astar/node.js at main · ehymel/astar · GitHub

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class Node {
    constructor(i, j) {
        this.i = i;
        this.j = j;
        this.f = 999999999;
        this.g = 999999999;
        this.h = undefined;
        this.neighbors = [];
        this.cameFrom = undefined;
        this.blocked = random(1) < 0.3;
    }

    show(col) {
        if (this.blocked) {
            col = color(0);
        }

        fill(col);
        noStroke();
        // rect(this.i * w, this.j * h, w-1, h-1);
        circle(this.i * w + w/2, this.j * h + h/2, w/2);
    }

    addNeighbors(grid) {
        if (this.blocked) {
            return;
        }

        let i = this.i;
        let j = this.j;

        if (i > 0) {
            this.neighbors.push(grid[i - 1][j]);
            if (j > 0) {
                this.neighbors.push(grid[i - 1][j - 1]);
            }
            if (j < rows - 1) {
                this.neighbors.push(grid[i - 1][j + 1]);
            }
        }
        if (i < cols - 1) {
            this.neighbors.push(grid[i + 1][j]);
            if (j > 0) {
                this.neighbors.push(grid[i + 1][j - 1]);
            }
            if (j < rows - 1) {
                this.neighbors.push(grid[i + 1][j + 1]);
            }
        }
        if (j > 0) {
            this.neighbors.push(grid[i][j - 1]);
        }
        if (j < rows - 1) {
            this.neighbors.push(grid[i][j + 1]);
        }
    }

    setHeuristic(goalNode) {
        this.h = dist(this.i, this.j, goalNode.i, goalNode.j);
    }
}