N)return n.biBacktrace(h,a);c=h.x,f=h.y,d=a.g+(0===c-a.x||0===f-a.y?1:W),(!h.opened||d<h.g)&&(h.g=d,h.h=h.h||x*m(F(c-t),F(f-e)),h.f=h.g+h.h,h.parent=a,h.opened?y.updateItem(h):(y.push(h),h.opened=C))}}return[]},e.exports=r},{"../core/Heuristic":4,"../core/Util":6,heap:1}],10:[function(t,e){function r(t){i.call(this,t);var e=this.heuristic;this.heuristic=function(t,r){return 1e6*e(t,r)}}var i=t("./BiAStarFinder");r.prototype=new i,r.prototype.constructor=r,e.exports=r},{"./BiAStarFinder":9}],11:[function(t,e){function r(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners}var i=t("../core/Util");r.prototype.findPath=function(t,e,r,n,o){var s,a,u,h,l,p=o.getNodeAt(t,e),c=o.getNodeAt(r,n),f=[],d=[],g=this.allowDiagonal,b=this.dontCrossCorners,y=0,A=1;for(f.push(p),p.opened=!0,p.by=y,d.push(c),c.opened=!0,c.by=A;f.length&&d.length;){for(u=f.shift(),u.closed=!0,s=o.getNeighbors(u,g,b),h=0,l=s.length;l>h;++h)if(a=s[h],!a.closed)if(a.opened){if(a.by===A)return i.biBacktrace(u,a)}else f.push(a),a.parent=u,a.opened=!0,a.by=y;for(u=d.shift(),u.closed=!0,s=o.getNeighbors(u,g,b),h=0,l=s.length;l>h;++h)if(a=s[h],!a.closed)if(a.opened){if(a.by===y)return i.biBacktrace(a,u)}else d.push(a),a.parent=u,a.opened=!0,a.by=A}return[]},e.exports=r},{"../core/Util":6}],12:[function(t,e){function r(t){i.call(this,t),this.heuristic=function(){return 0}}var i=t("./BiAStarFinder");r.prototype=new i,r.prototype.constructor=r,e.exports=r},{"./BiAStarFinder":9}],13:[function(t,e){function r(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners}var i=t("../core/Util");r.prototype.findPath=function(t,e,r,n,o){var s,a,u,h,l,p=[],c=this.allowDiagonal,f=this.dontCrossCorners,d=o.getNodeAt(t,e),g=o.getNodeAt(r,n);for(p.push(d),d.opened=!0;p.length;){if(u=p.shift(),u.closed=!0,u===g)return i.backtrace(g);for(s=o.getNeighbors(u,c,f),h=0,l=s.length;l>h;++h)a=s[h],a.closed||a.opened||(p.push(a),a.opened=!0,a.parent=u)}return[]},e.exports=r},{"../core/Util":6}],14:[function(t,e){function r(t){i.call(this,t),this.heuristic=function(){return 0}}var i=t("./AStarFinder");r.prototype=new i,r.prototype.constructor=r,e.exports=r},{"./AStarFinder":7}],15:[function(t,e){function r(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.heuristic=t.heuristic||i.manhattan,this.weight=t.weight||1,this.trackRecursion=t.trackRecursion||!1,this.timeLimit=t.timeLimit||1/0}t("../core/Util");var i=t("../core/Heuristic"),n=t("../core/Node");r.prototype.findPath=function(t,e,r,i,o){var s,a,u,h=0,l=(new Date).getTime(),p=function(t,e){return this.heuristic(Math.abs(e.x-t.x),Math.abs(e.y-t.y))}.bind(this),c=function(t,e){return t.x===e.x||t.y===e.y?1:Math.SQRT2},f=function(t,e,r,i,s){if(h++,this.timeLimit>0&&(new Date).getTime()-l>1e3*this.timeLimit)return 1/0;var a=e+p(t,g)*this.weight;if(a>r)return a;if(t==g)return i[s]=[t.x,t.y],t;var u,d,b,y,A=o.getNeighbors(t,this.allowDiagonal,this.dontCrossCorners);for(b=0,u=1/0;y=A[b];++b){if(this.trackRecursion&&(y.retainCount=y.retainCount+1||1,y.tested!==!0&&(y.tested=!0)),d=f(y,e+c(t,y),r,i,s+1),d instanceof n)return i[s]=[t.x,t.y],d;this.trackRecursion&&0===--y.retainCount&&(y.tested=!1),u>d&&(u=d)}return u}.bind(this),d=o.getNodeAt(t,e),g=o.getNodeAt(r,i),b=p(d,g);for(s=0;!0;++s){if(a=[],u=f(d,0,b,a,0),1/0===u)return[];if(u instanceof n)return a;b=u}return[]},e.exports=r},{"../core/Heuristic":4,"../core/Node":5,"../core/Util":6}],16:[function(t,e){function r(t){t=t||{},this.heuristic=t.heuristic||o.manhattan,this.trackJumpRecursion=t.trackJumpRecursion||!1}var i=t("heap"),n=t("../core/Util"),o=t("../core/Heuristic");r.prototype.findPath=function(t,e,r,o,s){var a,u=this.openList=new i(function(t,e){return t.f-e.f}),h=this.startNode=s.getNodeAt(t,e),l=this.endNode=s.getNodeAt(r,o);for(this.grid=s,h.g=0,h.f=0,u.push(h),h.opened=!0;!u.empty();){if(a=u.pop(),a.closed=!0,a===l)return n.expandPath(n.backtrace(l));this._identifySuccessors(a)}return[]},r.prototype._identifySuccessors=function(t){var e,r,i,n,s,a,u,h,l,p,c=this.grid,f=this.heuristic,d=this.openList,g=this.endNode.x,b=this.endNode.y,y=t.x,A=t.y,k=Math.abs;for(Math.max,e=this._findNeighbors(t),n=0,s=e.length;s>n;++n)if(r=e[n],i=this._jump(r[0],r[1],y,A)){if(a=i[0],u=i[1],p=c.getNodeAt(a,u),p.closed)continue;h=o.octile(k(a-y),k(u-A)),l=t.g+h,(!p.opened||l<p.g)&&(p.g=l,p.h=p.h||f(k(a-g),k(u-b)),p.f=p.g+p.h,p.parent=t,p.opened?d.updateItem(p):(d.push(p),p.opened=!0))}},r.prototype._jump=function(t,e,r,i){var n=this.grid,o=t-r,s=e-i;if(!n.isWalkableAt(t,e))return null;if(this.trackJumpRecursion===!0&&(n.getNodeAt(t,e).tested=!0),n.getNodeAt(t,e)===this.endNode)return[t,e];if(0!==o&&0!==s){if(n.isWalkableAt(t-o,e+s)&&!n.isWalkableAt(t-o,e)||n.isWalkableAt(t+o,e-s)&&!n.isWalkableAt(t,e-s))return[t,e]}else if(0!==o){if(n.isWalkableAt(t+o,e+1)&&!n.isWalkableAt(t,e+1)||n.isWalkableAt(t+o,e-1)&&!n.isWalkableAt(t,e-1))return[t,e]}else if(n.isWalkableAt(t+1,e+s)&&!n.isWalkableAt(t+1,e)||n.isWalkableAt(t-1,e+s)&&!n.isWalkableAt(t-1,e))return[t,e];return 0!==o&&0!==s&&(this._jump(t+o,e,t,e)||this._jump(t,e+s,t,e))?[t,e]:n.isWalkableAt(t+o,e)||n.isWalkableAt(t,e+s)?this._jump(t+o,e+s,t,e):null},r.prototype._findNeighbors=function(t){var e,r,i,n,o,s,a,u,h=t.parent,l=t.x,p=t.y,c=this.grid,f=[];if(h)e=h.x,r=h.y,i=(l-e)/Math.max(Math.abs(l-e),1),n=(p-r)/Math.max(Math.abs(p-r),1),0!==i&&0!==n?(c.isWalkableAt(l,p+n)&&f.push([l,p+n]),c.isWalkableAt(l+i,p)&&f.push([l+i,p]),(c.isWalkableAt(l,p+n)||c.isWalkableAt(l+i,p))&&f.push([l+i,p+n]),!c.isWalkableAt(l-i,p)&&c.isWalkableAt(l,p+n)&&f.push([l-i,p+n]),!c.isWalkableAt(l,p-n)&&c.isWalkableAt(l+i,p)&&f.push([l+i,p-n])):0===i?c.isWalkableAt(l,p+n)&&(f.push([l,p+n]),c.isWalkableAt(l+1,p)||f.push([l+1,p+n]),c.isWalkableAt(l-1,p)||f.push([l-1,p+n])):c.isWalkableAt(l+i,p)&&(f.push([l+i,p]),c.isWalkableAt(l,p+1)||f.push([l+i,p+1]),c.isWalkableAt(l,p-1)||f.push([l+i,p-1]));else for(o=c.getNeighbors(t,!0),a=0,u=o.length;u>a;++a)s=o[a],f.push([s.x,s.y]);return f},e.exports=r},{"../core/Heuristic":4,"../core/Util":6,heap:1}],17:[function(t,e){function r(t){n.call(this,t),t=t||{},this.heuristic=t.heuristic||i.manhattan}var i=t("../core/Heuristic"),n=t("./JumpPointFinder");r.prototype=new n,r.prototype.constructor=r,r.prototype._jump=function(t,e,r,i){var n=this.grid,o=t-r,s=e-i;if(!n.isWalkableAt(t,e))return null;if(this.trackJumpRecursion===!0&&(n.getNodeAt(t,e).tested=!0),n.getNodeAt(t,e)===this.endNode)return[t,e];if(0!==o){if(n.isWalkableAt(t,e-1)&&!n.isWalkableAt(t-o,e-1)||n.isWalkableAt(t,e+1)&&!n.isWalkableAt(t-o,e+1))return[t,e]}else{if(0===s)throw new Error("Only horizontal and vertical movements are allowed");if(n.isWalkableAt(t-1,e)&&!n.isWalkableAt(t-1,e-s)||n.isWalkableAt(t+1,e)&&!n.isWalkableAt(t+1,e-s))return[t,e];if(this._jump(t+1,e,t,e)||this._jump(t-1,e,t,e))return[t,e]}return this._jump(t+o,e+s,t,e)},r.prototype._findNeighbors=function(t){var e,r,i,n,o,s,a,u,h=t.parent,l=t.x,p=t.y,c=this.grid,f=[];if(h)e=h.x,r=h.y,i=(l-e)/Math.max(Math.abs(l-e),1),n=(p-r)/Math.max(Math.abs(p-r),1),0!==i?(c.isWalkableAt(l,p-1)&&f.push([l,p-1]),c.isWalkableAt(l,p+1)&&f.push([l,p+1]),c.isWalkableAt(l+i,p)&&f.push([l+i,p])):0!==n&&(c.isWalkableAt(l-1,p)&&f.push([l-1,p]),c.isWalkableAt(l+1,p)&&f.push([l+1,p]),c.isWalkableAt(l,p+n)&&f.push([l,p+n]));else for(o=c.getNeighbors(t,!1),a=0,u=o.length;u>a;++a)s=o[a],f.push([s.x,s.y]);return f},e.exports=r},{"../core/Heuristic":4,"./JumpPointFinder":16}],18:[function(t,e){e.exports={Heap:t("heap"),Node:t("./core/Node"),Grid:t("./core/Grid"),Util:t("./core/Util"),Heuristic:t("./core/Heuristic"),AStarFinder:t("./finders/AStarFinder"),BestFirstFinder:t("./finders/BestFirstFinder"),BreadthFirstFinder:t("./finders/BreadthFirstFinder"),DijkstraFinder:t("./finders/DijkstraFinder"),BiAStarFinder:t("./finders/BiAStarFinder"),BiBestFirstFinder:t("./finders/BiBestFirstFinder"),BiBreadthFirstFinder:t("./finders/BiBreadthFirstFinder"),BiDijkstraFinder:t("./finders/BiDijkstraFinder"),IDAStarFinder:t("./finders/IDAStarFinder"),JumpPointFinder:t("./finders/JumpPointFinder"),OrthogonalJumpPointFinder:t("./finders/OrthogonalJumpPointFinder")}},{"./core/Grid":3,"./core/Heuristic":4,"./core/Node":5,"./core/Util":6,"./finders/AStarFinder":7,"./finders/BestFirstFinder":8,"./finders/BiAStarFinder":9,"./finders/BiBestFirstFinder":10,"./finders/BiBreadthFirstFinder":11,"./finders/BiDijkstraFinder":12,"./finders/BreadthFirstFinder":13,"./finders/DijkstraFinder":14,"./finders/IDAStarFinder":15,"./finders/JumpPointFinder":16,"./finders/OrthogonalJumpPointFinder":17,heap:1}]},{},[18])(18)}); |