🚀 add test for path to pose + fix path to pose

packages/compute/__tests__/getPathToPose.spec.ts

@@ -0,0 +1,19 @@
+import { createSnakeFromCells } from "@snk/types/snake";
+import { getPathToPose } from "../getPathToPose";
+
+it("should fing path to pose", () => {
+  const snake0 = createSnakeFromCells([
+    { x: 0, y: 0 },
+    { x: 1, y: 0 },
+    { x: 2, y: 0 },
+  ]);
+  const target = createSnakeFromCells([
+    { x: 1, y: 0 },
+    { x: 2, y: 0 },
+    { x: 3, y: 0 },
+  ]);
+
+  const path = getPathToPose(snake0, target);
+
+  expect(path).toBeDefined();
+});

packages/compute/getPathToPose.ts

@@ -24,6 +24,8 @@ const isEmptySafe = (grid: Grid, x: number, y: number) =>
 
 type M = { snake: Snake; parent: M | null; w: number; f: number };
 export const getPathToPose = (snake0: Snake, target: Snake, grid?: Grid) => {
+  if (snakeEquals(snake0, target)) return [];
+
   const targetCells = snakeToCells(target).reverse();
 
   const snakeN = getSnakeLength(snake0);
@@ -38,7 +40,9 @@ export const getPathToPose = (snake0: Snake, target: Snake, grid?: Grid) => {
     },
   };
 
-  const [t0] = targetCells;
+  const [t0, ...forbidden] = targetCells;
+
+  forbidden.slice(0, 3);
 
   const openList: M[] = [{ snake: snake0, w: 0 } as any];
   const closeList: Snake[] = [];
@@ -76,7 +80,8 @@ export const getPathToPose = (snake0: Snake, target: Snake, grid?: Grid) => {
           : box.min.x <= nx &&
             nx <= box.max.x &&
             box.min.y <= ny &&
-            ny <= box.max.y)
+            ny <= box.max.y) &&
+        !forbidden.some((p) => p.x === nx && p.y === ny)
       ) {
         const snake = nextSnake(o.snake, dx, dy);
 

packages/demo/demo.getPathToPose.ts

@@ -0,0 +1,41 @@
+import "./menu";
+import { createCanvas } from "./canvas";
+import { createSnakeFromCells, snakeToCells } from "@snk/types/snake";
+import { grid, snake } from "./sample";
+import { getPathToPose } from "@snk/compute/getPathToPose";
+
+const { canvas, ctx, draw, highlightCell } = createCanvas(grid);
+canvas.style.pointerEvents = "auto";
+
+const target = createSnakeFromCells(
+  snakeToCells(snake).map((p) => ({ ...p, x: p.x - 1 }))
+);
+
+let chain = [snake, ...getPathToPose(snake, target)!];
+
+let i = 0;
+const onChange = () => {
+  ctx.clearRect(0, 0, 9999, 9999);
+
+  draw(grid, chain[i], []);
+  chain
+    .map(snakeToCells)
+    .flat()
+    .forEach(({ x, y }) => highlightCell(x, y));
+};
+
+onChange();
+
+const inputI = document.createElement("input") as any;
+inputI.type = "range";
+inputI.value = 0;
+inputI.max = chain ? chain.length - 1 : 0;
+inputI.step = 1;
+inputI.min = 0;
+inputI.style.width = "90%";
+inputI.style.padding = "20px 0";
+inputI.addEventListener("input", () => {
+  i = +inputI.value;
+  onChange();
+});
+document.body.append(inputI);

packages/demo/demo.json

@@ -1 +1,9 @@
-["interactive", "getBestTunnel", "getBestRoute", "outside", "getPathTo", "svg"]
+[
+  "interactive",
+  "getBestTunnel",
+  "getBestRoute",
+  "outside",
+  "getPathToPose",
+  "getPathTo",
+  "svg"
+]