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astar.html
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astar.html
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<DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="theme-color" content="#1295F1" />
<meta charset="utf-8">
<title>A* pathfinding</title>
</head>
<body>
<canvas id="graph" width="500" height="500" style="border: 1px solid #D3D3D3;"></canvas>
<br>Show nodegraph: <input type="checkbox" id="showNodes" onclick="toggleNodes()">
Show closed list: <input type="checkbox" id="showClosed" onclick="toggleClosed()">
Visualize heuristic: <input type="checkbox" id="showHeuristic" onclick="toggleHeuristic()">
<div id="log"></div>
<script type="text/javascript" src="binaryheap.js"></script>
<script type="text/javascript" src="vector.js"></script>
<script type="text/javascript" src="map.js"></script>
<script type="text/javascript" src="nodegraph.js"></script>
<script type="text/javascript" src="astar.js"></script>
<script type="text/javascript">
var canvas = document.getElementById("graph");
var log = document.getElementById("log");
var ctx = canvas.getContext("2d");
var nodesBox = document.getElementById("showNodes");
var closedBox = document.getElementById("showClosed");
var heuristicBox = document.getElementById("showHeuristic");
var map = new Map();
var astar = new AStar();
var nodegraph = new NodeGraph(map, canvas.width, canvas.height);
var showNodes = nodesBox.checked;
var showClosed = closedBox.checked;
var showHeuristic = heuristicBox.checked;
// Walls
var obstacle = new Obstacle(new Vector2(150, 150), new Vector2(300, 10));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(150, 150), new Vector2(10, 200));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(200, 300), new Vector2(10, 200));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(250, 100), new Vector2(10, 50));
map.addObstacle(obstacle);
// Big Boxes
var obstacle = new Obstacle(new Vector2(20, 50), new Vector2(50, 50));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(50, 130), new Vector2(50, 50));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(150, 40), new Vector2(50, 50));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(350, 80), new Vector2(50, 50));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(200, 200), new Vector2(50, 50));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(250, 250), new Vector2(50, 50));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(306, 306), new Vector2(50, 50));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(376, 270), new Vector2(50, 50));
map.addObstacle(obstacle);
// Small boxes
var obstacle = new Obstacle(new Vector2(80, 280), new Vector2(25, 25));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(120, 390), new Vector2(25, 25));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(30, 330), new Vector2(25, 25));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(40, 220), new Vector2(25, 25));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(306, 386), new Vector2(25, 25));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(226, 316), new Vector2(25, 25));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(286, 200), new Vector2(25, 25));
map.addObstacle(obstacle);
var obstacle = new Obstacle(new Vector2(356, 200), new Vector2(25, 50));
map.addObstacle(obstacle);
var graphTime = window.performance.now(); // Benchmarking
nodegraph.generate();
nodegraph.trim(); // Could be a lot better
graphTime = window.performance.now() - graphTime;
var mouseNode = new GraphNode(0, 0);
var targetNode = nodegraph.nodes[0];
function updateMap(x, y) {
log.innerHTML = "";
mouseNode.x = x;
mouseNode.y = y;
nodegraph.connectNeighbors(mouseNode);
var pathTime = window.performance.now(); // Benchmarking
var path = astar.compute(mouseNode, targetNode);
pathTime = window.performance.now() - pathTime;
var drawTime = window.performance.now(); // Benchmarking
if (path.length > 0) {
ctx.clearRect(0, 0, canvas.width, canvas.height);
map.drawObstacles(ctx);
if (showNodes) {
nodegraph.drawNodes();
}
// Show closed set
if (showClosed) {
for (i in astar.closedSet) {
if (astar.closedSet[i].parent) {
ctx.beginPath();
ctx.moveTo(astar.closedSet[i].x, astar.closedSet[i].y);
ctx.lineTo(astar.closedSet[i].parent.x, astar.closedSet[i].parent.y);
ctx.strokeStyle = "#0000FF";
ctx.lineWidth = 1;
ctx.stroke();
}
ctx.beginPath();
ctx.fillStyle = "#0000FF";
ctx.fillRect(astar.closedSet[i].x - 3, astar.closedSet[i].y - 3, 6, 6);
ctx.stroke();
}
}
// Show heuristic
if (showHeuristic) {
for (i in path) {
ctx.beginPath();
ctx.moveTo(path[i].x, path[i].y);
ctx.lineTo(path[path.length - 1].x, path[path.length - 1].y);
ctx.strokeStyle = "#FF00FF";
ctx.lineWidth = 1;
ctx.stroke();
}
}
// Draw path line
ctx.beginPath();
ctx.moveTo(mouseNode.x, mouseNode.y);
for (i in path) {
ctx.lineTo(path[i].x, path[i].y);
}
ctx.strokeStyle = "#FF0000";
ctx.lineWidth = 6;
ctx.stroke();
// Draw path nodes
for (i in path) {
ctx.beginPath();
ctx.fillStyle = "#990000";
ctx.fillRect(path[i].x - 3, path[i].y - 3, 6, 6);
ctx.stroke();
}
}
drawTime = window.performance.now() - drawTime;
log.innerHTML += "Nodegraph generation time: " + graphTime + "ms";
log.innerHTML += "<br>Total nodes: " + (nodegraph.nodes.length + 1);
log.innerHTML += "<br>Drawing time: " + drawTime + "ms";
log.innerHTML += "<br>Pathfinding time: " + pathTime + "ms";
if (path.length > 0) {
log.innerHTML += "<br>Visited nodes: " + astar.closedSet.length;
log.innerHTML += "<br>Nodes in path: " + path.length;
log.innerHTML += "<br>Shortest distance: " + Math.round(targetNode.gCost * 100) / 100;
}
}
updateMap(canvas.width - 10, canvas.height - 10);
canvas.addEventListener('mousemove', (e) => {
updateMap(e.offsetX, e.offsetY);
}, true);
canvas.addEventListener('mousedown', (e) => {
var closest = null;
var lastlen = 0;
for (i in nodegraph.nodes) {
var node = nodegraph.nodes[i];
var len = node.sub(mouseNode).lengthSqr;
if (!closest || len < lastlen) {
lastlen = len;
closest = node;
}
}
if (closest) {
targetNode = closest;
updateMap(mouseNode.x, mouseNode.y);
}
}, true);
function toggleNodes() {
showNodes = nodesBox.checked;
updateMap(mouseNode.x, mouseNode.y);
}
function toggleClosed() {
showClosed = closedBox.checked;
updateMap(mouseNode.x, mouseNode.y);
}
function toggleHeuristic() {
showHeuristic = heuristicBox.checked;
updateMap(mouseNode.x, mouseNode.y);
}
</script>
</body>
</html>