import math
-from typing import List, Optional
+from typing import List, Optional, Union
+
+import numpy as np
from .diagonal_movement import DiagonalMovement
from .node import GridNode
-try:
- import numpy as np
-
- USE_NUMPY = True
-except ImportError:
- USE_NUMPY = False
+MatrixType = Optional[Union[List[List[List[int]]], np.ndarray]]
[docs]def build_nodes(
width: int,
height: int,
depth: int,
-
matrix: Optional[List] = None,
+
matrix: MatrixType = None,
inverse: bool = False,
grid_id: Optional[int] = None,
) -> List[List[List[GridNode]]]:
@@ -122,7 +143,7 @@
Source code for pathfinding3d.core.grid
The height of the grid.
depth : int
The depth of the grid.
- matrix : list, optional
+ matrix : MatrixType
A 3D array of values (numbers or objects specifying weight)
that determine how nodes are connected and if they are walkable.
If no matrix is given, all nodes will be walkable.
@@ -134,13 +155,11 @@ Source code for pathfinding3d.core.grid
Returns
-------
- list
+ List
A list of list of lists containing the nodes in the grid.
"""
nodes: List = []
- use_matrix = (isinstance(matrix, (tuple, list))) or (
- USE_NUMPY and isinstance(matrix, np.ndarray) and matrix.size > 0
- )
+ use_matrix = matrix is not None
for x in range(width):
nodes.append([])
@@ -156,11 +175,7 @@ Source code for pathfinding3d.core.grid
weight = int(matrix[x][y][z]) if use_matrix else 1
walkable = weight <= 0 if inverse else weight >= 1
- nodes[x][y].append(
- GridNode(
- x=x, y=y, z=z, walkable=walkable, weight=weight, grid_id=grid_id
- )
- )
+ nodes[x][y].append(GridNode(x=x, y=y, z=z, walkable=walkable, weight=weight, grid_id=grid_id))
return nodesSource code for pathfinding3d.core.grid
width: int = 0,
height: int = 0,
depth: int = 0,
- matrix: Optional[List] = None,
+ matrix: MatrixType = None,
grid_id: Optional[int] = None,
inverse: bool = False,
):
@@ -185,7 +200,7 @@ Source code for pathfinding3d.core.grid
The height of the grid.
depth : int, optional
The depth of the grid.
- matrix : list, optional
+ matrix : MatrixType
A 3D array of values (numbers or objects specifying weight)
that determine how nodes are connected and if they are walkable.
If no matrix is given, all nodes will be walkable.
@@ -193,21 +208,27 @@ Source code for pathfinding3d.core.grid
If true, all values in the matrix that are not 0 will be considered
walkable. Otherwise all values that are 0 will be considered walkable.
"""
- self.width = width
- self.height = height
- self.depth = depth
- if isinstance(matrix, (tuple, list)) or (
- USE_NUMPY and isinstance(matrix, np.ndarray) and (matrix.size > 0)
- ):
- self.width = len(matrix)
- self.height = len(matrix[0]) if self.width > 0 else 0
- self.depth = len(matrix[0][0]) if self.height > 0 else 0
- if self.width > 0 and self.height > 0 and self.depth > 0:
- self.nodes = build_nodes(
- self.width, self.height, self.depth, matrix, inverse, grid_id
- )
- else:
- self.nodes = [[[]]][docs] def _validate_dimensions(self, width: int, height: int, depth: int, matrix: MatrixType) -> tuple:
+
if matrix is not None:
+
if not (
+
isinstance(matrix, (list, np.ndarray))
+
and len(matrix) > 0
+
and len(matrix[0]) > 0
+
and len(matrix[0][0]) > 0
+
):
+
raise ValueError("Provided matrix is not a 3D structure or is empty.")
+
return len(matrix), len(matrix[0]), len(matrix[0][0])
+
return width, height, depth
+
+[docs] def is_valid_grid(self) -> bool:
+
return self.width > 0 and self.height > 0 and self.depth > 0
[docs] def node(self, x: int, y: int, z: int) -> Optional[GridNode]:
"""
@@ -269,9 +290,7 @@
Source code for pathfinding3d.core.grid
"""
return self.inside(x, y, z) and self.nodes[x][y][z].walkable
-
[docs] def calc_cost(
-
self, node_a: GridNode, node_b: GridNode, weighted: bool = False
-
) -> float:
+
[docs] def calc_cost(self, node_a: GridNode, node_b: GridNode, weighted: bool = False) -> float:
"""
Get the distance between current node and the neighbor (cost)
@@ -562,9 +581,6 @@
Source code for pathfinding3d.core.grid
© Copyright 2023, Harisankar Babu.
- Built with
Sphinx using a
-
theme
- provided by
Read the Docs.
diff --git a/_modules/pathfinding3d/core/heuristic.html b/_modules/pathfinding3d/core/heuristic.html
index bab1ca2..48e1eaa 100644
--- a/_modules/pathfinding3d/core/heuristic.html
+++ b/_modules/pathfinding3d/core/heuristic.html
@@ -1,25 +1,29 @@
-
+
-
pathfinding3d.core.heuristic — pathfinding3d 0.3.1 documentation
-
-
-
-
+
pathfinding3d.core.heuristic — pathfinding3d 0.4.0 documentation
+
+
+
+
+
+
+
-
+
+
@@ -29,7 +33,7 @@