a* (a-star) pathfinding algorithm written in go
go get github.com/jpierer/astar@main
package main
import (
"fmt"
"github.com/jpierer/astar"
)
func main() {
// Example 5x5 Grid
//
// [ ] [ ] [ ] [ ] [ ] S: StartNode (The node were you are)
// [ ] [E] [P] [ ] [ ] E: EndNode (The destination point where you want to go)
// [ ] [O] [P] [O] [O] O: ObstacleNode (Some obstacles you cannot access)
// [W] [O] [S] [ ] [ ] P: Valid Path (This is just a visualisation of the returned found path)
// [W] [ ] [ ] [ ] [ ] W: WeightedNode (Nodes like water, which are harder to enter)
//
// IMPORTANT: The grid coordinates starts on the "bottom left" -> X:0 / Y:0
startNode := astar.Node{X: 2, Y: 1}
endNode := astar.Node{X: 1, Y: 3}
obstacleNodes := []astar.Node{
{X: 3, Y: 2},
{X: 4, Y: 2},
{X: 1, Y: 1},
{X: 1, Y: 2},
}
waterNodes := []astar.Node{
{X: 0, Y: 0, Weighting: 20},
{X: 0, Y: 1, Weighting: 20},
}
// set nodes to the config
aConfig := astar.Config{
GridWidth: 5,
GridHeight: 5,
InvalidNodes: obstacleNodes,
WeightedNodes: waterNodes,
}
// create the algo with defined config
algo, err := astar.New(aConfig)
if err != nil {
fmt.Println("invalid astar config", err)
return
}
// run it
foundPath, err := algo.FindPath(startNode, endNode)
if err != nil || len(foundPath) == 0 {
fmt.Println("No path found ...")
return
}
// the foundPath has now the way to the target
// IMPORTANT:
// the path is in the opposite way so the endpoint node is on index 0
// you can avoid it by switching the startNode<>endNode parameter
for _, node := range foundPath {
fmt.Println(node)
}
// output:
// Node [X:1 Y:3 F:1 G:1 H:0]
// Node [X:2 Y:3 F:2 G:1 H:1]
// Node [X:2 Y:2 F:3 G:1 H:2]
}Give a ⭐ if this project was helpful in any way!
The code is released under the MIT LICENSE.