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Author SHA1 Message Date
Elias Fleckenstein c077ef30fe
3D Support 2021-11-28 18:38:39 +01:00
wesley b444e278fc
Update build badge to travis-ci.com 2021-07-26 07:38:03 +10:00
wesley 1efbbbed99
Merge pull request #1 from NickFlexer/exclude_diagonal_moving 
added option to disable diagonal movement
 2021-07-26 07:18:50 +10:00
NickFlexer fedc1dc38c added option to disable diagonal movement 2021-05-24 14:52:20 +03:00
Wesley 281bc15b67 Add example animation. 2018-10-27 10:29:13 +02:00
6 changed files with 198 additions and 121 deletions
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10
README.md
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@ -1,8 +1,10 @@
# lua-star
[![Build Status](https://travis-ci.org/wesleywerner/lua-star.svg?branch=master)](https://travis-ci.org/wesleywerner/lua-star) Lua-star is a pure Lua A* path-finding library.
[![Build Status](https://www.travis-ci.com/wesleywerner/lua-star.svg?branch=master)](https://www.travis-ci.com/wesleywerner/lua-star)
![lua star example screenshot](example/lua-star-01.png)
Lua-star is a pure Lua A* path-finding library.
![lua star example screenshot](example/example.gif)
# Quick Start
@ -15,7 +17,7 @@ Easy to use, it will make you more attractive and you feel sensual doing so.
return mymap[x][y] == walkable
end
local path = luastar:find(width, height, start, goal, positionIsOpenFunc, useCache)
local path = luastar:find(width, height, start, goal, positionIsOpenFunc, useCache, excludeDiagonalMoving)
`path` will be false if no path was found, otherwise it contains a list of points that travel from `start` to `goal`:
@ -42,6 +44,8 @@ If at any time you need to clear all cached paths:
luastar:clearCached()
`excludeDiagonalMoving` also optional value defaults to `false`. If you want to exclude the possibility of moving diagonally set the value `true`. i.e, by default, diagonal movement is **enabled**
# Requirements
* [Lua 5.x](http://www.lua.org/)

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example/example.gif Normal file
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17
example/main.lua
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@ -29,6 +29,9 @@ local hoveredTile
local largeFont = love.graphics.newFont (30)
local smallFont = love.graphics.newFont (10)
-- save a screenshot
local saveScreenshot = false
function randomizeMap ()
-- build an open map
@ -41,10 +44,10 @@ function randomizeMap ()
-- add random walls
math.randomseed (os.clock ())
for i = 1, 25 do
for i = 1, 45 do
-- start point
local x = math.random (2, mapsize-2)
local y = math.random (2, mapsize-2)
local x = math.random (1, mapsize-2)
local y = math.random (1, mapsize-2)
-- vertical or horizontal
if math.random() > .5 then
for n = 1, 5 do
@ -58,6 +61,7 @@ function randomizeMap ()
end
requestPath()
--saveScreenshot = true
end
@ -107,6 +111,13 @@ function love.draw ()
love.graphics.print("*", (start.x-1) * tilesize, (start.y-1) * tilesize)
love.graphics.print("*", (goal.x-1) * tilesize, (goal.y-1) * tilesize)
if saveScreenshot then
saveScreenshot = false
local filename = string.format("screenshot-%d.png", os.time())
love.graphics.captureScreenshot(filename)
print (string.format("written %s", filename))
end
end
function love.mousemoved (x, y, dx, dy, istouch)

55
src/lua-star.lua
View File

@ -26,7 +26,7 @@ end
-- (Internal) Returns a unique key for the start and end points.
local function keyOf(start, goal)
return string.format("%d,%d>%d,%d", start.x, start.y, goal.x, goal.y)
return string.format("%d,%d,%d>%d,%d,%d", start.x, start.y, start.z, goal.x, goal.y, goal.z)
end
-- (Internal) Returns the cached path for start and end points.
@ -47,10 +47,11 @@ end
-- (Internal) Return the distance between two points.
-- This method doesn't bother getting the square root of s, it is faster
-- and it still works for our use.
local function distance(x1, y1, x2, y2)
local function distance(x1, y1, z1, x2, y2, z2)
local dx = x1 - x2
local dy = y1 - y2
local s = dx * dx + dy * dy
local dz = z1 - z2
local s = dx * dx + dy * dy + dz * dz
return s
end
@ -66,7 +67,7 @@ end
local function calculateScore(previous, node, goal)
local G = previous.score + 1
local H = distance(node.x, node.y, goal.x, goal.y)
local H = distance(node.x, node.y, node.z, goal.x, goal.y, goal.z)
return G + H, G, H
end
@ -74,7 +75,7 @@ end
-- (Internal) Returns true if the given list contains the specified item.
local function listContains(list, item)
for _, test in ipairs(list) do
if test.x == item.x and test.y == item.y then
if test.x == item.x and test.y == item.y and test.z == item.z then
return true
end
end
@ -84,35 +85,39 @@ end
-- (Internal) Returns the item in the given list.
local function listItem(list, item)
for _, test in ipairs(list) do
if test.x == item.x and test.y == item.y then
if test.x == item.x and test.y == item.y and test.z == item.z then
return test
end
end
end
-- (Internal) Requests adjacent map values around the given node.
local function getAdjacent(width, height, node, positionIsOpenFunc)
local function getAdjacent(width, height, depth, node, positionIsOpenFunc, includeDiagonals)
local result = { }
local positions = {
{ x = 0, y = -1 }, -- top
{ x = -1, y = 0 }, -- left
{ x = 0, y = 1 }, -- bottom
{ x = 1, y = 0 }, -- right
-- include diagonal movements
{ x = -1, y = -1 }, -- top left
{ x = 1, y = -1 }, -- top right
{ x = -1, y = 1 }, -- bot left
{ x = 1, y = 1 }, -- bot right
}
local positions = {}
for x = -1, 1 do
for y = -1, 1 do
for z = -1, 1 do
local a = math.abs(x) + math.abs(y) + math.abs(z)
if a ~= 0 and includeDiagonals or a == 1 then
table.insert(positions, {x = x, y = y, z = z})
end
end
end
end
for _, point in ipairs(positions) do
local px = clamp(node.x + point.x, 1, width)
local py = clamp(node.y + point.y, 1, height)
local value = positionIsOpenFunc( px, py )
local pz = clamp(node.z + point.z, 1, depth)
local value = positionIsOpenFunc( px, py, pz )
if value then
table.insert( result, { x = px, y = py } )
table.insert( result, { x = px, y = py, z = pz } )
end
end
@ -121,7 +126,7 @@ local function getAdjacent(width, height, node, positionIsOpenFunc)
end
-- Returns the path from start to goal, or false if no path exists.
function module:find(width, height, start, goal, positionIsOpenFunc, useCache)
function module:find(width, height, depth, start, goal, positionIsOpenFunc, useCache, excludeDiagonalMoving)
if useCache then
local cachedPath = getCached(start, goal)
@ -136,8 +141,8 @@ function module:find(width, height, start, goal, positionIsOpenFunc, useCache)
start.score = 0
start.G = 0
start.H = distance(start.x, start.y, goal.x, goal.y)
start.parent = { x = 0, y = 0 }
start.H = distance(start.x, start.y, start.z, goal.x, goal.y, goal.z)
start.parent = { x = 0, y = 0, z = 0 }
table.insert(open, start)
while not success and #open > 0 do
@ -153,7 +158,7 @@ function module:find(width, height, start, goal, positionIsOpenFunc, useCache)
if not success then
local adjacentList = getAdjacent(width, height, current, positionIsOpenFunc)
local adjacentList = getAdjacent(width, height, depth, current, positionIsOpenFunc, not excludeDiagonalMoving)
for _, adjacent in ipairs(adjacentList) do
@ -185,7 +190,7 @@ function module:find(width, height, start, goal, positionIsOpenFunc, useCache)
while node do
table.insert(path, 1, { x = node.x, y = node.y } )
table.insert(path, 1, { x = node.x, y = node.y, z = node.z } )
node = listItem(closed, node.parent)
end

210
tests/lua-star_spec.lua
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@ -2,8 +2,8 @@ describe("Lua star", function()
-- start is always top left (1,1)
-- goal is always bottom right (10, 10)
local start = { x = 1, y = 1 }
local goal = { x = 10, y = 10 }
local start = { x = 1, y = 1, z = 1 }
local goal = { x = 10, y = 10, z = 1 }
local map = nil
-- define some test maps (10 x 10)
@ -22,16 +22,16 @@ describe("Lua star", function()
]]
local openmapSolution = {
{ x = 1, y = 1 },
{ x = 2, y = 2 },
{ x = 3, y = 3 },
{ x = 4, y = 4 },
{ x = 5, y = 5 },
{ x = 6, y = 6 },
{ x = 7, y = 7 },
{ x = 8, y = 8 },
{ x = 9, y = 9 },
{ x = 10, y = 10 },
{ x = 1, y = 1, z = 1 },
{ x = 2, y = 2, z = 1 },
{ x = 3, y = 3, z = 1 },
{ x = 4, y = 4, z = 1 },
{ x = 5, y = 5, z = 1 },
{ x = 6, y = 6, z = 1 },
{ x = 7, y = 7, z = 1 },
{ x = 8, y = 8, z = 1 },
{ x = 9, y = 9, z = 1 },
{ x = 10, y = 10, z = 1 },
}
local simplemap = [[
@ -48,23 +48,45 @@ describe("Lua star", function()
]]
local simplemapSolution = {
{ x = 1, y = 1 },
{ x = 2, y = 2 },
{ x = 3, y = 3 },
{ x = 4, y = 4 },
{ x = 4, y = 5 },
{ x = 3, y = 6 },
{ x = 2, y = 7 },
{ x = 1, y = 8 },
{ x = 2, y = 9 },
{ x = 3, y = 10 },
{ x = 4, y = 10 },
{ x = 5, y = 10 },
{ x = 6, y = 10 },
{ x = 7, y = 10 },
{ x = 8, y = 10 },
{ x = 9, y = 10 },
{ x = 10, y = 10 },
{ x = 1, y = 1, z = 1 },
{ x = 2, y = 2, z = 1 },
{ x = 3, y = 3, z = 1 },
{ x = 4, y = 4, z = 1 },
{ x = 4, y = 5, z = 1 },
{ x = 3, y = 6, z = 1 },
{ x = 2, y = 7, z = 1 },
{ x = 1, y = 8, z = 1 },
{ x = 2, y = 9, z = 1 },
{ x = 3, y = 10, z = 1 },
{ x = 4, y = 10, z = 1 },
{ x = 5, y = 10, z = 1 },
{ x = 6, y = 10, z = 1 },
{ x = 7, y = 10, z = 1 },
{ x = 8, y = 10, z = 1 },
{ x = 9, y = 10, z = 1 },
{ x = 10, y = 10, z = 1 },
}
local simplemapDiagonalSolution = {
{ x = 1, y = 1, z = 1 },
{ x = 1, y = 2, z = 1 },
{ x = 1, y = 3, z = 1 },
{ x = 1, y = 4, z = 1 },
{ x = 1, y = 5, z = 1 },
{ x = 1, y = 6, z = 1 },
{ x = 1, y = 7, z = 1 },
{ x = 1, y = 8, z = 1 },
{ x = 1, y = 9, z = 1 },
{ x = 2, y = 9, z = 1 },
{ x = 3, y = 9, z = 1 },
{ x = 4, y = 9, z = 1 },
{ x = 5, y = 9, z = 1 },
{ x = 6, y = 9, z = 1 },
{ x = 7, y = 9, z = 1 },
{ x = 8, y = 9, z = 1 },
{ x = 9, y = 9, z = 1 },
{ x = 9, y = 10, z = 1 },
{ x = 10, y = 10, z = 1 },
}
local complexmap = [[
@ -81,44 +103,44 @@ describe("Lua star", function()
]]
local complexmapSolution = {
{ x = 1, y = 1 },
{ x = 2, y = 1 },
{ x = 3, y = 1 },
{ x = 4, y = 1 },
{ x = 5, y = 1 },
{ x = 6, y = 1 },
{ x = 7, y = 1 },
{ x = 8, y = 1 },
{ x = 9, y = 1 },
{ x = 10, y = 2 },
{ x = 9, y = 3 },
{ x = 8, y = 3 },
{ x = 7, y = 3 },
{ x = 6, y = 3 },
{ x = 5, y = 3 },
{ x = 4, y = 3 },
{ x = 3, y = 3 },
{ x = 2, y = 3 },
{ x = 1, y = 4 },
{ x = 1, y = 5 },
{ x = 1, y = 6 },
{ x = 2, y = 7 },
{ x = 3, y = 6 },
{ x = 4, y = 5 },
{ x = 5, y = 6 },
{ x = 5, y = 7 },
{ x = 5, y = 8 },
{ x = 6, y = 9 },
{ x = 7, y = 9 },
{ x = 8, y = 8 },
{ x = 7, y = 7 },
{ x = 7, y = 6 },
{ x = 8, y = 5 },
{ x = 9, y = 6 },
{ x = 10, y = 7 },
{ x = 10, y = 8 },
{ x = 10, y = 9 },
{ x = 10, y = 10 },
{ x = 1, y = 1, z = 1 },
{ x = 2, y = 1, z = 1 },
{ x = 3, y = 1, z = 1 },
{ x = 4, y = 1, z = 1 },
{ x = 5, y = 1, z = 1 },
{ x = 6, y = 1, z = 1 },
{ x = 7, y = 1, z = 1 },
{ x = 8, y = 1, z = 1 },
{ x = 9, y = 1, z = 1 },
{ x = 10, y = 2, z = 1 },
{ x = 9, y = 3, z = 1 },
{ x = 8, y = 3, z = 1 },
{ x = 7, y = 3, z = 1 },
{ x = 6, y = 3, z = 1 },
{ x = 5, y = 3, z = 1 },
{ x = 4, y = 3, z = 1 },
{ x = 3, y = 3, z = 1 },
{ x = 2, y = 3, z = 1 },
{ x = 1, y = 4, z = 1 },
{ x = 1, y = 5, z = 1 },
{ x = 1, y = 6, z = 1 },
{ x = 2, y = 7, z = 1 },
{ x = 3, y = 6, z = 1 },
{ x = 4, y = 5, z = 1 },
{ x = 5, y = 6, z = 1 },
{ x = 5, y = 7, z = 1 },
{ x = 5, y = 8, z = 1 },
{ x = 6, y = 9, z = 1 },
{ x = 7, y = 9, z = 1 },
{ x = 8, y = 8, z = 1 },
{ x = 7, y = 7, z = 1 },
{ x = 7, y = 6, z = 1 },
{ x = 8, y = 5, z = 1 },
{ x = 9, y = 6, z = 1 },
{ x = 10, y = 7, z = 1 },
{ x = 10, y = 8, z = 1 },
{ x = 10, y = 9, z = 1 },
{ x = 10, y = 10, z = 1 },
}
local unsolvablemap = [[
@ -145,8 +167,8 @@ describe("Lua star", function()
end
-- get the value at position xy on a map
local function mapTileIsOpen(x, y)
return map[ ((y-1) * 10) + x ] == "0"
local function mapTileIsOpen(x, y, z)
return z == 1 and map[ ((y-1) * 10) + x ] == "0"
end
local function printSolution(path)
@ -178,7 +200,7 @@ describe("Lua star", function()
local luastar = require("lua-star")
makemap(openmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen)
--printSolution(path)
assert.are.equal(10, #path)
assert.are.same(openmapSolution, path)
@ -189,18 +211,30 @@ describe("Lua star", function()
local luastar = require("lua-star")
makemap(simplemap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen)
--printSolution(path)
assert.are.equal(17, #path)
assert.are.same(simplemapSolution, path)
end)
it("find a path on a simple map without diagonam movement", function ()
local luastar = require("lua-star")
local excludeDiagonals = true
makemap(simplemap)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen, false, excludeDiagonals)
--printSolution(path)
assert.are.equal(19, #path)
assert.are.same(simplemapDiagonalSolution, path)
end)
it("find a path on a complex map", function()
local luastar = require("lua-star")
makemap(complexmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen)
--printSolution(path)
assert.are.equal(38, #path)
assert.are.same(complexmapSolution, path)
@ -211,7 +245,27 @@ describe("Lua star", function()
local luastar = require("lua-star")
makemap(unsolvablemap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen)
assert.is_false(path)
end)
it("find no diagonal path", function()
local luastar = require("lua-star")
local excludeDiagonals = true
makemap(unsolvablemap)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen, false, excludeDiagonals)
assert.is_false(path)
end)
it("find no diagonal path on a complex map", function()
local luastar = require("lua-star")
local excludeDiagonals = true
makemap(complexmap)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen, false, excludeDiagonals)
assert.is_false(path)
end)
@ -220,8 +274,8 @@ describe("Lua star", function()
local luastar = require("lua-star")
makemap(openmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
local samepath = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen)
local samepath = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen)
assert.is_not.equal(path, samepath)
end)
@ -230,8 +284,8 @@ describe("Lua star", function()
local luastar = require("lua-star")
makemap(openmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, true)
local samepath = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, true)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen, true)
local samepath = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen, true)
assert.are.equal(path, samepath)
end)
@ -240,7 +294,7 @@ describe("Lua star", function()
local luastar = require("lua-star")
makemap(openmap)
local path = luastar:find(mapsize, mapsize, start, goal, mapTileIsOpen, true)
local path = luastar:find(mapsize, mapsize, 1, start, goal, mapTileIsOpen, true)
luastar:clearCached()
assert.is_nil(luastar.cache)

27
tests/performance.lua
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@ -10,39 +10,42 @@
local luastar = require("lua-star")
local map = { }
local mapsize = 3000
local numberOfTests = 1000
local mapDensity = 0.65
local mapsize = 20
local numberOfTests = 1
local mapDensity = 0.1
local seed = os.time()
math.randomseed(seed)
print (string.format("Running with seed %d", seed))
print (string.format("Building a map of %dx%d...", mapsize, mapsize))
print (string.format("Building a map of %dx%dx%d...", mapsize, mapsize, mapsize))
for x=1, mapsize do
map[x] = {}
for y=1, mapsize do
map[x][y] = math.random()
map[x][y] = {}
for z=1, mapsize do
map[x][y][z] = math.random()
end
end
end
-- precalculate a bunch of start and goal positions
-- doubled up for each start/goal pair
print (string.format("Precalculating %d random start/goal positions...", mapsize * 2))
print (string.format("Precalculating %d random start/goal positions...", numberOfTests * 2))
local testPoints = { }
for i = 1, mapsize * 2 do
table.insert (testPoints, { x = math.random(1, mapsize), y = math.random(1, mapsize)})
for i = 1, numberOfTests * 2 do
table.insert (testPoints, { x = math.random(1, mapsize), y = math.random(1, mapsize), z = math.random(1, mapsize)})
end
print (string.format("Finding %d paths...", numberOfTests))
function positionIsOpenFunc(x, y)
return map[x][y] > mapDensity
function positionIsOpenFunc(x, y, z)
return map[x][y][z] > mapDensity
end
local testStart = os.clock()
for testNumber = 1, numberOfTests do
luastar:find(
mapsize, mapsize, -- map size
mapsize, mapsize, mapsize, -- map size
table.remove (testPoints), -- start
table.remove (testPoints), -- goal
positionIsOpenFunc)
@ -58,6 +61,6 @@ print (string.format([[
totalSec, -- total seconds
pathSec, -- seconds per path
pathSec*1000, -- milliseconds per path
(mapsize*mapsize)/1000000, -- number of locations
(mapsize*mapsize*mapsize)/1000000, -- number of locations
mapDensity*100 -- % open space on the map
))