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index.html
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<html>
<head>
<script type='text/javascript' src='linkedlist.js'></script>
<script type='text/javascript' src='binarytree.js'></script>
<script type='text/javascript' src='canv.js'></script>
<script type='text/javascript' src='graph.js'></script>
<script type='text/javascript' src='traverser.js'></script>
<script type='text/javascript'>
var c = new Canv(500,500);
c.canvas.style.border = "1px solid black";
var map;
var traverser;
var n = 10;//map size
var ticktime = 100;
var brushsize = 1;
var nodes;
var you;
var step;
var end;
var blockQueue = new LinkedList("BLOCK_QUEUE");
var unblockQueue = new LinkedList("UNBLOCK_QUEUE");
var shiftDown = false;
var shouldAddSize = false;
var shouldTick = true;
var shouldClear = false;
var shouldAlterHeight = false;
var slow = true;
var hStyle = 0; var hStyleCount = 2;
function doit()
{
document.getElementById("canvas_container").appendChild(c.canvas);
nodes = constructGrid(n,n);
you = nodes[0][0];
end = nodes[0][0];
tick();
};
var constructGrid = function(size)
{
map = new Graph("Test");
var pos = [];
var tmpNode;
for(var i = 0; i < size; i++)
{
pos[i] = [];
for(var j = 0; j < size; j++)
{
tmpNode = {"x":i,"y":j,"height":0,"block":false};
map.add(tmpNode,i+"_"+j);
pos[i][j] = tmpNode;
}
}
for(var i = 0; i < size; i++)
{
for(var j = 0; j < size; j++)
{
if(i-1 >= 0)
map.connectNodeToNode(pos[i][j],pos[i-1][j]);
if(i+1 < size)
map.connectNodeToNode(pos[i][j],pos[i+1][j]);
if(j-1 >= 0)
map.connectNodeToNode(pos[i][j],pos[i][j-1]);
if(j+1 < size)
map.connectNodeToNode(pos[i][j],pos[i][j+1]);
}
}
var calculateHFromNodeToNode = function(node, goalNode) { return Math.abs(goalNode.x-node.x)+Math.abs(goalNode.y-node.y); };
var calculateGFromNodeToNode = function(nodeA, g, nodeB) { return g+1+nodeB.height; };
traverser = new AStarTraverser(map, calculateHFromNodeToNode, calculateGFromNodeToNode, "TestTraverser");
traverser.invalidatePath();
return pos;
};
var addToGrid = function(deltaN)
{
var tmpNode;
for(var i = n; i < n+deltaN; i++)
{
nodes[i] = [];
for(j = 0; j < n; j++)
{
tmpNode = {"x":i,"y":j,"height":0,"block":false};
map.add(tmpNode,i+"_"+j);
nodes[i][j] = tmpNode;
}
}
for(var i = 0; i < n; i++)
{
for(j = n; j < n+deltaN; j++)
{
tmpNode = {"x":i,"y":j,"height":0,"block":false};
map.add(tmpNode,i+"_"+j);
nodes[i][j] = tmpNode;
}
}
for(var i = n; i < n+deltaN; i++)
{
for(var j = n; j < n+deltaN; j++)
{
tmpNode = {"x":i,"y":j,"height":0,"block":false};
map.add(tmpNode,i+"_"+j);
nodes[i][j] = tmpNode;
}
}
for(var i = 0; i < n; i++)
map.connectNodeToNode(nodes[i][n-1],nodes[i][n]);
for(var j = 0; j < n; j++)
map.connectNodeToNode(nodes[n-1][j],nodes[n][j]);
for(var i = 0; i < n; i++)
{
for(j = n; j < n+deltaN; j++)
{
if(i-1 >= 0 && !nodes[i-1][j].block)
map.connectNodeToNode(nodes[i][j],nodes[i-1][j]);
if(i+1 < n+deltaN && !nodes[i+1][j].block)
map.connectNodeToNode(nodes[i][j],nodes[i+1][j]);
if(j-1 >= 0 && !nodes[i][j-1].block)
map.connectNodeToNode(nodes[i][j],nodes[i][j-1]);
if(j+1 < n+deltaN && !nodes[i][j+1].block)
map.connectNodeToNode(nodes[i][j],nodes[i][j+1]);
}
}
for(var i = n; i < n+deltaN; i++)
{
for(j = 0; j < n; j++)
{
if(i-1 >= 0 && !nodes[i-1][j].block)
map.connectNodeToNode(nodes[i][j],nodes[i-1][j]);
if(i+1 < n+deltaN && !nodes[i+1][j].block)
map.connectNodeToNode(nodes[i][j],nodes[i+1][j]);
if(j-1 >= 0 && !nodes[i][j-1].block)
map.connectNodeToNode(nodes[i][j],nodes[i][j-1]);
if(j+1 < n+deltaN && !nodes[i][j+1].block)
map.connectNodeToNode(nodes[i][j],nodes[i][j+1]);
}
}
for(var i = n; i < n+deltaN; i++)
{
for(var j = n; j < n+deltaN; j++)
{
if(i-1 >= 0 && !nodes[i-1][j].block)
map.connectNodeToNode(nodes[i][j],nodes[i-1][j]);
if(i+1 < n+deltaN && !nodes[i+1][j].block)
map.connectNodeToNode(nodes[i][j],nodes[i+1][j]);
if(j-1 >= 0 && !nodes[i][j-1].block)
map.connectNodeToNode(nodes[i][j],nodes[i][j-1]);
if(j+1 < n+deltaN && !nodes[i][j+1].block)
map.connectNodeToNode(nodes[i][j],nodes[i][j+1]);
}
}
n += deltaN;
traverser.invalidatePath();
};
function tick()
{
dequeueBlocks();
dequeueUnblocks();
if(shouldAddSize) addToGrid(1);
shouldAddSize = false;
if(shouldClear)
{
for(var i = 0; i < n; i++)
for(var j = 0; j < n; j++)
unblockNode(i,j);
}
shouldClear = false;
if(shouldAlterHeight)
{
traverser.invalidatePath();
switch(hStyle)
{
case 0: //no height
for(var i = 0; i < n; i++)
{
for(var j = 0; j < n; j++)
{
nodes[i][j].height = 0;
}
}
break;
case 1: //random
for(var i = 0; i < n; i++)
{
for(var j = 0; j < n; j++)
{
nodes[i][j].height = Math.floor(Math.random()*100);
}
}
break;
}
}
shouldAlterHeight = false;
while(you == end) setRandomEnd();
if(shouldTick) step = traverser.getBestNextStep(you,end);
if(shouldTick && step) you = step;
draw();
if(slow)
setTimeout(tick, ticktime);
else
setTimeout(tick, 1);
};
function draw()
{
for(var i = 0; i < n; i++)
{
for(var j = 0; j < n; j++)
{
var darkness = nodes[i][j].height;
var r = darkness;
var g = darkness;
var b = darkness;
//COLOR
if(nodes[i][j] == you) { r = 255; g = 0; b = 0; }
else if(nodes[i][j] == end){ r = 0; g = 255; b = 0; }
else if(nodes[i][j].block) { r = 255; g = 255; b = 255; }
c.context.fillStyle = "rgba("+r+","+g+","+b+",1)";
c.context.fillRect((i/n)*c.canvas.width,(j/n)*c.canvas.height,(1/n)*c.canvas.width,(1/n)*c.canvas.height);
}
}
};
function setRandomEnd()
{
rx = Math.floor(Math.random()*n);
ry = Math.floor(Math.random()*n);
while(nodes[rx][ry].block == true)
{
rx = Math.floor(Math.random()*n);
ry = Math.floor(Math.random()*n);
}
end = nodes[rx][ry];
};
// WALL INPUT HANDLING
function addToBlockQueue(e)
{
blockQueue.add({"x":e.clientX-c.canvas.offsetLeft,"y":e.clientY-c.canvas.offsetTop});
};
function addToUnblockQueue(e)
{
unblockQueue.add({"x":e.clientX-c.canvas.offsetLeft,"y":e.clientY-c.canvas.offsetTop});
};
function recordClicks(e)
{
if(!shiftDown)
{
window.addEventListener('mousemove', addToBlockQueue, false);
addToBlockQueue(e);
}
else if(shiftDown)
{
window.addEventListener('mousemove', addToUnblockQueue, false);
addToUnblockQueue(e);
e.stopPropagation();
}
};
function stopRecordingClicks(e)
{
if(!shiftDown)
window.removeEventListener('mousemove', addToBlockQueue, false);
else if(shiftDown)
{
window.removeEventListener('mousemove', addToUnblockQueue, false);
e.stopPropagation();
}
};
function blockNode(x,y)
{
if(!(x >= 0 && x < n && y >= 0 && y < n &&
nodes[x][y] != you && nodes[x][y] != end &&
!nodes[x][y].block)) return;
if(x-1 >= 0)
map.disconnectNodeToNode(nodes[x-1][y],nodes[x][y]);
if(x+1 < n)
map.disconnectNodeToNode(nodes[x+1][y],nodes[x][y]);
if(y-1 >= 0)
map.disconnectNodeToNode(nodes[x][y-1],nodes[x][y]);
if(y+1 < n)
map.disconnectNodeToNode(nodes[x][y+1],nodes[x][y]);
nodes[x][y].block = true;
};
function dequeueBlocks()
{
var pt;
while(pt = blockQueue.firstMember())
{
var x = Math.floor((pt.x/c.canvas.width)*n);
var y = Math.floor((pt.y/c.canvas.width)*n);
blockNode(x,y);
if(brushsize > 1)
{
blockNode(x-1,y);
blockNode(x,y-1);
blockNode(x-1,y-1);
}
blockQueue.remove(pt);
}
};
function unblockNode(x,y)
{
if(!(x >= 0 && x < n && y >= 0 && y < n &&
nodes[x][y] != you && nodes[x][y] != end &&
nodes[x][y].block)) return;
if(x-1 >= 0)
map.connectNodeToNode(nodes[x-1][y],nodes[x][y]);
if(x+1 < n)
map.connectNodeToNode(nodes[x+1][y],nodes[x][y]);
if(y-1 >= 0)
map.connectNodeToNode(nodes[x][y-1],nodes[x][y]);
if(y+1 < n)
map.connectNodeToNode(nodes[x][y+1],nodes[x][y]);
nodes[x][y].block = false;
};
function dequeueUnblocks()
{
var pt;
while(pt = unblockQueue.firstMember())
{
var x = Math.floor((pt.x/c.canvas.width)*n);
var y = Math.floor((pt.y/c.canvas.width)*n);
unblockNode(x,y);
if(brushsize > 1)
{
unblockNode(x-1,y);
unblockNode(x,y-1);
unblockNode(x-1,y-1);
}
unblockQueue.remove(pt);
}
};
function downKey(e)
{
switch(e.keyCode)
{
case 16: //shift
shiftDown = true;
break;
case 32: //space
shouldTick = !shouldTick;
break;
case 72: //h
hStyle = (hStyle+1)%hStyleCount;
shouldAlterHeight = true;
break;
case 86: //v
vStyle = (vStyle+1)%vStyleCount;
break;
case 73: //i
shouldAddSize = true;
break;
case 66: //b
if(brushsize == 1) brushsize = 2;
else if(brushsize == 2) brushsize = 1;
break;
case 67: //c
shouldClear = true;
break;
case 83: //s
slow = !slow;
break;
};
};
function upKey(e)
{
if(e.keyCode == 16) shiftDown = false;
};
document.addEventListener('mousedown', recordClicks, false);
document.addEventListener('mouseup', stopRecordingClicks, false);
document.addEventListener('keydown', downKey, false);
document.addEventListener('keyup', upKey, false);
window.addEventListener('load',doit,false);
</script>
</head>
<body >
<div id="canvas_container">
</div>
<div>
spacebar = stop/start; <br />
click and drag = draw walls; <br />
shift + click and drag = remove walls; <br />
(c)lear = clear walls; <br />
(b)rush = toggle brush size; <br />
(h)eight = toggle height map; <br />
(i)ncrement = make map bigger (warning for slow cpu's); <br />
(s)peed = toggle the traversal speed (slow to see path, fast to see how quickly path can be calculated)<br />
<br />
NOTE- This algorithm is NOT ideal for grid shaped graphs. For that, look into JPS (Jump Point Search). I am simply using a grid to show arbitrarily large/complex graphs.
</div>
</body>
</html>