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

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platane
2020-11-03 22:33:24 +01:00
parent 2d1d70a10c
commit cd458e61d3
4 changed files with 76 additions and 3 deletions
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9
packages/compute/getPathToPose.ts
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@@ -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);