func (p *Path) RouteTo(source Loc) *Path {
astar_source := []astar.Point{
astar.Point{
Row: int(source.Row - p.row_off),
Col: int(source.Col - p.col_off),
},
}
path := p.aStar.FindPath(astar.NewListToPoint(true), p.astar_path, astar_source)
return NewPath(p.aStar, path, p.row_off, p.col_off)
}
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)
}