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Merge Chromium + Blink git repositories
[chromium-blink-merge.git]
/
chrome
/
test
/
data
/
third_party
/
kraken
/
hosted
/
explanations
/
astar.js
blob
2d9215c014351ef2316e41d32cb7c8d8c6a24d5a
1
2
Array.prototype.each = function(f) {
3
if(!f.apply) return;
4
for(var i=0;i<this.length;i++) {
5
f.apply(this[i], [i, this]);
6
}
7
}
8
Array.prototype.findGraphNode = function(obj) {
9
for(var i=0;i<this.length;i++) {
10
if(this[i].pos == obj.pos) { return this[i]; }
11
}
12
return false;
13
};
14
Array.prototype.removeGraphNode = function(obj) {
15
for(var i=0;i<this.length;i++) {
16
if(this[i].pos == obj.pos) { this.splice(i,1); }
17
}
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return false;
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};
20
21
function createGraphSet(gridSize, wallFrequency) {
22
var graphSet = [];
23
for(var x=0;x<gridSize;x++) {
24
var row = [];
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for(var y=0;y<gridSize;y++) {
26
// maybe set this node to be wall
27
var rand = Math.floor(Math.random()*(1/wallFrequency));
28
row.push(new GraphNode(x,y,(rand == 0)));
29
}
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graphSet.push(row);
31
}
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return graphSet;
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}
34
35
function GraphNode(x,y,isWall) {
36
this.x = x;
37
this.y = y;
38
this._isWall = isWall;
39
this.pos = {x:x,y:y};
40
this.debug = "";
41
}
42
43
GraphNode.prototype.toJSON = function() {
44
return {"x": this.x, "y": this.y, "isWall": this._isWall};
45
}
46
47
GraphNode.prototype.toString = function() {
48
return "[" + this.x + " " + this.y + "]";
49
}
50
GraphNode.prototype.isAt = function(x,y) {
51
return (x == this.x) && (y == this.y);
52
};
53
GraphNode.prototype.isWall = function() {
54
return this._isWall;
55
};
56
57
// astar.js
58
// Implements the astar search algorithm in javascript
59
60
var astar = {
61
init: function(grid) {
62
for(var x = 0; x < grid.length; x++) {
63
for(var y = 0; y < grid[x].length; y++) {
64
grid[x][y].f = 0;
65
grid[x][y].g = 0;
66
grid[x][y].h = 0;
67
// grid[x][y].debug = "";
68
grid[x][y].parent = null;
69
}
70
}
71
},
72
search: function(grid, start, end) {
73
astar.init(grid);
74
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var openList = [];
76
var closedList = [];
77
openList.push(start);
78
79
while(openList.length > 0) {
80
81
// Grab the lowest f(x) to process next
82
var lowInd = 0;
83
for(var i=0; i<openList.length; i++) {
84
if(openList[i].f < openList[lowInd].f) { lowInd = i; }
85
}
86
var currentNode = openList[lowInd];
87
88
// End case -- result has been found, return the traced path
89
if(currentNode.pos == end.pos) {
90
var curr = currentNode;
91
var ret = [];
92
while(curr.parent) {
93
ret.push(curr);
94
curr = curr.parent;
95
}
96
return ret.reverse();
97
}
98
99
// Normal case -- move currentNode from open to closed, process each of its neighbors
100
openList.removeGraphNode(currentNode);
101
closedList.push(currentNode);
102
var neighbors = astar.neighbors(grid, currentNode);
103
104
for(var j=0; j<neighbors.length;j++) {
105
var neighbor = neighbors[j];
106
if(closedList.findGraphNode(neighbor) || neighbor.isWall()) {
107
// not a valid node to process, skip to next neighbor
108
continue;
109
}
110
111
// g score is the shortest distance from start to current node, we need to check if
112
// the path we have arrived at this neighbor is the shortest one we have seen yet
113
var gScore = currentNode.g + 1; // 1 is the distance from a node to it's neighbor
114
var gScoreIsBest = false;
115
116
117
if(!openList.findGraphNode(neighbor)) {
118
// This the the first time we have arrived at this node, it must be the best
119
// Also, we need to take the h (heuristic) score since we haven't done so yet
120
121
gScoreIsBest = true;
122
neighbor.h = astar.heuristic(neighbor.pos, end.pos);
123
openList.push(neighbor);
124
}
125
else if(gScore < neighbor.g) {
126
// We have already seen the node, but last time it had a worse g (distance from start)
127
gScoreIsBest = true;
128
}
129
130
if(gScoreIsBest) {
131
// Found an optimal (so far) path to this node. Store info on how we got here and
132
// just how good it really is...
133
neighbor.parent = currentNode;
134
neighbor.g = gScore;
135
neighbor.f = neighbor.g + neighbor.h;
136
// neighbor.debug = "F: " + neighbor.f + "<br />G: " + neighbor.g + "<br />H: " + neighbor.h;
137
}
138
}
139
}
140
141
// No result was found -- empty array signifies failure to find path
142
return [];
143
},
144
heuristic: function(pos0, pos1) {
145
// This is the Manhattan distance
146
var d1 = Math.abs (pos1.x - pos0.x);
147
var d2 = Math.abs (pos1.y - pos0.y);
148
return d1 + d2;
149
},
150
neighbors: function(grid, node) {
151
var ret = [];
152
var x = node.pos.x;
153
var y = node.pos.y;
154
155
if(grid[x-1] && grid[x-1][y]) {
156
ret.push(grid[x-1][y]);
157
}
158
if(grid[x+1] && grid[x+1][y]) {
159
ret.push(grid[x+1][y]);
160
}
161
if(grid[x][y-1] && grid[x][y-1]) {
162
ret.push(grid[x][y-1]);
163
}
164
if(grid[x][y+1] && grid[x][y+1]) {
165
ret.push(grid[x][y+1]);
166
}
167
return ret;
168
}
169
};
170
171
function getStartingCell(graphSet) {
172
for (var j = 0; j < graphSet.length; j++) {
173
for (var k = 0; k < graphSet[j].length; k++ ) {
174
if (!graphSet[j][k].isWall())
175
return graphSet[j][k];
176
}
177
}
178
throw "No start?";
179
}
180
181
function getEndingCell(graphSet) {
182
for (var j = graphSet.length - 1; j >= 0; j--) {
183
for (var k = graphSet[j].length - 1; k >= 0; k-- ) {
184
if (!graphSet[j][k].isWall())
185
return graphSet[j][k];
186
}
187
}
188
throw "No end?";
189
}
190
191
var g1 = [
192
[
193
{
194
"x": 0,
195
"y": 0,
196
"isWall": false
197
},
198
{
199
"x": 0,
200
"y": 1,
201
"isWall": false
202
},
203
{
204
"x": 0,
205
"y": 2,
206
"isWall": true
207
},
208
{
209
"x": 0,
210
"y": 3,
211
"isWall": false
212
},
213
{
214
"x": 0,
215
"y": 4,
216
"isWall": false
217
},
218
{
219
"x": 0,
220
"y": 5,
221
"isWall": false
222
},
223
{
224
"x": 0,
225
"y": 6,
226
"isWall": false
227
},
228
{
229
"x": 0,
230
"y": 7,
231
"isWall": true
232
},
233
{
234
"x": 0,
235
"y": 8,
236
"isWall": false
237
},
238
{
239
"x": 0,
240
"y": 9,
241
"isWall": false
242
},
243
{
244
"x": 0,
245
"y": 10,
246
"isWall": false
247
},
248
{
249
"x": 0,
250
"y": 11,
251
"isWall": false
252
},
253
{
254
"x": 0,
255
"y": 12,
256
"isWall": false
257
},
258
{
259
"x": 0,
260
"y": 13,
261
"isWall": false
262
},
263
{
264
"x": 0,
265
"y": 14,
266
"isWall": false
267
},
268
{
269
"x": 0,
270
"y": 15,
271
"isWall": false
272
},
273
{
274
"x": 0,
275
"y": 16,
276
"isWall": false
277
},
278
{
279
"x": 0,
280
"y": 17,
281
"isWall": false
282
},
283
{
284
"x": 0,
285
"y": 18,
286
"isWall": false
287
},
288
{
289
"x": 0,
290
"y": 19,
291
"isWall": false
292
},
293
{
294
"x": 0,
295
"y": 20,
296
"isWall": false
297
},
298
{
299
"x": 0,
300
"y": 21,
301
"isWall": true
302
},
303
{
304
"x": 0,
305
"y": 22,
306
"isWall": true
307
},
308
{
309
"x": 0,
310
"y": 23,
311
"isWall": false
312
},
313
{
314
"x": 0,
315
"y": 24,
316
"isWall": false
317
},
318
{
319
"x": 0,
320
"y": 25,
321
"isWall": false
322
},
323
{
324
"x": 0,
325
"y": 26,
326
"isWall": false
327
},
328
{
329
"x": 0,
330
"y": 27,
331
"isWall": false
332
},
333
{
334
"x": 0,
335
"y": 28,
336
"isWall": true
337
},
338
{
339
"x": 0,
340
"y": 29,
341
"isWall": false
342
},
343
{
344
"x": 0,
345
"y": 30,
346
"isWall": false
347
},
348
{
349
"x": 0,
350
"y": 31,
351
"isWall": false
352
},
353
{
354
"x": 0,
355
"y": 32,
356
"isWall": false
357
},
358
{
359
"x": 0,
360
"y": 33,
361
"isWall": true
362
},
363
{
364
"x": 0,
365
"y": 34,
366
"isWall": false
367
},
368
{
369
"x": 0,
370
"y": 35,
371
"isWall": false
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},
373
{
374
"x": 0,
375
"y": 36,
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"isWall": true
377
},
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{
379
"x": 0,
380
"y": 37,
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"isWall": true
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},
383
{
384
"x": 0,
385
"y": 38,
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"isWall": true
387
},
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{
389
"x": 0,
390
"y": 39,
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"isWall": false
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},
393
{
394
"x": 0,
395
"y": 40,
396
"isWall": false
397
},
398
{
399
"x": 0,
400
"y": 41,
401
"isWall": true
402
},
403
{
404
"x": 0,
405
"y": 42,
406
"isWall": false
407
},
408
{
409
"x": 0,
410
"y": 43,
411
"isWall": false
412
},
413
{
414
"x": 0,
415
"y": 44,
416
"isWall": true
417
},
418
{
419
"x": 0,
420
"y": 45,
421
"isWall": false
422
},
423
{
424
"x": 0,
425
"y": 46,
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"isWall": false
427
},
428
{
429
"x": 0,
430
"y": 47,
431
"isWall": false
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},
433
{
434
"x": 0,
435
"y": 48,
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"isWall": false
437
},
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{
439
"x": 0,
440
"y": 49,
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"isWall": false
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},
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{
444
"x": 0,
445
"y": 50,
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"isWall": false
447
},
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{
449
"x": 0,
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"y": 51,
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"isWall": true
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},
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{
454
"x": 0,
455
"y": 52,
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"isWall": false
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},
458
{
459
"x": 0,
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"y": 53,
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"isWall": false
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},
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{
464
"x": 0,
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"y": 54,
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"isWall": true
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},
468
{
469
"x": 0,
470
"y": 55,
471
"isWall": true
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},
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{
474
"x": 0,
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"y": 56,
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"isWall": false
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},
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{
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"x": 0,
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"y": 57,
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"isWall": false
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},
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{
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"x": 0,
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"y": 58,
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"isWall": false
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},
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{
489
"x": 0,
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"y": 59,
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"isWall": false
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},
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{
494
"x": 0,
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"y": 60,
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"isWall": true
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},
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{
499
"x": 0,
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"y": 61,
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"isWall": true
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},
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{
504
"x": 0,
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"y": 62,
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"isWall": true
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},
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{
509
"x": 0,
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"y": 63,
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"isWall": false
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},
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{
514
"x": 0,
515
"y": 64,
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"isWall": false
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},
518
{
519
"x": 0,
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"y": 65,
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"isWall": true
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},
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{
524
"x": 0,
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"y": 66,
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"isWall": false
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},
528
{
529
"x": 0,
530
"y": 67,
531
"isWall": false
532
},
533
{
534
"x": 0,
535
"y": 68,
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"isWall": true
537
},
538
{
539
"x": 0,
540
"y": 69,
541
"isWall": false
542
},
543
{
544
"x": 0,
545
"y": 70,
546
"isWall": false
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},
548
{
549
"x": 0,
550
"y": 71,
551
"isWall": false
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},
553
{
554
"x": 0,
555
"y": 72,
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"isWall": true
557
},
558
{
559
"x": 0,
560
"y": 73,
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"isWall": false
562
},
563
{
564
"x": 0,
565
"y": 74,
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"isWall": false
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},
568
{
569
"x": 0,
570
"y": 75,
571
"isWall": false
572
},
573
{
574
"x": 0,
575
"y": 76,
576
"isWall": false
577
},
578
{
579
"x": 0,
580
"y": 77,
581
"isWall": false
582
},
583
{
584
"x": 0,
585
"y": 78,
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"isWall": true
587
},
588
{
589
"x": 0,
590
"y": 79,
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"isWall": false
592
},
593
{
594
"x": 0,
595
"y": 80,
596
"isWall": false
597
},
598
{
599
"x": 0,
600
"y": 81,
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"isWall": false
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},
603
{
604
"x": 0,
605
"y": 82,
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"isWall": false
607
},
608
{
609
"x": 0,
610
"y": 83,
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"isWall": false
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},
613
{
614
"x": 0,
615
"y": 84,
616
"isWall": false
617
},
618
{
619
"x": 0,
620
"y": 85,
621
"isWall": true
622
},
623
{
624
"x": 0,
625
"y": 86,
626
"isWall": false
627
},
628
{
629
"x": 0,
630
"y": 87,
631
"isWall": false
632
},
633
{
634
"x": 0,
635
"y": 88,
636
"isWall": true
637
},
638
{
639
"x": 0,
640
"y": 89,
641
"isWall": false
642
},
643
{
644
"x": 0,
645
"y": 90,
646
"isWall": false
647
},
648
{
649
"x": 0,
650
"y": 91,
651
"isWall": false
652
},
653
{
654
"x": 0,
655
"y": 92,
656
"isWall": false
657
},
658
{
659
"x": 0,
660
"y": 93,
661
"isWall": false
662
},
663
{
664
"x": 0,
665
"y": 94,
666
"isWall": false
667
},
668
{
669
"x": 0,
670
"y": 95,
671
"isWall": false
672
},
673
{
674
"x": 0,
675
"y": 96,
676
"isWall": true
677
},
678
{
679
"x": 0,
680
"y": 97,
681
"isWall": true
682
},
683
{
684
"x": 0,
685
"y": 98,
686
"isWall": false
687
},
688
{
689
"x": 0,
690
"y": 99,
691
"isWall": true
692
}
693
],
694
[
695
{
696
"x": 1,
697
"y": 0,
698
"isWall": true
699
},
700
{
701
"x": 1,
702
"y": 1,
703
"isWall": false
704
},
705
{
706
"x": 1,
707
"y": 2,
708
"isWall": false
709
},
710
{
711
"x": 1,
712
"y": 3,
713
"isWall": false
714
},
715
{
716
"x": 1,
717
"y": 4,
718
"isWall": false
719
},
720
{
721
"x": 1,
722
"y": 5,
723
"isWall": false
724
},
725
{
726
"x": 1,
727
"y": 6,
728
"isWall": false
729
},
730
{
731
"x": 1,
732
"y": 7,
733
"isWall": false
734
},
735
{
736
"x": 1,
737
"y": 8,
738
"isWall": false
739
},
740
{
741
"x": 1,
742
"y": 9,
743
"isWall": false
744
},
745
{
746
"x": 1,
747
"y": 10,
748
"isWall": true
749
},
750
{
751
"x": 1,
752
"y": 11,
753
"isWall": false
754
},
755
{
756
"x": 1,
757
"y": 12,
758
"isWall": false
759
},
760
{
761
"x": 1,
762
"y": 13,
763
"isWall": false
764
},
765
{
766
"x": 1,
767
"y": 14,
768
"isWall": false
769
},
770
{
771
"x": 1,
772
"y": 15,
773
"isWall": true
774
},
775
{
776
"x": 1,
777
"y": 16,
778
"isWall": false
779
},
780
{
781
"x": 1,
782
"y": 17,
783
"isWall": false
784
},
785
{
786
"x": 1,
787
"y": 18,
788
"isWall": false
789
},
790
{
791
"x": 1,
792
"y": 19,
793
"isWall": false
794
},
795
{
796
"x": 1,
797
"y": 20,
798
"isWall": false
799
},
800
{
801
"x": 1,
802
"y": 21,
803
"isWall": false
804
},
805
{
806
"x": 1,
807
"y": 22,
808
"isWall": false
809
},
810
{
811
"x": 1,
812
"y": 23,
813
"isWall": false
814
},
815
{
816
"x": 1,
817
"y": 24,
818
"isWall": true
819
},
820
{
821
"x": 1,
822
"y": 25,
823
"isWall": false
824
},
825
{
826
"x": 1,
827
"y": 26,
828
"isWall": true
829
},
830
{
831
"x": 1,
832
"y": 27,
833
"isWall": true
834
},
835
{
836
"x": 1,
837
"y": 28,
838
"isWall": false
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49637
"isWall": false
49638
},
49639
{
49640
"x": 98,
49641
"y": 50,
49642
"isWall": true
49643
},
49644
{
49645
"x": 98,
49646
"y": 51,
49647
"isWall": false
49648
},
49649
{
49650
"x": 98,
49651
"y": 52,
49652
"isWall": true
49653
},
49654
{
49655
"x": 98,
49656
"y": 53,
49657
"isWall": false
49658
},
49659
{
49660
"x": 98,
49661
"y": 54,
49662
"isWall": true
49663
},
49664
{
49665
"x": 98,
49666
"y": 55,
49667
"isWall": false
49668
},
49669
{
49670
"x": 98,
49671
"y": 56,
49672
"isWall": true
49673
},
49674
{
49675
"x": 98,
49676
"y": 57,
49677
"isWall": false
49678
},
49679
{
49680
"x": 98,
49681
"y": 58,
49682
"isWall": false
49683
},
49684
{
49685
"x": 98,
49686
"y": 59,
49687
"isWall": false
49688
},
49689
{
49690
"x": 98,
49691
"y": 60,
49692
"isWall": true
49693
},
49694
{
49695
"x": 98,
49696
"y": 61,
49697
"isWall": false
49698
},
49699
{
49700
"x": 98,
49701
"y": 62,
49702
"isWall": false
49703
},
49704
{
49705
"x": 98,
49706
"y": 63,
49707
"isWall": true
49708
},
49709
{
49710
"x": 98,
49711
"y": 64,
49712
"isWall": false
49713
},
49714
{
49715
"x": 98,
49716
"y": 65,
49717
"isWall": false
49718
},
49719
{
49720
"x": 98,
49721
"y": 66,
49722
"isWall": false
49723
},
49724
{
49725
"x": 98,
49726
"y": 67,
49727
"isWall": false
49728
},
49729
{
49730
"x": 98,
49731
"y": 68,
49732
"isWall": false
49733
},
49734
{
49735
"x": 98,
49736
"y": 69,
49737
"isWall": false
49738
},
49739
{
49740
"x": 98,
49741
"y": 70,
49742
"isWall": true
49743
},
49744
{
49745
"x": 98,
49746
"y": 71,
49747
"isWall": true
49748
},
49749
{
49750
"x": 98,
49751
"y": 72,
49752
"isWall": false
49753
},
49754
{
49755
"x": 98,
49756
"y": 73,
49757
"isWall": false
49758
},
49759
{
49760
"x": 98,
49761
"y": 74,
49762
"isWall": true
49763
},
49764
{
49765
"x": 98,
49766
"y": 75,
49767
"isWall": true
49768
},
49769
{
49770
"x": 98,
49771
"y": 76,
49772
"isWall": false
49773
},
49774
{
49775
"x": 98,
49776
"y": 77,
49777
"isWall": false
49778
},
49779
{
49780
"x": 98,
49781
"y": 78,
49782
"isWall": true
49783
},
49784
{
49785
"x": 98,
49786
"y": 79,
49787
"isWall": false
49788
},
49789
{
49790
"x": 98,
49791
"y": 80,
49792
"isWall": false
49793
},
49794
{
49795
"x": 98,
49796
"y": 81,
49797
"isWall": false
49798
},
49799
{
49800
"x": 98,
49801
"y": 82,
49802
"isWall": false
49803
},
49804
{
49805
"x": 98,
49806
"y": 83,
49807
"isWall": false
49808
},
49809
{
49810
"x": 98,
49811
"y": 84,
49812
"isWall": false
49813
},
49814
{
49815
"x": 98,
49816
"y": 85,
49817
"isWall": true
49818
},
49819
{
49820
"x": 98,
49821
"y": 86,
49822
"isWall": false
49823
},
49824
{
49825
"x": 98,
49826
"y": 87,
49827
"isWall": false
49828
},
49829
{
49830
"x": 98,
49831
"y": 88,
49832
"isWall": false
49833
},
49834
{
49835
"x": 98,
49836
"y": 89,
49837
"isWall": false
49838
},
49839
{
49840
"x": 98,
49841
"y": 90,
49842
"isWall": false
49843
},
49844
{
49845
"x": 98,
49846
"y": 91,
49847
"isWall": false
49848
},
49849
{
49850
"x": 98,
49851
"y": 92,
49852
"isWall": false
49853
},
49854
{
49855
"x": 98,
49856
"y": 93,
49857
"isWall": false
49858
},
49859
{
49860
"x": 98,
49861
"y": 94,
49862
"isWall": false
49863
},
49864
{
49865
"x": 98,
49866
"y": 95,
49867
"isWall": false
49868
},
49869
{
49870
"x": 98,
49871
"y": 96,
49872
"isWall": false
49873
},
49874
{
49875
"x": 98,
49876
"y": 97,
49877
"isWall": true
49878
},
49879
{
49880
"x": 98,
49881
"y": 98,
49882
"isWall": true
49883
},
49884
{
49885
"x": 98,
49886
"y": 99,
49887
"isWall": false
49888
}
49889
],
49890
[
49891
{
49892
"x": 99,
49893
"y": 0,
49894
"isWall": true
49895
},
49896
{
49897
"x": 99,
49898
"y": 1,
49899
"isWall": false
49900
},
49901
{
49902
"x": 99,
49903
"y": 2,
49904
"isWall": false
49905
},
49906
{
49907
"x": 99,
49908
"y": 3,
49909
"isWall": false
49910
},
49911
{
49912
"x": 99,
49913
"y": 4,
49914
"isWall": true
49915
},
49916
{
49917
"x": 99,
49918
"y": 5,
49919
"isWall": false
49920
},
49921
{
49922
"x": 99,
49923
"y": 6,
49924
"isWall": true
49925
},
49926
{
49927
"x": 99,
49928
"y": 7,
49929
"isWall": false
49930
},
49931
{
49932
"x": 99,
49933
"y": 8,
49934
"isWall": false
49935
},
49936
{
49937
"x": 99,
49938
"y": 9,
49939
"isWall": false
49940
},
49941
{
49942
"x": 99,
49943
"y": 10,
49944
"isWall": false
49945
},
49946
{
49947
"x": 99,
49948
"y": 11,
49949
"isWall": false
49950
},
49951
{
49952
"x": 99,
49953
"y": 12,
49954
"isWall": false
49955
},
49956
{
49957
"x": 99,
49958
"y": 13,
49959
"isWall": true
49960
},
49961
{
49962
"x": 99,
49963
"y": 14,
49964
"isWall": true
49965
},
49966
{
49967
"x": 99,
49968
"y": 15,
49969
"isWall": false
49970
},
49971
{
49972
"x": 99,
49973
"y": 16,
49974
"isWall": false
49975
},
49976
{
49977
"x": 99,
49978
"y": 17,
49979
"isWall": false
49980
},
49981
{
49982
"x": 99,
49983
"y": 18,
49984
"isWall": false
49985
},
49986
{
49987
"x": 99,
49988
"y": 19,
49989
"isWall": false
49990
},
49991
{
49992
"x": 99,
49993
"y": 20,
49994
"isWall": false
49995
},
49996
{
49997
"x": 99,
49998
"y": 21,
49999
"isWall": true
50000
},
50001
{
50002
"x": 99,
50003
"y": 22,
50004
"isWall": false
50005
},
50006
{
50007
"x": 99,
50008
"y": 23,
50009
"isWall": false
50010
},
50011
{
50012
"x": 99,
50013
"y": 24,
50014
"isWall": true
50015
},
50016
{
50017
"x": 99,
50018
"y": 25,
50019
"isWall": true
50020
},
50021
{
50022
"x": 99,
50023
"y": 26,
50024
"isWall": false
50025
},
50026
{
50027
"x": 99,
50028
"y": 27,
50029
"isWall": false
50030
},
50031
{
50032
"x": 99,
50033
"y": 28,
50034
"isWall": true
50035
},
50036
{
50037
"x": 99,
50038
"y": 29,
50039
"isWall": false
50040
},
50041
{
50042
"x": 99,
50043
"y": 30,
50044
"isWall": false
50045
},
50046
{
50047
"x": 99,
50048
"y": 31,
50049
"isWall": false
50050
},
50051
{
50052
"x": 99,
50053
"y": 32,
50054
"isWall": true
50055
},
50056
{
50057
"x": 99,
50058
"y": 33,
50059
"isWall": true
50060
},
50061
{
50062
"x": 99,
50063
"y": 34,
50064
"isWall": false
50065
},
50066
{
50067
"x": 99,
50068
"y": 35,
50069
"isWall": false
50070
},
50071
{
50072
"x": 99,
50073
"y": 36,
50074
"isWall": false
50075
},
50076
{
50077
"x": 99,
50078
"y": 37,
50079
"isWall": true
50080
},
50081
{
50082
"x": 99,
50083
"y": 38,
50084
"isWall": true
50085
},
50086
{
50087
"x": 99,
50088
"y": 39,
50089
"isWall": false
50090
},
50091
{
50092
"x": 99,
50093
"y": 40,
50094
"isWall": true
50095
},
50096
{
50097
"x": 99,
50098
"y": 41,
50099
"isWall": false
50100
},
50101
{
50102
"x": 99,
50103
"y": 42,
50104
"isWall": false
50105
},
50106
{
50107
"x": 99,
50108
"y": 43,
50109
"isWall": false
50110
},
50111
{
50112
"x": 99,
50113
"y": 44,
50114
"isWall": false
50115
},
50116
{
50117
"x": 99,
50118
"y": 45,
50119
"isWall": true
50120
},
50121
{
50122
"x": 99,
50123
"y": 46,
50124
"isWall": false
50125
},
50126
{
50127
"x": 99,
50128
"y": 47,
50129
"isWall": true
50130
},
50131
{
50132
"x": 99,
50133
"y": 48,
50134
"isWall": true
50135
},
50136
{
50137
"x": 99,
50138
"y": 49,
50139
"isWall": true
50140
},
50141
{
50142
"x": 99,
50143
"y": 50,
50144
"isWall": false
50145
},
50146
{
50147
"x": 99,
50148
"y": 51,
50149
"isWall": false
50150
},
50151
{
50152
"x": 99,
50153
"y": 52,
50154
"isWall": false
50155
},
50156
{
50157
"x": 99,
50158
"y": 53,
50159
"isWall": false
50160
},
50161
{
50162
"x": 99,
50163
"y": 54,
50164
"isWall": false
50165
},
50166
{
50167
"x": 99,
50168
"y": 55,
50169
"isWall": false
50170
},
50171
{
50172
"x": 99,
50173
"y": 56,
50174
"isWall": false
50175
},
50176
{
50177
"x": 99,
50178
"y": 57,
50179
"isWall": false
50180
},
50181
{
50182
"x": 99,
50183
"y": 58,
50184
"isWall": true
50185
},
50186
{
50187
"x": 99,
50188
"y": 59,
50189
"isWall": false
50190
},
50191
{
50192
"x": 99,
50193
"y": 60,
50194
"isWall": true
50195
},
50196
{
50197
"x": 99,
50198
"y": 61,
50199
"isWall": false
50200
},
50201
{
50202
"x": 99,
50203
"y": 62,
50204
"isWall": false
50205
},
50206
{
50207
"x": 99,
50208
"y": 63,
50209
"isWall": true
50210
},
50211
{
50212
"x": 99,
50213
"y": 64,
50214
"isWall": true
50215
},
50216
{
50217
"x": 99,
50218
"y": 65,
50219
"isWall": true
50220
},
50221
{
50222
"x": 99,
50223
"y": 66,
50224
"isWall": true
50225
},
50226
{
50227
"x": 99,
50228
"y": 67,
50229
"isWall": false
50230
},
50231
{
50232
"x": 99,
50233
"y": 68,
50234
"isWall": false
50235
},
50236
{
50237
"x": 99,
50238
"y": 69,
50239
"isWall": false
50240
},
50241
{
50242
"x": 99,
50243
"y": 70,
50244
"isWall": false
50245
},
50246
{
50247
"x": 99,
50248
"y": 71,
50249
"isWall": false
50250
},
50251
{
50252
"x": 99,
50253
"y": 72,
50254
"isWall": false
50255
},
50256
{
50257
"x": 99,
50258
"y": 73,
50259
"isWall": false
50260
},
50261
{
50262
"x": 99,
50263
"y": 74,
50264
"isWall": false
50265
},
50266
{
50267
"x": 99,
50268
"y": 75,
50269
"isWall": false
50270
},
50271
{
50272
"x": 99,
50273
"y": 76,
50274
"isWall": true
50275
},
50276
{
50277
"x": 99,
50278
"y": 77,
50279
"isWall": false
50280
},
50281
{
50282
"x": 99,
50283
"y": 78,
50284
"isWall": true
50285
},
50286
{
50287
"x": 99,
50288
"y": 79,
50289
"isWall": true
50290
},
50291
{
50292
"x": 99,
50293
"y": 80,
50294
"isWall": true
50295
},
50296
{
50297
"x": 99,
50298
"y": 81,
50299
"isWall": true
50300
},
50301
{
50302
"x": 99,
50303
"y": 82,
50304
"isWall": false
50305
},
50306
{
50307
"x": 99,
50308
"y": 83,
50309
"isWall": false
50310
},
50311
{
50312
"x": 99,
50313
"y": 84,
50314
"isWall": false
50315
},
50316
{
50317
"x": 99,
50318
"y": 85,
50319
"isWall": false
50320
},
50321
{
50322
"x": 99,
50323
"y": 86,
50324
"isWall": false
50325
},
50326
{
50327
"x": 99,
50328
"y": 87,
50329
"isWall": false
50330
},
50331
{
50332
"x": 99,
50333
"y": 88,
50334
"isWall": false
50335
},
50336
{
50337
"x": 99,
50338
"y": 89,
50339
"isWall": false
50340
},
50341
{
50342
"x": 99,
50343
"y": 90,
50344
"isWall": false
50345
},
50346
{
50347
"x": 99,
50348
"y": 91,
50349
"isWall": false
50350
},
50351
{
50352
"x": 99,
50353
"y": 92,
50354
"isWall": false
50355
},
50356
{
50357
"x": 99,
50358
"y": 93,
50359
"isWall": false
50360
},
50361
{
50362
"x": 99,
50363
"y": 94,
50364
"isWall": true
50365
},
50366
{
50367
"x": 99,
50368
"y": 95,
50369
"isWall": false
50370
},
50371
{
50372
"x": 99,
50373
"y": 96,
50374
"isWall": false
50375
},
50376
{
50377
"x": 99,
50378
"y": 97,
50379
"isWall": false
50380
},
50381
{
50382
"x": 99,
50383
"y": 98,
50384
"isWall": false
50385
},
50386
{
50387
"x": 99,
50388
"y": 99,
50389
"isWall": true
50390
}
50391
]
50392
];
50393
50394
for (var i=0; i < g1.length; i++) {
50395
for (var j=0; j<g1[i].length; j++) {
50396
g1[i][j] = new GraphNode(g1[i][j].x, g1[i][j].y, g1[i][j].isWall);
50397
}
50398
}
50399
50400
var start = getStartingCell(g1);
50401
var end = getEndingCell(g1);
50402
var path = [];
50403
function go() {
50404
//var g = createGraphSet(100, .3);
50405
//print(JSON.stringify(g, undefined, " "));
50406
//var g1 = JSON.parse(JSON.stringify(g));
50407
50408
50409
50410
50411
//print(JSON.stringify(start));
50412
//print(JSON.stringify(end));
50413
50414
var startTime = Date.now();
50415
if (this.connectShark) {
50416
connectShark();
50417
startShark();
50418
}
50419
path = astar.search(g1, start, end);
50420
if (this.connectShark) {
50421
stopShark();
50422
disconnectShark();
50423
}
50424
var searchTime = Date.now() - startTime;
50425
return searchTime + "ms";
50426
};
50427
50428
//print(go());