function thetastarPathfind(grid, start, end, allowDiag, hFn) {
const h = hFn || HEURISTICS.octile;
const rows = grid.length;
const cols = grid[0].length;
const gScore = Matrix(rows, cols, Infinity);
const parent = new Map();
const open = PriorityQueue("f");
function lineOfSight(p1, p2) {
let __pattern1 = p1;
let r0 = __pattern1[0];
let c0 = __pattern1[1];
const __pattern2 = p2;
const r1Start = __pattern2[0];
const c1Start = __pattern2[1];
let r1 = r1Start;
let c1 = c1Start;
const dr = Math.abs(r1 - r0);
const dc = Math.abs(c1 - c0);
const sr = r0 < r1 ? 1 : -1;
const sc = c0 < c1 ? 1 : -1;
let err = dc - dr;
while (true) {
if (grid[r0][c0] === WALL) return false;
if (r0 === r1 && c0 === c1) break;
const e2 = err * 2;
if (e2 > -dr) {
err -= dr;
c0 += sc;
}
if (e2 < dc) {
err += dc;
r0 += sr;
}
}
return true;
}
gScore[start[0]][start[1]] = 0;
parent.set(key(start[0], start[1]), start);
priorityQueuePush(open, {
f: h(start[0], start[1], end[0], end[1]),
r: start[0],
c: start[1]
});
while (priorityQueueSize(open)) {
const __pattern3 = priorityQueuePop(open);
const r = __pattern3.r;
const c = __pattern3.c;
visitNode(r, c);
if (r === end[0] && c === end[1]) {
reconstructPath(parent, start, end);
return;
}
for (const [nr, nc] of getNeighbors(grid, r, c, allowDiag)) {
const parentKey = parent.get(key(r, c));
const anchor = parentKey || [r, c];
const canSee = lineOfSight(anchor, [nr, nc]);
const tentative = gScore[anchor[0]][anchor[1]] + Math.hypot(nr - anchor[0], nc - anchor[1]);
if (canSee && tentative < gScore[nr][nc]) {
gScore[nr][nc] = tentative;
parent.set(key(nr, nc), anchor);
priorityQueuePush(open, {
f: tentative + h(nr, nc, end[0], end[1]),
r: nr,
c: nc
});
pushFrontier(nr, nc);
} else {
const alt = gScore[r][c] + stepCost(grid, r, c, nr, nc);
if (alt < gScore[nr][nc]) {
gScore[nr][nc] = alt;
parent.set(key(nr, nc), [r, c]);
priorityQueuePush(open, {
f: alt + h(nr, nc, end[0], end[1]),
r: nr,
c: nc
});
pushFrontier(nr, nc);
}
}
}
}
reportNoPath();
} def thetastarPathfind(grid, start, end, allowDiag, hFn):
h = (hFn or HEURISTICS.octile)
rows = grid.length
cols = grid[0].length
gScore = Matrix(rows, cols, Infinity)
parent = Map()
open = PriorityQueue("f")
def lineOfSight(p1, p2):
__pattern1 = p1
r0 = __pattern1[0]
c0 = __pattern1[1]
__pattern2 = p2
r1Start = __pattern2[0]
c1Start = __pattern2[1]
r1 = r1Start
c1 = c1Start
dr = abs((r1 - r0))
dc = abs((c1 - c0))
sr = (1 if (r0 < r1) else -1)
sc = (1 if (c0 < c1) else -1)
err = (dc - dr)
while True:
if (grid[r0][c0] == WALL):
return False
if ((r0 == r1) and (c0 == c1)):
break
e2 = (err * 2)
if (e2 > -dr):
err -= dr
c0 += sc
if (e2 < dc):
err += dc
r0 += sr
return True
gScore[start[0]][start[1]] = 0
parent.set(key(start[0], start[1]), start)
priorityQueuePush(open, {f: h(start[0], start[1], end[0], end[1]), r: start[0], c: start[1]})
while priorityQueueSize(open):
__pattern3 = priorityQueuePop(open)
r = __pattern3.r
c = __pattern3.c
visitNode(r, c)
if ((r == end[0]) and (c == end[1])):
reconstructPath(parent, start, end)
return
for nr, nc in getNeighbors(grid, r, c, allowDiag):
parentKey = parent.get(key(r, c))
anchor = (parentKey or [r, c])
canSee = lineOfSight(anchor, [nr, nc])
tentative = (gScore[anchor[0]][anchor[1]] + hypot((nr - anchor[0]), (nc - anchor[1])))
if (canSee and (tentative < gScore[nr][nc])):
gScore[nr][nc] = tentative
parent.set(key(nr, nc), anchor)
priorityQueuePush(open, {f: (tentative + h(nr, nc, end[0], end[1])), r: nr, c: nc})
pushFrontier(nr, nc)
else:
alt = (gScore[r][c] + stepCost(grid, r, c, nr, nc))
if (alt < gScore[nr][nc]):
gScore[nr][nc] = alt
parent.set(key(nr, nc), [r, c])
priorityQueuePush(open, {f: (alt + h(nr, nc, end[0], end[1])), r: nr, c: nc})
pushFrontier(nr, nc)
reportNoPath() #include <vector>
#include <algorithm>
void thetastarPathfind(int grid, int start, int end, int allowDiag, int hFn) {
auto h = (hFn || HEURISTICS.octile);
auto rows = grid.length;
auto cols = grid[0].length;
auto gScore = Matrix(rows, cols, Infinity);
auto parent = Map();
auto open = PriorityQueue("f");
int lineOfSight(int p1, int p2) {
auto __pattern1 = p1;
auto r0 = __pattern1[0];
auto c0 = __pattern1[1];
auto __pattern2 = p2;
auto r1Start = __pattern2[0];
auto c1Start = __pattern2[1];
auto r1 = r1Start;
auto c1 = c1Start;
auto dr = (((r1 - r0)) < 0 ? -((r1 - r0)) : ((r1 - r0)));
auto dc = (((c1 - c0)) < 0 ? -((c1 - c0)) : ((c1 - c0)));
auto sr = (((r0 < r1)) ? (1) : (-1));
auto sc = (((c0 < c1)) ? (1) : (-1));
auto err = (dc - dr);
while(true) {
if((grid[r0][c0] == WALL)) {
return false;
}
if(((r0 == r1) && (c0 == c1))) {
break;
}
auto e2 = (err * 2);
if((e2 > -dr)) {
err -= dr;
c0 += sc;
}
if((e2 < dc)) {
err += dc;
r0 += sr;
}
}
return true;
}
gScore[start[0]][start[1]] = 0;
parent.set(key(start[0], start[1]), start);
priorityQueuePush(open, {f: h(start[0], start[1], end[0], end[1]), r: start[0], c: start[1]});
while(priorityQueueSize(open)) {
auto __pattern3 = priorityQueuePop(open);
auto r = __pattern3.r;
auto c = __pattern3.c;
visitNode(r, c);
if(((r == end[0]) && (c == end[1]))) {
reconstructPath(parent, start, end);
return;
}
for(auto& [nr, nc] : getNeighbors(grid, r, c, allowDiag)) {
auto parentKey = parent.get(key(r, c));
auto anchor = (parentKey || [r, c]);
auto canSee = lineOfSight(anchor, [nr, nc]);
auto tentative = (gScore[anchor[0]][anchor[1]] + std::hypot((nr - anchor[0]), (nc - anchor[1])));
if((canSee && (tentative < gScore[nr][nc]))) {
gScore[nr][nc] = tentative;
parent.set(key(nr, nc), anchor);
priorityQueuePush(open, {f: (tentative + h(nr, nc, end[0], end[1])), r: nr, c: nc});
pushFrontier(nr, nc);
} else {
auto alt = (gScore[r][c] + stepCost(grid, r, c, nr, nc));
if((alt < gScore[nr][nc])) {
gScore[nr][nc] = alt;
parent.set(key(nr, nc), [r, c]);
priorityQueuePush(open, {f: (alt + h(nr, nc, end[0], end[1])), r: nr, c: nc});
pushFrontier(nr, nc);
}
}
}
}
reportNoPath();
} public void thetastarPathfind(int grid, int start, int end, int allowDiag, int hFn) {
var h = (hFn || HEURISTICS.octile);
var rows = grid.length;
var cols = grid[0].length;
var gScore = Matrix(rows, cols, Infinity);
var parent = Map();
var open = PriorityQueue("f");
int lineOfSight(int p1, int p2) {
var __pattern1 = p1;
var r0 = __pattern1[0];
var c0 = __pattern1[1];
var __pattern2 = p2;
var r1Start = __pattern2[0];
var c1Start = __pattern2[1];
var r1 = r1Start;
var c1 = c1Start;
var dr = (int)Math.Abs((r1 - r0));
var dc = (int)Math.Abs((c1 - c0));
var sr = (((r0 < r1)) ? (1) : (-1));
var sc = (((c0 < c1)) ? (1) : (-1));
var err = (dc - dr);
while(true) {
if((grid[r0][c0] == WALL)) {
return false;
}
if(((r0 == r1) && (c0 == c1))) {
break;
}
var e2 = (err * 2);
if((e2 > -dr)) {
err -= dr;
c0 += sc;
}
if((e2 < dc)) {
err += dc;
r0 += sr;
}
}
return true;
}
gScore[start[0]][start[1]] = 0;
parent.set(key(start[0], start[1]), start);
priorityQueuePush(open, {f: h(start[0], start[1], end[0], end[1]), r: start[0], c: start[1]});
while(priorityQueueSize(open)) {
var __pattern3 = priorityQueuePop(open);
var r = __pattern3.r;
var c = __pattern3.c;
visitNode(r, c);
if(((r == end[0]) && (c == end[1]))) {
reconstructPath(parent, start, end);
return;
}
foreach(var (nr, nc) in getNeighbors(grid, r, c, allowDiag)) {
var parentKey = parent.get(key(r, c));
var anchor = (parentKey || [r, c]);
var canSee = lineOfSight(anchor, [nr, nc]);
var tentative = (gScore[anchor[0]][anchor[1]] + hypot((nr - anchor[0]), (nc - anchor[1])));
if((canSee && (tentative < gScore[nr][nc]))) {
gScore[nr][nc] = tentative;
parent.set(key(nr, nc), anchor);
priorityQueuePush(open, {f: (tentative + h(nr, nc, end[0], end[1])), r: nr, c: nc});
pushFrontier(nr, nc);
} else {
var alt = (gScore[r][c] + stepCost(grid, r, c, nr, nc));
if((alt < gScore[nr][nc])) {
gScore[nr][nc] = alt;
parent.set(key(nr, nc), [r, c]);
priorityQueuePush(open, {f: (alt + h(nr, nc, end[0], end[1])), r: nr, c: nc});
pushFrontier(nr, nc);
}
}
}
}
reportNoPath();
} #include <stdio.h>
void thetastarPathfind(int grid, int start, int end, int allowDiag, int hFn) {
var h = (hFn || HEURISTICS.octile);
var rows = grid.length;
var cols = grid[0].length;
var gScore = Matrix(rows, cols, Infinity);
var parent = Map();
var open = PriorityQueue("f");
int lineOfSight(int p1, int p2) {
var __pattern1 = p1;
var r0 = __pattern1[0];
var c0 = __pattern1[1];
var __pattern2 = p2;
var r1Start = __pattern2[0];
var c1Start = __pattern2[1];
var r1 = r1Start;
var c1 = c1Start;
var dr = (((r1 - r0)) < 0 ? -((r1 - r0)) : ((r1 - r0)));
var dc = (((c1 - c0)) < 0 ? -((c1 - c0)) : ((c1 - c0)));
var sr = (((r0 < r1)) ? (1) : (-1));
var sc = (((c0 < c1)) ? (1) : (-1));
var err = (dc - dr);
while(true) {
if((grid[r0][c0] == WALL)) {
return false;
}
if(((r0 == r1) && (c0 == c1))) {
break;
}
var e2 = (err * 2);
if((e2 > -dr)) {
err -= dr;
c0 += sc;
}
if((e2 < dc)) {
err += dc;
r0 += sr;
}
}
return true;
}
gScore[start[0]][start[1]] = 0;
parent.set(key(start[0], start[1]), start);
priorityQueuePush(open, {f: h(start[0], start[1], end[0], end[1]), r: start[0], c: start[1]});
while(priorityQueueSize(open)) {
var __pattern3 = priorityQueuePop(open);
var r = __pattern3.r;
var c = __pattern3.c;
visitNode(r, c);
if(((r == end[0]) && (c == end[1]))) {
reconstructPath(parent, start, end);
return;
}
for(int _fod_i = 0; _fod_i < getNeighbors(grid, r, c, allowDiag)_len; _fod_i++) {
int nr = getNeighbors(grid, r, c, allowDiag)[_fod_i][0];
int nc = getNeighbors(grid, r, c, allowDiag)[_fod_i][1];
var parentKey = parent.get(key(r, c));
var anchor = (parentKey || [r, c]);
var canSee = lineOfSight(anchor, [nr, nc]);
var tentative = (gScore[anchor[0]][anchor[1]] + hypot((nr - anchor[0]), (nc - anchor[1])));
if((canSee && (tentative < gScore[nr][nc]))) {
gScore[nr][nc] = tentative;
parent.set(key(nr, nc), anchor);
priorityQueuePush(open, {f: (tentative + h(nr, nc, end[0], end[1])), r: nr, c: nc});
pushFrontier(nr, nc);
} else {
var alt = (gScore[r][c] + stepCost(grid, r, c, nr, nc));
if((alt < gScore[nr][nc])) {
gScore[nr][nc] = alt;
parent.set(key(nr, nc), [r, c]);
priorityQueuePush(open, {f: (alt + h(nr, nc, end[0], end[1])), r: nr, c: nc});
pushFrontier(nr, nc);
}
}
}
}
reportNoPath();
}