func showGrid() {
cols, rows := termbox.Size()
a := astar.NewAStar(rows, cols)
seed := time.Now().UnixNano()
r := rand.New(rand.NewSource(seed))
termbox.Clear(termbox.ColorDefault, termbox.ColorDefault)
source := astar.Point{Col: r.Intn(cols), Row: r.Intn(rows)}
target := astar.Point{Col: r.Intn(cols), Row: r.Intn(rows)}
for i := 0; i < 400; i++ {
wall := astar.Point{Col: r.Intn(cols), Row: r.Intn(rows)}
a.FillTile(wall, -1)
termbox.SetCell(wall.Col, wall.Row, '#', termbox.ColorDefault, termbox.ColorDefault)
}
path := a.FindPath(astar.NewPointToPoint(), []astar.Point{source}, []astar.Point{target})
for path != nil {
path = path.Parent
termbox.SetCell(path.Col, path.Row, '.', termbox.ColorDefault, termbox.ColorDefault)
path = nil //path.Parent
}
termbox.SetCell(source.Col, source.Row, 's', termbox.ColorDefault, termbox.ColorDefault)
termbox.SetCell(target.Col, target.Row, 't', termbox.ColorDefault, termbox.ColorDefault)
termbox.Flush()
termbox.PollEvent()
}
func main() {
var start_t int64
var end_t int64
var seed int64 = 0
// Setup the aStar structs
ast := astar.NewAStar(50, 50)
p2p := astar.NewPointToPoint()
p2l := astar.NewListToPoint(true)
// Generate a random map
grid, source, target, me := GenerateRandomMap(ast, seed, 50, 600, 24, 100000)
PrintGrid(grid)
// Route from source to target (point to point)
start_t = time.Now().UnixNano()
end := ast.FindPath(p2p, source, target)
end_t = time.Now().UnixNano()
first_path_t := float64(end_t-start_t) / float64(time.Millisecond)
DrawPath(grid, end, "*")
PrintGrid(grid)
// record path as array so it can be used in the next search
p := end
path := make([]astar.Point, 0)
for p != nil {
path = append(path, p.Point)
p = p.Parent
}
start_t = time.Now().UnixNano()
end = ast.FindPath(p2l, path, me)
end_t = time.Now().UnixNano()
second_path_t := float64(end_t-start_t) / float64(time.Millisecond)
DrawPath(grid, end, ".")
PrintGrid(grid)
fmt.Println("me", me)
fmt.Println("end", end)
fmt.Println("end_grid", grid[end.Row][end.Col])
fmt.Println(first_path_t)
fmt.Println(second_path_t)
}