├── .gitignore ├── LICENSE ├── README.md ├── gifs ├── alternate-prim-generation.gif ├── astar-on-mud.gif ├── astar-on-prim.gif ├── dfs-on-prim.gif ├── dijkstra-on-mud.gif ├── dijkstra-on-prim.gif ├── path-updating.gif ├── prim-generation.gif ├── recursive-division-generation.gif ├── terrain-generation.gif └── visualise-false.gif ├── grid.py ├── priority_queue.py └── requirements.txt /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | pip-wheel-metadata/ 24 | share/python-wheels/ 25 | *.egg-info/ 26 | .installed.cfg 27 | *.egg 28 | MANIFEST 29 | 30 | # PyInstaller 31 | # Usually these files are written by a python script from a template 32 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 33 | *.manifest 34 | *.spec 35 | 36 | # Installer logs 37 | pip-log.txt 38 | pip-delete-this-directory.txt 39 | 40 | # Unit test / coverage reports 41 | htmlcov/ 42 | .tox/ 43 | .nox/ 44 | .coverage 45 | .coverage.* 46 | .cache 47 | nosetests.xml 48 | coverage.xml 49 | *.cover 50 | *.py,cover 51 | .hypothesis/ 52 | .pytest_cache/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | target/ 76 | 77 | # Jupyter Notebook 78 | .ipynb_checkpoints 79 | 80 | # IPython 81 | profile_default/ 82 | ipython_config.py 83 | 84 | # pyenv 85 | .python-version 86 | 87 | # pipenv 88 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 89 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 90 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 91 | # install all needed dependencies. 92 | #Pipfile.lock 93 | 94 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 95 | __pypackages__/ 96 | 97 | # Celery stuff 98 | celerybeat-schedule 99 | celerybeat.pid 100 | 101 | # SageMath parsed files 102 | *.sage.py 103 | 104 | # Environments 105 | .env 106 | .venv 107 | env/ 108 | venv/ 109 | ENV/ 110 | env.bak/ 111 | venv.bak/ 112 | 113 | # Spyder project settings 114 | .spyderproject 115 | .spyproject 116 | 117 | # Rope project settings 118 | .ropeproject 119 | 120 | # mkdocs documentation 121 | /site 122 | 123 | # mypy 124 | .mypy_cache/ 125 | .dmypy.json 126 | dmypy.json 127 | 128 | # Pyre type checker 129 | .pyre/ 130 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Pygame Pathfinder 2 | 3 | Visualise maze generation and pathfinding algorithms with Pygame. 4 | 5 | ## Installation 6 | 7 | Clone this repo and cd into it: 8 | 9 | ```bash 10 | git clone https://github.com/ChrisKneller/pygame-pathfinder.git 11 | cd pygame-pathfinder 12 | ``` 13 | 14 | Create and activate your virtual environment: 15 | 16 | * MacOS/Linux: 17 | ```bash 18 | virtualenv --no-site-packages env 19 | source env/bin/activate 20 | ``` 21 | 22 | * Windows: 23 | ```bash 24 | virtualenv env 25 | .\env\Scripts\activate 26 | ``` 27 | 28 | Install the required packages: 29 | 30 | ```bash 31 | pip install -r requirements.txt 32 | ``` 33 | 34 | ## Usage 35 | 36 | ```bash 37 | python grid.py 38 | ``` 39 | 40 | ### Buttons 41 | 42 | Maze/terrain generation buttons are on the right. 43 | 44 | #### Maze/terrain generation examples: 45 | 46 | ![Prim's algorithm](gifs/prim-generation.gif) 47 | ![Recursive division](gifs/recursive-division-generation.gif) 48 | ![Alternate Prim's algorithm](gifs/alternate-prim-generation.gif) 49 | ![Terrain generation](gifs/terrain-generation.gif) 50 | 51 | Pathfinding buttons are on the left. 52 | 53 | #### Pathfinding examples: 54 | 55 | ##### Dijkstra's algorithm (equivalent to BFS in this case) 56 | 57 | ![Dijkstra's algorithm](gifs/dijkstra-on-prim.gif) 58 | 59 | ##### Depth first search (DFS) 60 | 61 | ![DFS](gifs/dfs-on-prim.gif) 62 | 63 | ##### A* algorithm 64 | 65 | ![A*](gifs/astar-on-prim.gif) 66 | 67 | The visualise button is a toggle. 68 | 69 | ![Visualistation false](gifs/visualise-false.gif) 70 | 71 | ### Grid interaction 72 | 73 | Left click to create a wall or move the start and end points. 74 | 75 | Hold left CTRL and left click to create a sticky mud patch (which reduces movement speed to 1/3). 76 | 77 | The point of these mud patches is to showcase Dijkstra's algorithm (first) and A* (second) by adjusting the "distances" between the nodes: 78 | 79 | ![Dijkstra on mud](gifs/dijkstra-on-mud.gif) 80 | ![A* on mud](gifs/astar-on-mud.gif) 81 | 82 | After a pathfinding algorithm has been run you can drag the start/end points around and see the visualisation update instantly for the new path using the algorithm that was last run. 83 | 84 | ![Updating the path](gifs/path-updating.gif) 85 | 86 | ## Contributing 87 | Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change. 88 | 89 | ## License 90 | [GPL-3.0](https://github.com/ChrisKneller/pygame-pathfinder/blob/master/LICENSE) -------------------------------------------------------------------------------- /gifs/alternate-prim-generation.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/alternate-prim-generation.gif -------------------------------------------------------------------------------- /gifs/astar-on-mud.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/astar-on-mud.gif -------------------------------------------------------------------------------- /gifs/astar-on-prim.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/astar-on-prim.gif -------------------------------------------------------------------------------- /gifs/dfs-on-prim.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/dfs-on-prim.gif -------------------------------------------------------------------------------- /gifs/dijkstra-on-mud.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/dijkstra-on-mud.gif -------------------------------------------------------------------------------- /gifs/dijkstra-on-prim.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/dijkstra-on-prim.gif -------------------------------------------------------------------------------- /gifs/path-updating.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/path-updating.gif -------------------------------------------------------------------------------- /gifs/prim-generation.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/prim-generation.gif -------------------------------------------------------------------------------- /gifs/recursive-division-generation.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/recursive-division-generation.gif -------------------------------------------------------------------------------- /gifs/terrain-generation.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/terrain-generation.gif -------------------------------------------------------------------------------- /gifs/visualise-false.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ChrisKneller/pygame-pathfinder/71f9a23f8ea7a2b63d51e37b79210267d2e482c6/gifs/visualise-false.gif -------------------------------------------------------------------------------- /grid.py: -------------------------------------------------------------------------------- 1 | import pygame 2 | import time 3 | from priority_queue import PrioritySet, PriorityQueue, AStarQueue 4 | from math import inf 5 | import random 6 | from collections import deque 7 | 8 | # Define some colors 9 | BLACK = (0, 0, 0) 10 | WHITE = (255, 255, 255) 11 | GREEN = (0, 255, 0) 12 | RED = (255, 0, 0) 13 | BLUE = (0, 0, 255) 14 | LIGHT_BLUE = (0, 111, 255) 15 | ORANGE = (255, 128, 0) 16 | PURPLE = (128, 0, 255) 17 | YELLOW = (255, 255, 0) 18 | GREY = (143, 143, 143) 19 | BROWN = (186, 127, 50) 20 | DARK_GREEN = (0, 128, 0) 21 | DARKER_GREEN = (0, 50, 0) 22 | DARK_BLUE = (0, 0, 128) 23 | 24 | # For creating Buttons 25 | class Button(): 26 | def __init__(self, color, x, y, width, height, text=''): 27 | self.color = color 28 | self.x = int(x) 29 | self.y = int(y) 30 | self.width = int(width) 31 | self.height = int(height) 32 | self.text = text 33 | 34 | def draw(self,win,outline=None): 35 | # Call this method to draw the Button on the screen 36 | if outline: 37 | pygame.draw.rect(win, outline, (self.x,self.y,self.width,self.height),0) 38 | 39 | pygame.draw.rect(win, self.color, (self.x+1,self.y+1,self.width-1,self.height-1),0) 40 | 41 | if self.text != '': 42 | font = pygame.font.SysFont('arial', 12) 43 | text = font.render(self.text, 1, (0,0,0)) 44 | win.blit(text, (self.x + int(self.width/2 - text.get_width()/2), self.y + int(self.height/2 - text.get_height()/2))) 45 | 46 | def isOver(self, pos): 47 | # Pos is the mouse position or a tuple of (x,y) coordinates 48 | if pos[0] > self.x and pos[0] < self.x + self.width: 49 | if pos[1] > self.y and pos[1] < self.y + self.height: 50 | return True 51 | 52 | return False 53 | 54 | # Make it easier to add different node types 55 | class Node(): 56 | 57 | nodetypes = ['blank', 'start', 'end', 'wall', 'mud', 'dormant'] 58 | 59 | colors = { 'regular': {'blank': WHITE, 'start': RED, 'end': LIGHT_BLUE, 'wall': BLACK, 'mud': BROWN, 'dormant': GREY}, 60 | 'visited': {'blank': GREEN, 'start': RED, 'end': LIGHT_BLUE, 'wall': BLACK, 'mud': DARK_GREEN, 'dormant': GREY}, 61 | 'path': {'blank': BLUE, 'start': RED, 'end': LIGHT_BLUE, 'wall': BLACK, 'mud': DARK_BLUE, 'dormant': GREY} 62 | } 63 | 64 | distance_modifiers = {'blank': 1, 'start': 1, 'end': 1, 'wall': inf, 'mud': 3, 'dormant': inf} 65 | 66 | def __init__(self, nodetype, text='', colors=colors, dmf=distance_modifiers): 67 | self.nodetype = nodetype 68 | self.rcolor = colors['regular'][self.nodetype] 69 | self.vcolor = colors['visited'][self.nodetype] 70 | self.pcolor = colors['path'][self.nodetype] 71 | self.is_visited = True if nodetype == 'start' else True if nodetype == 'end' else False 72 | self.is_path = True if nodetype == 'start' else True if nodetype == 'end' else False 73 | self.distance_modifier = dmf[self.nodetype] 74 | self.color = self.pcolor if self.is_path else self.vcolor if self.is_visited else self.rcolor 75 | 76 | def update(self, nodetype=False, is_visited='unchanged', is_path='unchanged', colors=colors, dmf=distance_modifiers, nodetypes=nodetypes): 77 | if nodetype: 78 | assert nodetype in nodetypes, f"nodetype must be one of: {nodetypes}" 79 | if (self.nodetype == ('start' or 'end')) and (nodetype == ('wall' or 'mud')): 80 | pass 81 | else: 82 | self.nodetype = nodetype 83 | 84 | if is_visited != 'unchanged': 85 | assert type(is_visited) == bool, "'is_visited' must be boolean: True or False" 86 | self.is_visited = is_visited 87 | 88 | if is_path != 'unchanged': 89 | assert type(is_path) == bool, "'is_path' must be boolean: True or False" 90 | self.is_path = is_path 91 | 92 | self.rcolor = colors['regular'][self.nodetype] 93 | self.vcolor = colors['visited'][self.nodetype] 94 | self.pcolor = colors['path'][self.nodetype] 95 | self.distance_modifier = dmf[self.nodetype] 96 | self.color = self.pcolor if self.is_path else self.vcolor if self.is_visited else self.rcolor 97 | 98 | # This sets the WIDTH and HEIGHT of each grid location 99 | WIDTH = 7 100 | HEIGHT = WIDTH # so they are squares 101 | BUTTON_HEIGHT = 50 102 | 103 | # This sets the margin between each cell 104 | MARGIN = 0 105 | 106 | # Create a 2 dimensional array (a list of lists) 107 | grid = [] 108 | ROWS = 95 109 | # Iterate through every row and column, adding blank nodes 110 | for row in range(ROWS): 111 | grid.append([]) 112 | for column in range(ROWS): 113 | grid[row].append(Node('blank')) 114 | 115 | # Set start and end points for the pathfinder 116 | START_POINT = (random.randrange(2,ROWS-1,2)-1,random.randrange(2,ROWS-1,2)-1) 117 | END_POINT = (random.randrange(2,ROWS-1,2),random.randrange(2,ROWS-1,2)) 118 | 119 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 120 | grid[END_POINT[0]][END_POINT[1]].update(nodetype='end') 121 | 122 | DIAGONALS = False 123 | VISUALISE = True 124 | 125 | # Used for handling click & drag 126 | mouse_drag = False 127 | drag_start_point = False 128 | drag_end_point = False 129 | 130 | # Used for deciding what to do in different situations 131 | path_found = False 132 | algorithm_run = False 133 | 134 | pygame.init() 135 | 136 | # Set default font for nodes 137 | FONT = pygame.font.SysFont('arial', 6) 138 | 139 | # Set the width and height of the screen [width, height] 140 | SCREEN_WIDTH = ROWS * (WIDTH + MARGIN) + MARGIN * 2 141 | SCREEN_HEIGHT = SCREEN_WIDTH + BUTTON_HEIGHT * 3 142 | WINDOW_SIZE = (SCREEN_WIDTH, SCREEN_HEIGHT) 143 | screen = pygame.display.set_mode(WINDOW_SIZE) 144 | 145 | # Make some Buttons 146 | dijkstraButton = Button(GREY, 0, SCREEN_WIDTH, SCREEN_WIDTH/3, BUTTON_HEIGHT, "Dijkstra (=BFS when constant distances)") 147 | dfsButton = Button(GREY, 0, SCREEN_WIDTH + BUTTON_HEIGHT, SCREEN_WIDTH/6, BUTTON_HEIGHT, "DFS") 148 | bfsButton = Button(GREY, 0 + SCREEN_WIDTH/6 + 1, SCREEN_WIDTH + BUTTON_HEIGHT, SCREEN_WIDTH/6, BUTTON_HEIGHT, "BFS") 149 | astarButton = Button(GREY, 0, SCREEN_WIDTH + BUTTON_HEIGHT*2, SCREEN_WIDTH/3, BUTTON_HEIGHT, "A*") 150 | resetButton = Button(GREY, SCREEN_WIDTH/3, SCREEN_WIDTH, SCREEN_WIDTH/3, BUTTON_HEIGHT*2, "Reset") 151 | mazeButton = Button(GREY, (SCREEN_WIDTH/3)*2, SCREEN_WIDTH, SCREEN_WIDTH/6, BUTTON_HEIGHT, "Maze (Prim)") 152 | altPrimButton = Button(GREY, (SCREEN_WIDTH/6)*5, SCREEN_WIDTH, SCREEN_WIDTH/6, BUTTON_HEIGHT, "Maze (Alt Prim)") 153 | recursiveMazeButton = Button(GREY, (SCREEN_WIDTH/3)*2, SCREEN_WIDTH + BUTTON_HEIGHT, SCREEN_WIDTH/3, BUTTON_HEIGHT, "Maze (recursive div)") 154 | terrainButton = Button(GREY, (SCREEN_WIDTH/3)*2, SCREEN_WIDTH + BUTTON_HEIGHT*2, SCREEN_WIDTH/3, BUTTON_HEIGHT, "Random Terrain") 155 | visToggleButton = Button(GREY, SCREEN_WIDTH/3, SCREEN_WIDTH + BUTTON_HEIGHT*2, SCREEN_WIDTH/3, BUTTON_HEIGHT, f"Visualise: {str(VISUALISE)}") 156 | 157 | pygame.display.set_caption("Pathfinder") 158 | 159 | # Loop until the user clicks the close Button. 160 | done = False 161 | 162 | # Used to manage how fast the screen updates 163 | clock = pygame.time.Clock() 164 | 165 | # -------- Main Program Loop ----------- 166 | while not done: 167 | # --- Main event loop 168 | for event in pygame.event.get(): 169 | if event.type == pygame.QUIT: 170 | done = True 171 | 172 | elif event.type == pygame.MOUSEBUTTONDOWN: 173 | pos = pygame.mouse.get_pos() 174 | 175 | # Find out which keys have been pressed 176 | pressed = pygame.key.get_pressed() 177 | 178 | # If click is inside grid 179 | if pos[1] <= SCREEN_WIDTH-1: 180 | 181 | # Change the x/y screen coordinates to grid coordinates 182 | column = pos[0] // (WIDTH + MARGIN) 183 | row = pos[1] // (HEIGHT + MARGIN) 184 | 185 | if (row,column) == START_POINT: 186 | drag_start_point = True 187 | elif (row,column) == END_POINT: 188 | drag_end_point = True 189 | else: 190 | cell_updated = grid[row][column] 191 | if pressed[pygame.K_LCTRL]: 192 | update_cell_to = 'mud' 193 | else: 194 | update_cell_to = 'wall' 195 | cell_updated.update(nodetype=update_cell_to) 196 | mouse_drag = True 197 | if algorithm_run and cell_updated.is_path == True: 198 | path_found = update_path() 199 | 200 | # Note to reader: 201 | # After having to create so many if statements for the different buttons 202 | # I have realised that a better way to handle this may be to create an 203 | # onClick method inside the button class, where treatment can be defined 204 | # when defining the button 205 | # TODO: try this out 206 | 207 | # When the Dijkstra Button is clicked 208 | elif dijkstraButton.isOver(pos): 209 | clear_visited() 210 | update_gui(draw_background=False, draw_buttons=False) 211 | if VISUALISE: 212 | pygame.display.flip() 213 | path_found = dijkstra(grid, START_POINT, END_POINT) 214 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 215 | algorithm_run = 'dijkstra' 216 | 217 | # When the DFS Button is clicked 218 | elif dfsButton.isOver(pos): 219 | clear_visited() 220 | update_gui(draw_background=False, draw_buttons=False) 221 | if VISUALISE: 222 | pygame.display.flip() 223 | path_found = xfs(grid, START_POINT, END_POINT, x='d') 224 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 225 | algorithm_run = 'dfs' 226 | 227 | # When the DFS Button is clicked 228 | elif bfsButton.isOver(pos): 229 | clear_visited() 230 | update_gui(draw_background=False, draw_buttons=False) 231 | if VISUALISE: 232 | pygame.display.flip() 233 | path_found = xfs(grid, START_POINT, END_POINT, x='b') 234 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 235 | algorithm_run = 'bfs' 236 | 237 | # When the A* Button is clicked 238 | elif astarButton.isOver(pos): 239 | clear_visited() 240 | update_gui(draw_background=False, draw_buttons=False) 241 | if VISUALISE: 242 | pygame.display.flip() 243 | path_found = dijkstra(grid, START_POINT, END_POINT, astar=True) 244 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 245 | algorithm_run = 'astar' 246 | 247 | # When the Reset Button is clicked 248 | elif resetButton.isOver(pos): 249 | path_found = False 250 | algorithm_run = False 251 | for row in range(ROWS): 252 | for column in range(ROWS): 253 | if (row,column) != START_POINT and (row,column) != END_POINT: 254 | grid[row][column].update(nodetype='blank', is_visited=False, is_path=False) 255 | 256 | # When the Prim Button is clicked 257 | elif mazeButton.isOver(pos): 258 | path_found = False 259 | algorithm_run = False 260 | for row in range(ROWS): 261 | for column in range(ROWS): 262 | if (row,column) != START_POINT and (row,column) != END_POINT: 263 | grid[row][column].update(nodetype='blank', is_visited=False, is_path=False) 264 | grid = better_prim() 265 | 266 | # When the Better Prim is clicked 267 | elif altPrimButton.isOver(pos): 268 | path_found = False 269 | algorithm_run = False 270 | for row in range(ROWS): 271 | for column in range(ROWS): 272 | if (row,column) != START_POINT and (row,column) != END_POINT: 273 | grid[row][column].update(nodetype='blank', is_visited=False, is_path=False) 274 | grid = prim() 275 | 276 | # When the Random Maze (recursive division) Button is clicked 277 | elif recursiveMazeButton.isOver(pos): 278 | path_found = False 279 | algorithm_run = False 280 | for row in range(ROWS): 281 | for column in range(ROWS): 282 | if (row,column) != START_POINT and (row,column) != END_POINT: 283 | grid[row][column].update(nodetype='blank', is_visited=False, is_path=False) 284 | draw_square(row,column) 285 | if VISUALISE: 286 | pygame.display.flip() 287 | recursive_division() 288 | 289 | # When the Random Terrain Button is clicked 290 | elif terrainButton.isOver(pos): 291 | path_found = False 292 | algorithm_run = False 293 | for row in range(ROWS): 294 | for column in range(ROWS): 295 | if (row,column) != START_POINT and (row,column) != END_POINT: 296 | grid[row][column].update(nodetype='blank', is_visited=False, is_path=False) 297 | update_gui(draw_background=False, draw_buttons=False) 298 | random_terrain() 299 | 300 | # When the Visualisation Toggle Button is clicked 301 | elif visToggleButton.isOver(pos): 302 | if VISUALISE: 303 | VISUALISE = False 304 | else: 305 | VISUALISE = True 306 | 307 | 308 | elif event.type == pygame.MOUSEBUTTONUP: 309 | # Turn off all mouse drags if mouse Button released 310 | mouse_drag = drag_end_point = drag_start_point = False 311 | 312 | elif event.type == pygame.MOUSEMOTION: 313 | 314 | # Boolean values saying whether left, middle and right mouse buttons are currently pressed 315 | left, middle, right = pygame.mouse.get_pressed() 316 | 317 | # Sometimes we get stuck in this loop if the mousebutton is released while not in the pygame screen 318 | # This acts to break out of that loop 319 | if not left: 320 | mouse_drag = drag_end_point = drag_start_point = False 321 | continue 322 | 323 | # User moves the mouse. Get the position 324 | pos = pygame.mouse.get_pos() 325 | 326 | # Change the x/y screen coordinates to grid coordinates 327 | column = pos[0] // (WIDTH + MARGIN) 328 | row = pos[1] // (HEIGHT + MARGIN) 329 | 330 | # Turn mouse_drag off if mouse goes outside of grid 331 | if pos[1] >= SCREEN_WIDTH-2 or pos[1] <= 2 or pos[0] >= SCREEN_WIDTH-2 or pos[0] <= 2: 332 | mouse_drag = False 333 | continue 334 | 335 | cell_updated = grid[row][column] 336 | 337 | # Add walls or sticky mud patches 338 | if mouse_drag == True: 339 | if (row,column) == START_POINT: 340 | pass 341 | elif (row,column) == END_POINT: 342 | pass 343 | else: 344 | if pressed[pygame.K_LCTRL]: 345 | update_cell_to = 'mud' 346 | else: 347 | update_cell_to = 'wall' 348 | cell_updated.update(nodetype=update_cell_to) 349 | 350 | mouse_drag = True 351 | 352 | if algorithm_run: 353 | if cell_updated.is_path == True: 354 | path_found = update_path() 355 | 356 | # Move the start point 357 | elif drag_start_point == True: 358 | if grid[row][column].nodetype == "blank": 359 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='blank', is_path=False, is_visited=False) 360 | START_POINT = (row,column) 361 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 362 | # If we have already run the algorithm, update it as the point is moved 363 | if algorithm_run: 364 | path_found = update_path() 365 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 366 | 367 | # Move the end point 368 | elif drag_end_point == True: 369 | if grid[row][column].nodetype == "blank": 370 | grid[END_POINT[0]][END_POINT[1]].update(nodetype='blank', is_path=False, is_visited=False) 371 | END_POINT = (row,column) 372 | grid[END_POINT[0]][END_POINT[1]].update(nodetype='end') 373 | # If we have already run the algorithm, update it as the point is moved 374 | if algorithm_run: 375 | path_found = update_path() 376 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 377 | 378 | pygame.display.flip() 379 | 380 | 381 | 382 | # Game logic 383 | 384 | ### UTILITY FUNCTIONS ### 385 | 386 | # Clear board, keeping excluded nodes 387 | def clear_visited(): 388 | excluded_nodetypes = ['start', 'end', 'wall', 'mud'] 389 | for row in range(ROWS): 390 | for column in range(ROWS): 391 | if grid[row][column].nodetype not in excluded_nodetypes: 392 | grid[row][column].update(nodetype="blank", is_visited=False, is_path=False) 393 | else: 394 | grid[row][column].update(is_visited=False, is_path=False) 395 | update_gui(draw_background=False, draw_buttons=False) 396 | 397 | def update_path(algorithm_run=algorithm_run): 398 | 399 | clear_visited() 400 | 401 | valid_algorithms = ['dijkstra', 'astar', 'dfs', 'bfs'] 402 | 403 | assert algorithm_run in valid_algorithms, f"last algorithm used ({algorithm_run}) is not in valid algorithms: {valid_algorithms}" 404 | 405 | if algorithm_run == 'dijkstra': 406 | path_found = dijkstra(grid, START_POINT, END_POINT, visualise=False) 407 | elif algorithm_run == 'astar': 408 | path_found = dijkstra(grid, START_POINT, END_POINT, visualise=False, astar=True) 409 | elif algorithm_run == 'dfs': 410 | path_found = xfs(grid, START_POINT, END_POINT, x='d', visualise=False) 411 | elif algorithm_run == 'bfs': 412 | path_found = xfs(grid, START_POINT, END_POINT, x='b', visualise=False) 413 | else: 414 | path_found = False 415 | return path_found 416 | 417 | def random_terrain(mazearray=grid, num_patches=False, visualise=VISUALISE): 418 | if not num_patches: 419 | num_patches = random.randrange(int(ROWS/10),int(ROWS/4)) 420 | 421 | terrain_nodes = set([]) 422 | 423 | if VISUALISE: 424 | pygame.display.flip() 425 | 426 | # For each patch we are creating we start with a centre node and branch outwards 427 | # getting neighbours of neighbours etc. for each node that we consider, there is 428 | # a variable probability of it becoming a patch of mud 429 | # As we branch outwards that probability decreases 430 | for patch in range(num_patches+1): 431 | neighbour_cycles = 0 432 | centre_point = (random.randrange(1,ROWS-1),random.randrange(1,ROWS-1)) 433 | patch_type = 'mud' 434 | terrain_nodes.add(centre_point) 435 | 436 | while len(terrain_nodes) > 0: 437 | node = terrain_nodes.pop() 438 | 439 | if grid[node[0]][node[1]].nodetype != 'start' and grid[node[0]][node[1]].nodetype != 'end': 440 | grid[node[0]][node[1]].update(nodetype=patch_type) 441 | draw_square(node[0],node[1]) 442 | 443 | if visualise: 444 | update_square(node[0],node[1]) 445 | time.sleep(0.000001) 446 | 447 | neighbour_cycles += 1 448 | 449 | for node, ntype in get_neighbours(node): 450 | 451 | if grid[node[0]][node[1]].nodetype == 'mud': 452 | continue 453 | threshold = 700-(neighbour_cycles*10) 454 | 455 | if random.randrange(1,101) <= threshold: 456 | terrain_nodes.add(node) 457 | 458 | # Function for moving an item between two dicts 459 | def dict_move(from_dict, to_dict, item): 460 | to_dict[item] = from_dict[item] 461 | from_dict.pop(item) 462 | return from_dict, to_dict 463 | 464 | # + represents non-diagonal neighbours, x diagonal neighbours 465 | def get_neighbours(node, max_width=ROWS-1, diagonals=DIAGONALS): 466 | if not diagonals: 467 | neighbours = ( 468 | ((min(max_width,node[0]+1),node[1]),"+"), 469 | ((max(0,node[0]-1),node[1]),"+"), 470 | ((node[0],min(max_width,node[1]+1)),"+"), 471 | ((node[0],max(0,node[1]-1)),"+") 472 | ) 473 | else: 474 | neighbours = ( 475 | ((min(max_width,node[0]+1),node[1]),"+"), 476 | ((max(0,node[0]-1),node[1]),"+"), 477 | ((node[0],min(max_width,node[1]+1)),"+"), 478 | ((node[0],max(0,node[1]-1)),"+"), 479 | ((min(max_width,node[0]+1),min(max_width,node[1]+1)),"x"), 480 | ((min(max_width,node[0]+1),max(0,node[1]-1)),"x"), 481 | ((max(0,node[0]-1),min(max_width,node[1]+1)),"x"), 482 | ((max(0,node[0]-1),max(0,node[1]-1)),"x") 483 | ) 484 | 485 | # return neighbours 486 | return (neighbour for neighbour in neighbours if neighbour[0] != node) 487 | 488 | # For Pygame: this draws a square in the given location (for when properties updated) 489 | def draw_square(row,column,grid=grid): 490 | pygame.draw.rect( 491 | screen, 492 | grid[row][column].color, 493 | [ 494 | (MARGIN + HEIGHT) * column + MARGIN, 495 | (MARGIN + HEIGHT) * row + MARGIN, 496 | WIDTH, 497 | HEIGHT 498 | ] 499 | ) 500 | pygame.event.pump() 501 | 502 | # For Pygame: this updates the screen for the given square 503 | # (as opposed to pygame.display.flip() which updates the entire screen) 504 | def update_square(row,column): 505 | pygame.display.update( 506 | (MARGIN + WIDTH) * column + MARGIN, 507 | (MARGIN + HEIGHT) * row + MARGIN, 508 | WIDTH, 509 | HEIGHT 510 | ) 511 | pygame.event.pump() 512 | 513 | ### MAZE CREATION ALGORITHMS ### 514 | 515 | # randomized Prim's algorithm for creating random mazes 516 | def prim(mazearray=False, start_point=False, visualise=VISUALISE): 517 | 518 | # If a maze isn't input, we just create a grid full of walls 519 | if not mazearray: 520 | mazearray = [] 521 | for row in range(ROWS): 522 | mazearray.append([]) 523 | for column in range(ROWS): 524 | mazearray[row].append(Node('wall')) 525 | if visualise: 526 | draw_square(row,column,grid=mazearray) 527 | 528 | n = len(mazearray) - 1 529 | 530 | if not start_point: 531 | start_point = (random.randrange(0,n,2),random.randrange(0,n,2)) 532 | # START_POINT = start_point 533 | # mazearray[start_point[0]][start_point[1]].update(nodetype='start') 534 | 535 | if visualise: 536 | draw_square(start_point[0], start_point[1], grid=mazearray) 537 | pygame.display.flip() 538 | 539 | walls = set([]) 540 | 541 | neighbours = get_neighbours(start_point, n) 542 | 543 | for neighbour, ntype in neighbours: 544 | if mazearray[neighbour[0]][neighbour[1]].nodetype == 'wall': 545 | walls.add(neighbour) 546 | # walls.append(neighbour) 547 | 548 | # While there are walls in the list: 549 | # Pick a random wall from the list. If only one of the cells that the wall divides is visited, then: 550 | # # Make the wall a passage and mark the unvisited cell as part of the maze. 551 | # # Add the neighboring walls of the cell to the wall list. 552 | # Remove the wall from the list. 553 | while len(walls) > 0: 554 | wall = random.choice(tuple(walls)) 555 | wall_neighbours = get_neighbours(wall, n) 556 | neighbouring_walls = set() 557 | pcount = 0 558 | for wall_neighbour, ntype in wall_neighbours: 559 | if wall_neighbour == (start_point or END_POINT): 560 | continue 561 | if mazearray[wall_neighbour[0]][wall_neighbour[1]].nodetype != 'wall': 562 | pcount += 1 563 | else: 564 | neighbouring_walls.add(wall_neighbour) 565 | 566 | if pcount <= 1: 567 | mazearray[wall[0]][wall[1]].update(nodetype='blank') 568 | if visualise: 569 | draw_square(wall[0],wall[1],mazearray) 570 | update_square(wall[0],wall[1]) 571 | time.sleep(0.000001) 572 | 573 | walls.update(neighbouring_walls) 574 | 575 | 576 | walls.remove(wall) 577 | 578 | mazearray[END_POINT[0]][END_POINT[1]].update(nodetype='end') 579 | mazearray[START_POINT[0]][START_POINT[1]].update(nodetype='start') 580 | 581 | return mazearray 582 | 583 | # randomized Prim's algorithm for creating random mazes 584 | # This version maintains the traditional "maze" look, where a route cannot 585 | # be diagonally connected to another point on the route 586 | def better_prim(mazearray=False, start_point=False, visualise=VISUALISE): 587 | 588 | # If a maze isn't input, we just create a grid full of walls 589 | if not mazearray: 590 | mazearray = [] 591 | for row in range(ROWS): 592 | mazearray.append([]) 593 | for column in range(ROWS): 594 | if row % 2 != 0 and column % 2 != 0: 595 | mazearray[row].append(Node('dormant')) 596 | else: 597 | mazearray[row].append(Node('wall')) 598 | if visualise: 599 | draw_square(row,column,grid=mazearray) 600 | 601 | n = len(mazearray) - 1 602 | 603 | if not start_point: 604 | start_point = (random.randrange(1,n,2),random.randrange(1,n,2)) 605 | mazearray[start_point[0]][start_point[1]].update(nodetype='blank') 606 | 607 | if visualise: 608 | draw_square(start_point[0], start_point[1], grid=mazearray) 609 | pygame.display.flip() 610 | 611 | walls = set() 612 | 613 | starting_walls = get_neighbours(start_point, n) 614 | 615 | for wall, ntype in starting_walls: 616 | if mazearray[wall[0]][wall[1]].nodetype == 'wall': 617 | walls.add(wall) 618 | 619 | # While there are walls in the list (set): 620 | # Pick a random wall from the list. If only one of the cells that the wall divides is visited, then: 621 | # # Make the wall a passage and mark the unvisited cell as part of the maze. 622 | # # Add the neighboring walls of the cell to the wall list. 623 | # Remove the wall from the list. 624 | while len(walls) > 0: 625 | wall = random.choice(tuple(walls)) 626 | visited = 0 627 | add_to_maze = [] 628 | 629 | for wall_neighbour, ntype in get_neighbours(wall,n): 630 | if mazearray[wall_neighbour[0]][wall_neighbour[1]].nodetype == 'blank': 631 | visited += 1 632 | 633 | if visited <= 1: 634 | mazearray[wall[0]][wall[1]].update(nodetype='blank') 635 | 636 | if visualise: 637 | draw_square(wall[0],wall[1],mazearray) 638 | update_square(wall[0],wall[1]) 639 | time.sleep(0.0001) 640 | 641 | # A 'dormant' node (below) is a different type of node I had to create for this algo 642 | # otherwise the maze generated doesn't look like a traditional maze. 643 | # Every dormant eventually becomes a blank node, while the regular walls 644 | # sometimes become a passage between blanks and are sometimes left as walls 645 | for neighbour, ntype in get_neighbours(wall,n): 646 | if mazearray[neighbour[0]][neighbour[1]].nodetype == 'dormant': 647 | add_to_maze.append((neighbour[0],neighbour[1])) 648 | 649 | if len(add_to_maze) > 0: 650 | cell = add_to_maze.pop() 651 | mazearray[cell[0]][cell[1]].update(nodetype='blank') 652 | 653 | if visualise: 654 | draw_square(cell[0],cell[1],mazearray) 655 | update_square(cell[0],cell[1]) 656 | time.sleep(0.0001) 657 | 658 | for cell_neighbour, ntype in get_neighbours(cell,n): 659 | if mazearray[cell_neighbour[0]][cell_neighbour[1]].nodetype == 'wall': 660 | walls.add(cell_neighbour) 661 | 662 | walls.remove(wall) 663 | 664 | mazearray[END_POINT[0]][END_POINT[1]].update(nodetype='end') 665 | mazearray[START_POINT[0]][START_POINT[1]].update(nodetype='start') 666 | 667 | return mazearray 668 | 669 | # This is for use in the recursive division function 670 | # it is to avoid creating a gap where there will ultimately be an intersection 671 | # of perpendicular walls, creating an unsolveable maze 672 | # TODO: generalise this 673 | def gaps_to_offset(): 674 | return [x for x in range(2, ROWS, 3)] 675 | 676 | # Recursive division algorithm 677 | def recursive_division(chamber=None, visualise=VISUALISE, gaps_to_offset=gaps_to_offset(), halving=True): 678 | 679 | sleep = 0.001 680 | sleep_walls = 0.001 681 | 682 | # When no "chamber" is input,we are starting with the base grid 683 | if chamber == None: 684 | chamber_width = len(grid) 685 | chamber_height = len(grid[1]) 686 | chamber_left = 0 687 | chamber_top = 0 688 | else: 689 | chamber_width = chamber[2] 690 | chamber_height = chamber[3] 691 | chamber_left = chamber[0] 692 | chamber_top = chamber[1] 693 | 694 | if halving: 695 | x_divide = int(chamber_width/2) 696 | y_divide = int(chamber_height/2) 697 | 698 | if chamber_width < 3: 699 | pass 700 | else: 701 | # draw x wall 702 | for y in range(chamber_height): 703 | grid[chamber_left + x_divide][chamber_top + y].update(nodetype='wall') 704 | draw_square(chamber_left + x_divide, chamber_top + y) 705 | if visualise: 706 | update_square(chamber_left + x_divide, chamber_top + y) 707 | time.sleep(sleep_walls) 708 | 709 | if chamber_height < 3: 710 | pass 711 | else: 712 | # draw y wall 713 | for x in range(chamber_width): 714 | grid[chamber_left + x][chamber_top + y_divide].update(nodetype='wall') 715 | draw_square(chamber_left + x, chamber_top + y_divide) 716 | if visualise: 717 | update_square(chamber_left + x, chamber_top + y_divide) 718 | time.sleep(sleep_walls) 719 | 720 | # Base case: stop dividing 721 | if chamber_width < 3 and chamber_height < 3: 722 | return 723 | 724 | # define the 4 new chambers (left, top, width, height) 725 | 726 | top_left = (chamber_left, chamber_top, x_divide, y_divide) 727 | top_right = (chamber_left + x_divide + 1, chamber_top, chamber_width - x_divide - 1, y_divide) 728 | bottom_left = (chamber_left, chamber_top + y_divide + 1, x_divide, chamber_height - y_divide - 1) 729 | bottom_right = (chamber_left + x_divide + 1, chamber_top + y_divide + 1, chamber_width - x_divide - 1, chamber_height - y_divide - 1) 730 | 731 | chambers = (top_left, top_right, bottom_left, bottom_right) 732 | 733 | # define the 4 walls (of a + symbol) (left, top, width, height) 734 | 735 | left = (chamber_left, chamber_top + y_divide, x_divide, 1) 736 | right = (chamber_left + x_divide + 1, chamber_top + y_divide, chamber_width - x_divide - 1, 1) 737 | top = (chamber_left + x_divide, chamber_top, 1, y_divide) 738 | bottom = (chamber_left + x_divide, chamber_top + y_divide + 1, 1, chamber_height - y_divide - 1) 739 | 740 | walls = (left, right, top, bottom) 741 | 742 | gaps = 3 743 | for wall in random.sample(walls, gaps): 744 | # print(wall) 745 | if wall[3] == 1: 746 | x = random.randrange(wall[0],wall[0]+wall[2]) 747 | y = wall[1] 748 | if x in gaps_to_offset and y in gaps_to_offset: 749 | if wall[2] == x_divide: 750 | x -= 1 751 | else: 752 | x += 1 753 | if x >= ROWS: 754 | x = ROWS -1 755 | else: # the wall is horizontal 756 | x = wall[0] 757 | y = random.randrange(wall[1],wall[1]+wall[3]) 758 | if y in gaps_to_offset and x in gaps_to_offset: 759 | if wall[3] == y_divide: 760 | y -=1 761 | else: 762 | y += 1 763 | if y >= ROWS: 764 | y = ROWS-1 765 | grid[x][y].update(nodetype="blank") 766 | draw_square(x, y) 767 | if visualise: 768 | update_square(x, y) 769 | time.sleep(sleep) 770 | 771 | # recursively apply the algorithm to all chambers 772 | for num, chamber in enumerate(chambers): 773 | recursive_division(chamber) 774 | 775 | ### PATHFINDING ALGORITHMS ### 776 | 777 | # Dijkstra's pathfinding algorithm, with the option to switch to A* by adding a heuristic of expected distance to end node 778 | def dijkstra(mazearray, start_point=(0,0), goal_node=False, display=pygame.display, visualise=VISUALISE, diagonals=DIAGONALS, astar=False): 779 | 780 | heuristic = 0 781 | distance = 0 782 | 783 | # Get the dimensions of the (square) maze 784 | n = len(mazearray) - 1 785 | 786 | # Create the various data structures with speed in mind 787 | visited_nodes = set() 788 | unvisited_nodes = set([(x,y) for x in range(n+1) for y in range(n+1)]) 789 | queue = AStarQueue() 790 | 791 | queue.push(distance+heuristic, distance, start_point) 792 | v_distances = {} 793 | 794 | # If a goal_node is not set, put it in the bottom right (1 square away from either edge) 795 | if not goal_node: 796 | goal_node = (n,n) 797 | priority, current_distance, current_node = queue.pop() 798 | start = time.perf_counter() 799 | 800 | # Main algorithm loop 801 | while current_node != goal_node and len(unvisited_nodes) > 0: 802 | if current_node in visited_nodes: 803 | if len(queue.show()) == 0: 804 | return False 805 | else: 806 | priority, current_distance, current_node = queue.pop() 807 | continue 808 | 809 | # Call to check neighbours of the current node 810 | for neighbour in get_neighbours(current_node, n, diagonals=diagonals): 811 | neighbours_loop( 812 | neighbour, 813 | mazearr=mazearray, 814 | visited_nodes=visited_nodes, 815 | unvisited_nodes=unvisited_nodes, 816 | queue=queue, 817 | v_distances=v_distances, 818 | current_node=current_node, 819 | current_distance=current_distance, 820 | astar=astar 821 | ) 822 | 823 | # When we have checked the current node, add and remove appropriately 824 | visited_nodes.add(current_node) 825 | unvisited_nodes.discard(current_node) 826 | 827 | # Add the distance to the visited distances dictionary (used for traceback) 828 | v_distances[current_node] = current_distance 829 | 830 | # Pygame part: visited nodes mark visited nodes as green 831 | if (current_node[0],current_node[1]) != start_point: 832 | mazearray[current_node[0]][current_node[1]].update(is_visited = True) 833 | draw_square(current_node[0],current_node[1],grid=mazearray) 834 | 835 | # If we want to visualise it (rather than run instantly) 836 | # then we update the grid with each loop 837 | if visualise: 838 | update_square(current_node[0],current_node[1]) 839 | time.sleep(0.000001) 840 | 841 | # If there are no nodes in the queue then we return False (no path) 842 | if len(queue.show()) == 0: 843 | return False 844 | # Otherwise we take the minimum distance as the new current node 845 | else: 846 | priority, current_distance, current_node = queue.pop() 847 | 848 | # TODO: update this line so it works properly 849 | v_distances[goal_node] = current_distance + (1 if not diagonals else 2**0.5) 850 | visited_nodes.add(goal_node) 851 | 852 | # Draw the path back from goal node to start node 853 | trace_back(goal_node, start_point, v_distances, visited_nodes, n, mazearray, diags=diagonals, visualise=visualise) 854 | 855 | end = time.perf_counter() 856 | num_visited = len(visited_nodes) 857 | time_taken = end-start 858 | 859 | # Print timings 860 | print(f"Program finished in {time_taken:.4f} seconds after checking {num_visited} nodes. That is {time_taken/num_visited:.8f} seconds per node.") 861 | 862 | # The commented out line returns the distance to the end node 863 | # return False if v_distances[goal_node] == float('inf') else v_distances[goal_node] 864 | return False if v_distances[goal_node] == float('inf') else True 865 | 866 | 867 | # (DIJKSTRA/A*) loop to check all neighbours of the "current node" 868 | def neighbours_loop(neighbour, mazearr, visited_nodes, unvisited_nodes, queue, v_distances, current_node, current_distance, diags=DIAGONALS, astar=False): 869 | 870 | neighbour, ntype = neighbour 871 | 872 | heuristic = 0 873 | 874 | if astar: 875 | heuristic += abs(END_POINT[0] - neighbour[0]) + abs(END_POINT[1] - neighbour[1]) 876 | heuristic *= 1 # if this goes above 1 then the shortest path is not guaranteed, but the attempted route becomes more direct 877 | 878 | # If the neighbour has already been visited 879 | if neighbour in visited_nodes: 880 | pass 881 | elif mazearr[neighbour[0]][neighbour[1]].nodetype == 'wall': 882 | visited_nodes.add(neighbour) 883 | unvisited_nodes.discard(neighbour) 884 | else: 885 | modifier = mazearr[neighbour[0]][neighbour[1]].distance_modifier 886 | if ntype == "+": 887 | queue.push(current_distance+(1*modifier)+heuristic, current_distance+(1*modifier), neighbour) 888 | elif ntype == "x": 889 | queue.push(current_distance+((2**0.5)*modifier)+heuristic, current_distance+((2**0.5)*modifier), neighbour) 890 | 891 | # (DIJKSTRA/A*) trace a path back from the end node to the start node after the algorithm has been run 892 | def trace_back(goal_node, start_node, v_distances, visited_nodes, n, mazearray, diags=False, visualise=VISUALISE): 893 | 894 | # begin the list of nodes which will represent the path back, starting with the end node 895 | path = [goal_node] 896 | 897 | current_node = goal_node 898 | 899 | # Set the loop in motion until we get back to the start 900 | while current_node != start_node: 901 | # Start an empty priority queue for the current node to check all neighbours 902 | neighbour_distances = PriorityQueue() 903 | 904 | neighbours = get_neighbours(current_node, n, diags) 905 | 906 | # Had some errors during testing, not sure if this is still necessary 907 | try: 908 | distance = v_distances[current_node] 909 | except Exception as e: 910 | print(e) 911 | 912 | # For each neighbour of the current node, add its location and distance 913 | # to a priority queue 914 | for neighbour, ntype in neighbours: 915 | if neighbour in v_distances: 916 | distance = v_distances[neighbour] 917 | neighbour_distances.push(distance, neighbour) 918 | 919 | # Pop the lowest value off; that is the next node in our path 920 | distance, smallest_neighbour = neighbour_distances.pop() 921 | mazearray[smallest_neighbour[0]][smallest_neighbour[1]].update(is_path=True) 922 | 923 | # Update pygame display 924 | draw_square(smallest_neighbour[0],smallest_neighbour[1],grid=mazearray) 925 | # update_square(smallest_neighbour[0],smallest_neighbour[1]) 926 | 927 | path.append(smallest_neighbour) 928 | current_node = smallest_neighbour 929 | 930 | pygame.display.flip() 931 | 932 | mazearray[start_node[0]][start_node[1]].update(is_path=True) 933 | 934 | 935 | def xfs(mazearray, start_point, goal_node, x, display=pygame.display, visualise=VISUALISE, diagonals=DIAGONALS): 936 | ''' 937 | This is a function where you choose x='b' or x='d' to run bfs (breadth-first search) or 938 | dfs (depth-first search) on your chosen mazearray (grid format), with chosen start_point (x,y) 939 | and chosen goal_node (x,y) 940 | ''' 941 | assert x == 'b' or x == 'd', "x should equal 'b' or 'd' to make this bfs or dfs" 942 | 943 | # Get the dimensions of the (square) maze 944 | n = len(mazearray) - 1 945 | 946 | # Create the various data structures with speed in mind 947 | mydeque = deque() 948 | mydeque.append(start_point) 949 | visited_nodes = set([]) 950 | path_dict = {start_point: None} 951 | 952 | # Main algorithm loop 953 | while len(mydeque) > 0: 954 | if x == 'd': 955 | current_node = mydeque.pop() 956 | elif x == 'b': 957 | current_node = mydeque.popleft() 958 | 959 | if current_node == goal_node: 960 | # Trace back to start using path_dict 961 | path_node = goal_node 962 | while True: 963 | path_node = path_dict[path_node] 964 | mazearray[path_node[0]][path_node[1]].update(is_path = True) 965 | draw_square(path_node[0],path_node[1],grid=mazearray) 966 | if visualise: 967 | update_square(path_node[0],path_node[1]) 968 | if path_node == start_point: 969 | return True 970 | 971 | if mazearray[current_node[0]][current_node[1]].nodetype == 'wall': 972 | continue 973 | 974 | if current_node not in visited_nodes: 975 | visited_nodes.add(current_node) 976 | mazearray[current_node[0]][current_node[1]].update(is_visited = True) 977 | draw_square(current_node[0],current_node[1],grid=mazearray) 978 | if visualise: 979 | update_square(current_node[0],current_node[1]) 980 | time.sleep(0.001) 981 | 982 | for neighbour, ntype in get_neighbours(current_node, n): 983 | mydeque.append(neighbour) 984 | # Used for tracing back 985 | if neighbour not in visited_nodes: 986 | path_dict[neighbour] = current_node 987 | 988 | pygame.display.flip() 989 | return False 990 | 991 | grid[START_POINT[0]][START_POINT[1]].update(nodetype='start') 992 | grid[END_POINT[0]][END_POINT[1]].update(nodetype='end') 993 | 994 | 995 | # Update the GUI 996 | def update_gui(draw_background=True, draw_buttons=True, draw_grid=True): 997 | 998 | if draw_background: 999 | # Draw a black background to set everything on 1000 | screen.fill(BLACK) 1001 | pass 1002 | 1003 | if draw_buttons: 1004 | visToggleButton = Button(GREY, SCREEN_WIDTH/3, SCREEN_WIDTH + BUTTON_HEIGHT*2, SCREEN_WIDTH/3, BUTTON_HEIGHT, f"Visualise: {str(VISUALISE)}") 1005 | # Draw Button below grid 1006 | dijkstraButton.draw(screen, (0,0,0)) 1007 | dfsButton.draw(screen, (0,0,0)) 1008 | bfsButton.draw(screen, (0,0,0)) 1009 | astarButton.draw(screen, (0,0,0)) 1010 | resetButton.draw(screen, (0,0,0)) 1011 | mazeButton.draw(screen, (0,0,0)) 1012 | altPrimButton.draw(screen, (0,0,0)) 1013 | recursiveMazeButton.draw(screen, (0,0,0)) 1014 | terrainButton.draw(screen, (0,0,0)) 1015 | visToggleButton.draw(screen, (0,0,0)) 1016 | 1017 | if draw_grid: 1018 | # Draw the grid 1019 | for row in range(ROWS): 1020 | for column in range(ROWS): 1021 | color = grid[row][column].color 1022 | draw_square(row,column) 1023 | 1024 | # --- Drawing code should go here 1025 | update_gui() 1026 | 1027 | # --- Go ahead and update the screen with what we've drawn. 1028 | pygame.display.flip() 1029 | 1030 | # --- Limit to 60 frames per second 1031 | clock.tick(60) 1032 | 1033 | # Close the window and quit. 1034 | pygame.quit() 1035 | -------------------------------------------------------------------------------- /priority_queue.py: -------------------------------------------------------------------------------- 1 | import heapq 2 | 3 | class AStarQueue(object): 4 | def __init__(self): 5 | self.myheap = [] 6 | 7 | def show(self): 8 | return self.myheap 9 | 10 | def push(self, priority, distance, node): 11 | heapq.heappush(self.myheap, (priority, distance, node)) 12 | 13 | def pop(self): 14 | priority, distance, node = heapq.heappop(self.myheap) 15 | return priority, distance, node 16 | 17 | 18 | # Create a priority queue 19 | class PriorityQueue(object): 20 | def __init__(self): 21 | self.myheap = [] 22 | 23 | def show(self): 24 | return self.myheap 25 | 26 | def push(self, priority, node): 27 | heapq.heappush(self.myheap, (priority, node)) 28 | 29 | def pop(self): 30 | priority, node = heapq.heappop(self.myheap) 31 | return priority, node 32 | 33 | 34 | # Create a priority queue that doesn't add duplicate nodes 35 | class PrioritySet(object): 36 | def __init__(self): 37 | self.myheap = [] 38 | self.myset = set() 39 | 40 | def show(self): 41 | return self.myheap 42 | 43 | def push(self, priority, node): 44 | if not node in self.myset: 45 | heapq.heappush(self.myheap, (priority, node)) 46 | self.myset.add(node) 47 | 48 | def pop(self): 49 | priority, node = heapq.heappop(self.myheap) 50 | self.myset.remove(node) 51 | return priority, node -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | pygame==1.9.6 --------------------------------------------------------------------------------