A* pathfinding in pico-8

astar.p8

pico-8 cartridge // http://www.pico-8.com
version 5
__lua__
-- A* pathfinding
-- by @richy486

function _init()

 printh("---------------")
 printh("starting a star")

 wallId = 1
 start = getSpecialTile(17)
 goal = getSpecialTile(16)

 


 printh("start...")

 frontier = {}
 insert(frontier, start, 0)
 came_from = {}
 came_from[vectoindex(start)] = nil
 cost_so_far = {}
 cost_so_far[vectoindex(start)] = 0

 while (#frontier > 0 and #frontier < 1000) do
  current = popEnd(frontier)

  if vectoindex(current) == vectoindex(goal) then
   break
  end

  local neighbours = getNeighbours(current)
  for next in all(neighbours) do
   local nextIndex = vectoindex(next)
  
   local new_cost = cost_so_far[vectoindex(current)] -- add extra costs here

   if (cost_so_far[nextIndex] == nil) or (new_cost < cost_so_far[nextIndex]) then
    cost_so_far[nextIndex] = new_cost
    local priority = new_cost + heuristic(goal, next)
    insert(frontier, next, priority)
    
    came_from[nextIndex] = current
    
    if (nextIndex != vectoindex(start)) and (nextIndex != vectoindex(goal)) then
     mset(next[1],next[2],19)
    end
   end 
  end
 end

 printh("find goal..")
 current = came_from[vectoindex(goal)]
 path = {}
 local cindex = vectoindex(current)
 local sindex = vectoindex(start)

 while cindex != sindex do
  add(path, current)
  current = came_from[cindex]
  cindex = vectoindex(current)
 end
 reverse(path)

 for point in all(path) do
  mset(point[1],point[2],18)
 end

 printh("..done")


end

function _update()
 
end

function _draw()
 cls()
 mapdraw(0,0,0,0,16,16)
end

-- manhattan distance on a square grid
function heuristic(a, b)
 return abs(a[1] - b[1]) + abs(a[2] - b[2])
end

-- find all existing neighbours of a position that are not walls
function getNeighbours(pos)
 local neighbours={}
 local x = pos[1]
 local y = pos[2]
 if x > 0 and (mget(x-1,y) != wallId) then
  add(neighbours,{x-1,y})
 end
 if x < 15 and (mget(x+1,y) != wallId) then
  add(neighbours,{x+1,y})
 end
 if y > 0 and (mget(x,y-1) != wallId) then
  add(neighbours,{x,y-1})
 end
 if y < 15 and (mget(x,y+1) != wallId) then
  add(neighbours,{x,y+1})
 end

 -- for making diagonals
 if (x+y) % 2 == 0 then
  reverse(neighbours)
 end
 return neighbours
end

-- find the first location of a specific tile type
function getSpecialTile(tileid)
 for x=0,15 do
  for y=0,15 do
   local tile = mget(x,y)
   if tile == tileid then
    return {x,y}
   end
  end
 end
 printh("did not find tile: "..tileid)
end

-- insert into start of table
function insert(t, val)
 for i=(#t+1),2,-1 do
  t[i] = t[i-1]
 end
 t[1] = val
end

-- insert into table and sort by priority
function insert(t, val, p)
 if #t >= 1 then
  add(t, {})
  for i=(#t),2,-1 do
   
   local next = t[i-1]
   if p < next[2] then
    t[i] = {val, p}
    return
   else
    t[i] = next
   end
  end
  t[1] = {val, p}
 else
  add(t, {val, p}) 
 end
end

-- pop the last element off a table
function popEnd(t)
 local top = t[#t]
 del(t,t[#t])
 return top[1]
end

function reverse(t)
 for i=1,(#t/2) do
  local temp = t[i]
  local oppindex = #t-(i-1)
  t[i] = t[oppindex]
  t[oppindex] = temp
 end
end

-- translate a 2d x,y coordinate to a 1d index and back again
function vectoindex(vec)
 return maptoindex(vec[1],vec[2])
end
function maptoindex(x, y)
 return ((x+1) * 16) + y
end
function indextomap(index)
 local x = (index-1)/16
 local y = index - (x*w)
 return {x,y}
end






-- pop the first element off a table (unused
function pop(t)
 local top = t[1]
 for i=1,(#t) do
  if i == (#t) then
   del(t,t[i])
  else
   t[i] = t[i+1]
  end
 end
 return top
end



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