├── .gitignore ├── README.md ├── package-lock.json ├── package.json ├── public ├── algorithms │ ├── aStar.js │ └── dijkstra.js ├── assets │ ├── agua.png │ ├── caminho.png │ ├── end.svg │ ├── grama.png │ ├── run.svg │ └── start.svg └── home │ ├── index.html │ ├── script.js │ └── style.css └── server └── server.js /.gitignore: -------------------------------------------------------------------------------- 1 | # Logs 2 | logs 3 | *.log 4 | npm-debug.log* 5 | yarn-debug.log* 6 | yarn-error.log* 7 | lerna-debug.log* 8 | 9 | # Diagnostic reports (https://nodejs.org/api/report.html) 10 | report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json 11 | 12 | # Runtime data 13 | pids 14 | *.pid 15 | *.seed 16 | *.pid.lock 17 | 18 | # Directory for instrumented libs generated by jscoverage/JSCover 19 | lib-cov 20 | 21 | # Coverage directory used by tools like istanbul 22 | coverage 23 | *.lcov 24 | 25 | # nyc test coverage 26 | .nyc_output 27 | 28 | # Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files) 29 | .grunt 30 | 31 | # Bower dependency directory (https://bower.io/) 32 | bower_components 33 | 34 | # node-waf configuration 35 | .lock-wscript 36 | 37 | # Compiled binary addons (https://nodejs.org/api/addons.html) 38 | build/Release 39 | 40 | # Dependency directories 41 | node_modules/ 42 | jspm_packages/ 43 | 44 | # TypeScript v1 declaration files 45 | typings/ 46 | 47 | # TypeScript cache 48 | *.tsbuildinfo 49 | 50 | # Optional npm cache directory 51 | .npm 52 | 53 | # Optional eslint cache 54 | .eslintcache 55 | 56 | # Microbundle cache 57 | .rpt2_cache/ 58 | .rts2_cache_cjs/ 59 | .rts2_cache_es/ 60 | .rts2_cache_umd/ 61 | 62 | # Optional REPL history 63 | .node_repl_history 64 | 65 | # Output of 'npm pack' 66 | *.tgz 67 | 68 | # Yarn Integrity file 69 | .yarn-integrity 70 | 71 | # dotenv environment variables file 72 | .env 73 | .env.test 74 | 75 | # parcel-bundler cache (https://parceljs.org/) 76 | .cache 77 | 78 | # Next.js build output 79 | .next 80 | 81 | # Nuxt.js build / generate output 82 | .nuxt 83 | dist 84 | 85 | # Gatsby files 86 | .cache/ 87 | # Comment in the public line in if your project uses Gatsby and *not* Next.js 88 | # https://nextjs.org/blog/next-9-1#public-directory-support 89 | # public 90 | 91 | # vuepress build output 92 | .vuepress/dist 93 | 94 | # Serverless directories 95 | .serverless/ 96 | 97 | # FuseBox cache 98 | .fusebox/ 99 | 100 | # DynamoDB Local files 101 | .dynamodb/ 102 | 103 | # TernJS port file 104 | .tern-port 105 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | #Pathfinding Visualization 2 | 3 | You can check the result at: https://jpfusco.github.io/pathfinding-algorithm/public/home/index.html -------------------------------------------------------------------------------- /package-lock.json: 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"sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==" 1226 | } 1227 | } 1228 | } 1229 | -------------------------------------------------------------------------------- /package.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "pathfinding-algorithm", 3 | "version": "1.0.0", 4 | "description": "", 5 | "main": "index.js", 6 | "scripts": { 7 | "test": "echo \"Error: no test specified\" && exit 1" 8 | }, 9 | "keywords": [], 10 | "author": "", 11 | "license": "ISC", 12 | "dependencies": { 13 | "express": "^4.17.1", 14 | "nodemon": "^2.0.13" 15 | } 16 | } 17 | -------------------------------------------------------------------------------- /public/algorithms/aStar.js: -------------------------------------------------------------------------------- 1 | import { findNodeIndex, updateNodesByDistance, getClosestNode, getUnvisitedNeighborNodes, DISTANCE_BETWEEN_NODES } from "./dijkstra.js"; 2 | 3 | export function aStar(startNode, endNode, backGrid) { 4 | const transversedPath = []; 5 | const grid = backGrid; 6 | const startingNode = grid[findNodeIndex(startNode)]; 7 | startingNode.distance = 0 + manhattanDistance(startNode, endNode); 8 | 9 | const endingNode = grid[findNodeIndex(endNode)]; 10 | while (grid.length > 0) { 11 | const nodesByDistance = updateNodesByDistance(grid); 12 | const closestNode = getClosestNode(nodesByDistance); 13 | transversedPath.push(closestNode); 14 | closestNode.isVisited = true; 15 | if (closestNode.distance === Infinity) { 16 | return transversedPath; 17 | } 18 | if (closestNode === endingNode) { 19 | return transversedPath; 20 | } 21 | const unvisitedNeighborNodes = getUnvisitedNeighborNodes(closestNode, grid); 22 | for (const unvisitedNode of unvisitedNeighborNodes) { 23 | if (unvisitedNode.isWall) continue; 24 | unvisitedNode.distance = distanceFromStartNode(closestNode, endNode) + DISTANCE_BETWEEN_NODES + manhattanDistance(unvisitedNode, endNode); 25 | unvisitedNode.previousNode = closestNode; 26 | } 27 | } 28 | } 29 | 30 | function distanceFromStartNode(node, endNode) { 31 | return node.distance - manhattanDistance(node, endNode); 32 | } 33 | 34 | function manhattanDistance(node, endNode) { 35 | return Math.abs(node.row - endNode.row) + Math.abs(node.column - endNode.column); 36 | } -------------------------------------------------------------------------------- /public/algorithms/dijkstra.js: -------------------------------------------------------------------------------- 1 | import { NUMBER_OF_COLS } from "../home/script.js"; 2 | 3 | export const DISTANCE_BETWEEN_NODES = 1; 4 | 5 | export function findNodeIndex(node) { 6 | return node.row * NUMBER_OF_COLS + node.column 7 | } 8 | 9 | export function dijkstra(startNode, endNode, backGrid) { 10 | const transversedPath = []; 11 | const grid = backGrid; 12 | const startingNode = grid[findNodeIndex(startNode)]; 13 | startingNode.distance = 0; 14 | 15 | const endingNode = grid[findNodeIndex(endNode)]; 16 | while (grid.length > 0) { 17 | const nodesByDistance = updateNodesByDistance(grid); 18 | const closestNode = getClosestNode(nodesByDistance); 19 | transversedPath.push(closestNode); 20 | closestNode.isVisited = true; 21 | if (closestNode.distance === Infinity) { 22 | return transversedPath; 23 | } 24 | if (closestNode === endingNode) { 25 | return transversedPath; 26 | } 27 | const unvisitedNeighborNodes = getUnvisitedNeighborNodes(closestNode, grid); 28 | for (const unvisitedNode of unvisitedNeighborNodes) { 29 | if (unvisitedNode.isWall) continue; 30 | unvisitedNode.distance = closestNode.distance + DISTANCE_BETWEEN_NODES; 31 | unvisitedNode.previousNode = closestNode; 32 | } 33 | } 34 | } 35 | 36 | export function updateNodesByDistance(grid) { 37 | return grid.sort((a, b) => a.distance - b.distance); 38 | } 39 | 40 | export function getClosestNode(nodesByDistance) { 41 | return nodesByDistance.shift(); 42 | } 43 | 44 | export function getUnvisitedNeighborNodes(closestNode, grid) { 45 | const neighborNodes = []; 46 | const nodeAbove = grid.find(node => node.row === closestNode.row - 1 && node.column === closestNode.column); 47 | const nodeRight = grid.find(node => node.row === closestNode.row && node.column === closestNode.column + 1); 48 | const nodeBelow = grid.find(node => node.row === closestNode.row + 1 && node.column === closestNode.column); 49 | const nodeLeft = grid.find(node => node.row === closestNode.row && node.column === closestNode.column - 1); 50 | if (nodeAbove) neighborNodes.push(nodeAbove); //Up 51 | if (nodeRight) neighborNodes.push(nodeRight); //Right 52 | if (nodeBelow) neighborNodes.push(nodeBelow); //Down 53 | if (nodeLeft) neighborNodes.push(nodeLeft); //Left 54 | return neighborNodes.filter(node => !node.isVisited); //Return only the unvisited neighbors 55 | } -------------------------------------------------------------------------------- /public/assets/agua.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JPFusco/pathfinding-algorithm/06d7477cd96122cf072307478798c1735bf74ba7/public/assets/agua.png -------------------------------------------------------------------------------- /public/assets/caminho.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JPFusco/pathfinding-algorithm/06d7477cd96122cf072307478798c1735bf74ba7/public/assets/caminho.png -------------------------------------------------------------------------------- /public/assets/end.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | -------------------------------------------------------------------------------- /public/assets/grama.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JPFusco/pathfinding-algorithm/06d7477cd96122cf072307478798c1735bf74ba7/public/assets/grama.png -------------------------------------------------------------------------------- /public/assets/run.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /public/assets/start.svg: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | -------------------------------------------------------------------------------- /public/home/index.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | Pathfinding Visualization 14 | 15 | 16 | 17 |

Pathfinding Visualization

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45 | 46 | 47 | -------------------------------------------------------------------------------- /public/home/script.js: -------------------------------------------------------------------------------- 1 | import { dijkstra, findNodeIndex } from "../algorithms/dijkstra.js"; 2 | import { aStar } from "../algorithms/aStar.js"; 3 | 4 | export const NUMBER_OF_ROWS = 15; 5 | export const NUMBER_OF_COLS = 50; 6 | 7 | const grid = document.querySelector(".grid"); 8 | let nodes = []; 9 | populateFrontGrid(); 10 | nodes[360].classList.add("start-node"); 11 | nodes[389].classList.add("end-node"); 12 | // click and drag to add walls functionality 13 | let mouseIsDown = false; 14 | let draggingEndNode = false; 15 | let draggingStartNode = false; 16 | let canIDraw = true; 17 | let isSolving = false; 18 | nodes.forEach(node => { 19 | node.addEventListener("mousedown", (event) => { 20 | event.preventDefault(); 21 | if (!canIDraw) { 22 | return; 23 | } 24 | mouseIsDown = true; 25 | if (event.target.classList.contains('start-node')) { 26 | //change start node 27 | event.target.classList.remove("start-node"); 28 | draggingStartNode = true; 29 | } else if (event.target.classList.contains('end-node')) { 30 | //change end node 31 | event.target.classList.remove("end-node"); 32 | draggingEndNode = true; 33 | } else { 34 | turnNodeIntoWall(event); 35 | } 36 | }); 37 | node.addEventListener("mouseenter", (event) => { 38 | if (!mouseIsDown || draggingStartNode || draggingEndNode) return; 39 | turnNodeIntoWall(event); 40 | }); 41 | node.addEventListener("mouseup", event => { 42 | if (draggingStartNode) { 43 | event.target.classList.add("start-node"); 44 | draggingStartNode = false; 45 | } else if (draggingEndNode) { 46 | event.target.classList.add("end-node"); 47 | draggingEndNode = false; 48 | } 49 | }) 50 | }) 51 | 52 | window.addEventListener("mouseup", () => { 53 | mouseIsDown = false; 54 | if (draggingStartNode) { 55 | nodes[360].classList.add("start-node"); 56 | draggingStartNode = false; 57 | } 58 | else if (draggingEndNode) { 59 | nodes[389].classList.add("end-node"); 60 | draggingEndNode = false; 61 | } 62 | }) 63 | 64 | function turnNodeIntoWall(event) { 65 | if (event.target.classList.contains("start-node") || event.target.classList.contains("end-node")) { 66 | return; 67 | } 68 | event.target.classList.toggle("wall-node"); 69 | } 70 | 71 | function populateFrontGrid() { 72 | for (let i = 0; i < NUMBER_OF_COLS * NUMBER_OF_ROWS; i++) { 73 | const node = document.createElement("div"); 74 | grid.appendChild(node); 75 | } 76 | nodes = document.querySelectorAll(".grid div"); 77 | let idDiv = 0; 78 | nodes.forEach((node) => { 79 | node.classList.add("node"); 80 | node.setAttribute("id", `node${idDiv}`) 81 | idDiv++; 82 | }) 83 | } 84 | 85 | function setStartNode() { 86 | return findNodeCoords(Array.from(nodes).findIndex(node => node.classList.contains("start-node"))); 87 | } 88 | 89 | export function findNodeCoords(nodeId) { 90 | const row = Math.floor(nodeId / NUMBER_OF_COLS); 91 | const column = nodeId - row * NUMBER_OF_COLS; 92 | return { row, column } 93 | } 94 | 95 | function setEndNode() { 96 | return findNodeCoords(Array.from(nodes).findIndex(node => node.classList.contains("end-node"))); 97 | } 98 | 99 | let algorithmToRun; 100 | const selectAlgorithm = document.querySelector("select"); 101 | selectAlgorithm.addEventListener("change", () => { 102 | if (selectAlgorithm.value === "dijkstra") { 103 | algorithmToRun = "dijkstra"; 104 | } else if (selectAlgorithm.value === "aStar") { 105 | algorithmToRun = "a*"; 106 | } 107 | }); 108 | const startButton = document.querySelector(".button-start"); 109 | startButton.addEventListener("click", () => { 110 | if (!algorithmToRun || !canIDraw) { 111 | return; 112 | } 113 | runPathFindingAlgorithm(algorithmToRun); 114 | }); 115 | 116 | function createGrid() { 117 | const newGrid = []; 118 | 119 | for (let i = 0; i < NUMBER_OF_ROWS; i++) { 120 | for (let j = 0; j < NUMBER_OF_COLS; j++) { 121 | newGrid.push(createNode(i, j)); 122 | } 123 | } 124 | return newGrid; 125 | } 126 | 127 | function createNode(nodeRow, nodeColumn) { 128 | if (nodes[findIndexFromCoords(nodeRow, nodeColumn)].classList.contains("wall-node")) { 129 | return { 130 | row: nodeRow, 131 | column: nodeColumn, 132 | distance: Infinity, 133 | isVisited: false, 134 | isWall: true, 135 | previousNode: null 136 | } 137 | } else { 138 | return { 139 | row: nodeRow, 140 | column: nodeColumn, 141 | distance: Infinity, 142 | isVisited: false, 143 | isWall: false, 144 | previousNode: null 145 | } 146 | } 147 | 148 | }; 149 | 150 | function findIndexFromCoords(row, column) { 151 | return row * NUMBER_OF_COLS + column 152 | } 153 | 154 | function runPathFindingAlgorithm(algorithm) { 155 | if (isSolving) { 156 | return; 157 | } 158 | canIDraw = false; 159 | isSolving = true; 160 | const backGrid = createGrid(); 161 | let animatedPath = []; 162 | if (algorithm === "dijkstra") { 163 | animatedPath = dijkstra(setStartNode(), setEndNode(), backGrid); 164 | } else if (algorithm === "a*") { 165 | animatedPath = aStar(setStartNode(), setEndNode(), backGrid); 166 | } 167 | 168 | let i = 0; 169 | const intervalId1 = setInterval(() => { 170 | nodes[findNodeIndex(animatedPath[i])].classList.add("searched-node"); 171 | i++; 172 | if (i === animatedPath.length - 1) { 173 | clearInterval(intervalId1); 174 | let previousNode = animatedPath[i]; 175 | let nodeToPaint = nodes[findNodeIndex(previousNode)]; 176 | if (previousNode.distance === Infinity) { 177 | isSolving = false; 178 | window.alert("There is no valid path!") 179 | } else { 180 | const intervalId2 = setInterval(() => { 181 | nodeToPaint.classList.add("shortest-path-node"); 182 | previousNode = previousNode.previousNode; 183 | nodeToPaint = nodes[findNodeIndex(previousNode)]; 184 | if (previousNode.previousNode === null) { 185 | isSolving = false; 186 | clearInterval(intervalId2); 187 | } 188 | }, 30); 189 | } 190 | } 191 | }, 10); 192 | } 193 | 194 | const clearPath = document.querySelector(".button-clear-path"); 195 | clearPath.addEventListener("click", clearPaths); 196 | function clearPaths() { 197 | if (isSolving) { 198 | return; 199 | } 200 | nodes.forEach(node => { 201 | if (node.classList.contains("searched-node") || node.classList.contains("shortest-path-node")) { 202 | node.classList.remove("searched-node"); 203 | node.classList.remove("shortest-path-node"); 204 | } 205 | }); 206 | canIDraw = true; 207 | }; 208 | 209 | const clearWalls = document.querySelector(".button-clear-walls"); 210 | clearWalls.addEventListener("click", clearWall); 211 | function clearWall() { 212 | if (isSolving) { 213 | return; 214 | } 215 | nodes.forEach(node => { 216 | node.classList.remove("wall-node"); 217 | }); 218 | }; 219 | 220 | const clearAll = document.querySelector(".button-clear-all"); 221 | clearAll.addEventListener("click", () => { 222 | clearPaths(); 223 | clearWall(); 224 | }) -------------------------------------------------------------------------------- /public/home/style.css: -------------------------------------------------------------------------------- 1 | * { 2 | margin: 0; 3 | padding: 0; 4 | box-sizing: border-box; 5 | } 6 | 7 | body { 8 | padding: 0 50px; 9 | 10 | font-family: 'PT Sans', sans-serif; 11 | font-style: normal; 12 | 13 | color: #283544; 14 | } 15 | 16 | h1 { 17 | text-align: center; 18 | font-weight: bold; 19 | font-size: 32px; 20 | line-height: 41px; 21 | 22 | margin: 30px 0; 23 | } 24 | 25 | label, select { 26 | font-size: 16px; 27 | line-height: 32px; 28 | } 29 | 30 | .tools { 31 | display: flex; 32 | justify-content: space-between; 33 | 34 | margin-bottom: 40px; 35 | } 36 | 37 | .tools-right button { 38 | margin-left: 5px; 39 | } 40 | 41 | .tools-left label, select, button { 42 | margin-right: 10px; 43 | } 44 | 45 | .tools-left { 46 | display: flex; 47 | align-items: center; 48 | } 49 | 50 | .button { 51 | all: unset; 52 | 53 | font-size: 16px; 54 | line-height: 32px; 55 | padding: 3px 20px; 56 | 57 | border: 1px solid #647492; 58 | border-radius: 8px; 59 | 60 | color: #647492; 61 | } 62 | 63 | .button:hover { 64 | transition: 0.5s; 65 | background: #647492ad; 66 | color: #FFFFFF; 67 | } 68 | 69 | .button-start { 70 | display: flex; 71 | justify-content: center; 72 | align-items: center; 73 | 74 | background: #647492; 75 | color: #FFFFFF; 76 | } 77 | 78 | .button-start:hover { 79 | background: #45536d; 80 | } 81 | 82 | .button-start img { 83 | margin-right: 10px; 84 | } 85 | 86 | label { 87 | color: #535353; 88 | } 89 | 90 | .select { 91 | border: 1px solid #CBCBCB; 92 | border-radius: 8px; 93 | 94 | padding: 9px 20px; 95 | } 96 | 97 | .container { 98 | display: flex; 99 | justify-content: center; 100 | align-items: center; 101 | } 102 | 103 | .grid { 104 | width: 100%; 105 | height: auto; 106 | 107 | display: flex; 108 | flex-wrap: wrap; 109 | } 110 | 111 | .node { 112 | position: relative; 113 | width: calc(100% / 50); 114 | height: 0; 115 | padding-bottom: 2%; 116 | /* outline: 0.5px solid black; */ 117 | background-image: url("../assets/grama.png"); 118 | background-size: contain; 119 | } 120 | 121 | .searched-node { 122 | background: #58a317; 123 | } 124 | 125 | .shortest-path-node { 126 | background-image: url("../assets/caminho.png"); 127 | background-size: contain; 128 | } 129 | 130 | .start-node { 131 | background-image: url("../assets/start.svg"); 132 | background-size: contain; 133 | } 134 | 135 | .end-node { 136 | background-image: url("../assets/end.svg"); 137 | background-size: contain; 138 | } 139 | 140 | .wall-node { 141 | background-image: url("../assets/agua.png"); 142 | background-size: contain; 143 | } 144 | -------------------------------------------------------------------------------- /server/server.js: -------------------------------------------------------------------------------- 1 | const express = require("express"); 2 | const app = express(); 3 | app.use(express.static("../public/")); 4 | 5 | 6 | app.get("/", (req, res) => { 7 | res.sendFile("home/index.html", { root: "../public/" }); 8 | }) 9 | 10 | app.listen(8000); --------------------------------------------------------------------------------