pathfinding/src/finders/JPFMoveDiagonallyIfAtMostOneObstacle.js

Comprehensive pathfinding library for grid based games

/**
 * @author imor / https://github.com/imor
 */
var JumpPointFinderBase = require('./JumpPointFinderBase');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Path finder using the Jump Point Search algorithm which moves
 * diagonally only when there is at most one obstacle.
 */
function JPFMoveDiagonallyIfAtMostOneObstacle(opt) {
    JumpPointFinderBase.call(this, opt);
}

JPFMoveDiagonallyIfAtMostOneObstacle.prototype = new JumpPointFinderBase();
JPFMoveDiagonallyIfAtMostOneObstacle.prototype.constructor = JPFMoveDiagonallyIfAtMostOneObstacle;

/**
 * Search recursively in the direction (parent -> child), stopping only when a
 * jump point is found.
 * @protected
 * @return {Array<Array<number>>} The x, y coordinate of the jump point
 *     found, or null if not found
 */
JPFMoveDiagonallyIfAtMostOneObstacle.prototype._jump = function(x, y, px, py) {
    var grid = this.grid,
        dx = x - px, dy = y - py;

    if (!grid.isWalkableAt(x, y)) {
        return null;
    }

    if(this.trackJumpRecursion === true) {
        grid.getNodeAt(x, y).tested = true;
    }

    if (grid.getNodeAt(x, y) === this.endNode) {
        return [x, y];
    }

    // check for forced neighbors
    // along the diagonal
    if (dx !== 0 && dy !== 0) {
        if ((grid.isWalkableAt(x - dx, y + dy) && !grid.isWalkableAt(x - dx, y)) ||
            (grid.isWalkableAt(x + dx, y - dy) && !grid.isWalkableAt(x, y - dy))) {
            return [x, y];
        }
        // when moving diagonally, must check for vertical/horizontal jump points
        if (this._jump(x + dx, y, x, y) || this._jump(x, y + dy, x, y)) {
            return [x, y];
        }
    }
    // horizontally/vertically
    else {
        if( dx !== 0 ) { // moving along x
            if((grid.isWalkableAt(x + dx, y + 1) && !grid.isWalkableAt(x, y + 1)) ||
               (grid.isWalkableAt(x + dx, y - 1) && !grid.isWalkableAt(x, y - 1))) {
                return [x, y];
            }
        }
        else {
            if((grid.isWalkableAt(x + 1, y + dy) && !grid.isWalkableAt(x + 1, y)) ||
               (grid.isWalkableAt(x - 1, y + dy) && !grid.isWalkableAt(x - 1, y))) {
                return [x, y];
            }
        }
    }

    // moving diagonally, must make sure one of the vertical/horizontal
    // neighbors is open to allow the path
    if (grid.isWalkableAt(x + dx, y) || grid.isWalkableAt(x, y + dy)) {
        return this._jump(x + dx, y + dy, x, y);
    } else {
        return null;
    }
};

/**
 * Find the neighbors for the given node. If the node has a parent,
 * prune the neighbors based on the jump point search algorithm, otherwise
 * return all available neighbors.
 * @return {Array<Array<number>>} The neighbors found.
 */
JPFMoveDiagonallyIfAtMostOneObstacle.prototype._findNeighbors = function(node) {
    var parent = node.parent,
        x = node.x, y = node.y,
        grid = this.grid,
        px, py, nx, ny, dx, dy,
        neighbors = [], neighborNodes, neighborNode, i, l;

    // directed pruning: can ignore most neighbors, unless forced.
    if (parent) {
        px = parent.x;
        py = parent.y;
        // get the normalized direction of travel
        dx = (x - px) / Math.max(Math.abs(x - px), 1);
        dy = (y - py) / Math.max(Math.abs(y - py), 1);

        // search diagonally
        if (dx !== 0 && dy !== 0) {
            if (grid.isWalkableAt(x, y + dy)) {
                neighbors.push([x, y + dy]);
            }
            if (grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y]);
            }
            if (grid.isWalkableAt(x, y + dy) || grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y + dy]);
            }
            if (!grid.isWalkableAt(x - dx, y) && grid.isWalkableAt(x, y + dy)) {
                neighbors.push([x - dx, y + dy]);
            }
            if (!grid.isWalkableAt(x, y - dy) && grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y - dy]);
            }
        }
        // search horizontally/vertically
        else {
            if(dx === 0) {
                if (grid.isWalkableAt(x, y + dy)) {
                    neighbors.push([x, y + dy]);
                    if (!grid.isWalkableAt(x + 1, y)) {
                        neighbors.push([x + 1, y + dy]);
                    }
                    if (!grid.isWalkableAt(x - 1, y)) {
                        neighbors.push([x - 1, y + dy]);
                    }
                }
            }
            else {
                if (grid.isWalkableAt(x + dx, y)) {
                    neighbors.push([x + dx, y]);
                    if (!grid.isWalkableAt(x, y + 1)) {
                        neighbors.push([x + dx, y + 1]);
                    }
                    if (!grid.isWalkableAt(x, y - 1)) {
                        neighbors.push([x + dx, y - 1]);
                    }
                }
            }
        }
    }
    // return all neighbors
    else {
        neighborNodes = grid.getNeighbors(node, DiagonalMovement.IfAtMostOneObstacle);
        for (i = 0, l = neighborNodes.length; i < l; ++i) {
            neighborNode = neighborNodes[i];
            neighbors.push([neighborNode.x, neighborNode.y]);
        }
    }

    return neighbors;
};

module.exports = JPFMoveDiagonallyIfAtMostOneObstacle;