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Pathing_Algorithm.py
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394 lines (314 loc) · 28.9 KB
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#!/usr/bin/env python
#
# A* pathfinding
#
#
import math
import time
class Node:
""" Nodes Class Representing A Square On A Matrix"""
def __init__(self, position, parent):
self.g = 0 # Number of steps
self.h = 0 # Heuristics
self.f = self.g + self.h # f value, smaller the better
self.position = position # (x, y)
self.parent = parent # Parent Node, Used To Retrace Path
self.list = None # Marker To See If Node Has Been Checked Or Not
self.type = 0 # 0 = wall is on the node
def astar(start, end, Nodes):
""" A* Jump Point Search
- Calculate Fastest Path to the Finish
matrix = the map
start = enemy
end = player
Nodes =
"""
start_node = (start.x//10, start.y//10) # Start
end_node = (end.x//10, end.y//10) # Finish
# Nodes That Need To Be Checked
open_list = []
open_list.append(start_node) # Need To Check The Start Node
Nodes[start_node].list = False
while open_list:
open_list.sort(key = lambda position : Nodes[position].f) # Sort Nodes That Need To Be Checked By Their f value
current_node = open_list[0] # Check The Node With The Lowest f Value
#print(current_node)
open_list.remove(current_node) # Remove That Node From The Open List Because It "Has" Been Checked
directions = [(0, 1), (1, 0), (-1, 0), (0, -1), (1, 1), (1, -1), (-1, 1), (-1, -1)] # Directions In Which New Path Can Be Formed
for x, y in directions:
# Child Nodes That Branch Off From Current Node
child_node = (current_node[0] + x, current_node[1] + y)
# Skip This Node If This Node Does Not Exist or Off The Map
if child_node not in Nodes:
continue
# Skip This Node If Wall Is Here
if Nodes[child_node].type != 0:
continue
# Skip This Node If It Has Already Been Checked
if Nodes[child_node].list == False:
continue
# Look For Nodes To Check Using Jump Point Search
if x != 0 and y != 0:
open_list.extend(diagonal_search(child_node, x, y, Nodes, end_node))
# Check If End Has Been Found
if end_node in open_list:
return retrace_path(end_node, Nodes)
elif x != 0 and y == 0:
open_list.extend(horizontal_search(child_node, x, Nodes, end_node))
# Check If End Has Been Found
if end_node in open_list:
return retrace_path(end_node, Nodes)
elif x == 0 and y != 0:
open_list.extend(vertical_search(child_node, y, Nodes, end_node))
# Check If End Has Been Found
if end_node in open_list:
return retrace_path(end_node, Nodes)
def calculate_stuff(pos, parent, g, end_node, Nodes):
""" Calculate Attributes Of Node Class """
Nodes[pos].g = Nodes[parent].g + g
Nodes[pos].h = math.sqrt((end_node[0] - pos[0])**2 + (end_node[1] - pos[1])**2)
Nodes[pos].f = Nodes[pos].g + Nodes[pos].h
Nodes[pos].list = False
Nodes[pos].parent = parent
def horizontal_search(pos, horizontal_distance, Nodes, end_node, parent = None):
""" Look For Nodes That Should Be Checked On the X Axis"""
# Lateral Steps Increase g by 1
g = 1
# x, y coordinates for Nodes
x0, y0 = pos
# List of nodes to check
horizontal_nodes = []
while True:
# Make Sure That If Square Were To Be Here, It Wouldn't Be On A Wall
try:
for i in range(4):
for j in range(4):
if Nodes[(x0 + i, y0 + j)].type != 0:
raise Exception
except:
break
# If Nodes Is End Node, Add Node To List, Break
if (x0, y0) == end_node:
horizontal_nodes.append((x0, y0))
calculate_stuff((x0, y0), (x0 - horizontal_distance, y0), g, end_node, Nodes) # Calculate Node's attributes
break
# Smoothing Diagonal Search To Horizontal Search
if parent:
calculate_stuff((x0, y0), parent, g, end_node, Nodes) # Calculate Node's attributes
parent = None
else:
calculate_stuff((x0, y0), (x0 - horizontal_distance, y0), g, end_node, Nodes) # Calculate Node's attributes
# If X Is Increasing and If The Node Has A Forced Neighbor
if horizontal_distance > 0:
try:
if Nodes[(x0, y0 + 4)].type != 0 and Nodes[(x0 + 1, y0 + 4)].type == 0: # Forced Neighbor Is Below
horizontal_nodes.append((x0 + 1, y0 + 1)) # Add Node To List
calculate_stuff((x0 + 1, y0 + 1), (x0, y0), math.sqrt(2), end_node, Nodes) # Calculate Node's Attributes
except:
pass
try:
if Nodes[(x0, y0 - 1)].type != 0 and Nodes[(x0 + 1, y0 - 1)].type == 0: # Forced Neighbor Is Above
horizontal_nodes.append((x0 + 1, y0 - 1)) # Add Node To List
calculate_stuff((x0 + 1, y0 - 1), (x0, y0), math.sqrt(2), end_node, Nodes) # Calculate Node's Attributes
except:
pass
# If X Is Decreasing and If There Is A Forced Neighbor
if horizontal_distance < 0:
try:
if Nodes[(x0 + 3, y0 + 4)].type != 0 and Nodes[(x0 + 2, y0 + 4)].type == 0: # If Forced Neighbor Is Below
horizontal_nodes.append((x0 - 1, y0 + 1)) # Add Node To List
calculate_stuff((x0 - 1, y0 + 1), (x0, y0), math.sqrt(2), end_node, Nodes) # Calculate Node's Attributes
except:
pass
try:
if Nodes[(x0 + 3, y0 - 1)].type != 0 and Nodes[(x0 + 2, y0 - 1)].type == 0: # If Forced Neighbor Is Below
horizontal_nodes.append((x0 - 1, y0 - 1)) # Add Node To List
calculate_stuff((x0 - 1, y0 - 1), (x0, y0), math.sqrt(2), end_node, Nodes) # Calculate Node's Attributes
except:
pass
x0 += horizontal_distance # Keep Moving In The Direction
return horizontal_nodes # Return Nodes To Check
def vertical_search(pos, vertical_distance, Nodes, end_node, parent = None):
""" Look For Nodes That Should Be Checked On the Y Axis"""
# Lateral Steps Increase g by 1
g = 1
# x, y coordinates for the nodes
x0, y0 = pos
# List Of Nodes TO Check
vertical_nodes = []
while True:
# Make Sure That If Square Were To Be Here, It Wouldn't Be On A Wall
try:
for i in range(4):
for j in range(4):
if Nodes[(x0 + i, y0 + j)].type != 0:
raise Exception
except:
break
# If Nodes Is End Node, Add Node To List, Break
if (x0, y0) == end_node:
vertical_nodes.append((x0, y0))
calculate_stuff((x0, y0), (x0, y0 - vertical_distance), g, end_node, Nodes)
break
# Smoothing Diagonal Search Into Vertical Search
if parent:
calculate_stuff((x0 , y0), parent, g, end_node, Nodes)
parent = None
else:
calculate_stuff((x0 , y0), (x0, y0 - vertical_distance), g, end_node, Nodes)
# If Y Is Increasing and If The Node Has A Forced Neighbor
if vertical_distance > 0:
try:
if Nodes[(x0 + 4, y0)].type != 0 and Nodes[(x0 + 4, y0 + 1)].type == 0: # Forced Neighbor Is To The Right
vertical_nodes.append((x0 + vertical_distance, y0 + 1)) # Add Node To List
calculate_stuff((x0 + vertical_distance, y0 + 1), (x0, y0), math.sqrt(2), end_node, Nodes) # Calculate Node's attributes
except:
pass
try:
if Nodes[(x0 - 1, y0)].type != 0 and Nodes[(x0 - 1, y0 + 1)].type == 0: # Forced Neighbor Is To The Left
vertical_nodes.append((x0 - vertical_distance, y0 + 1)) # Add Node To List
calculate_stuff((x0 - vertical_distance, y0 + 1), (x0, y0), math.sqrt(2), end_node, Nodes) # Calculate Node's Attributes
except:
pass
# If Y Is Decreasing and If The Node Has A Forced Neighbor
if vertical_distance < 0:
try:
if Nodes[(x0 + 4, y0 + 2)].type == 0 and Nodes[(x0 + 4, y0 + 3)].type != 0: # Forced Neighbor Is To The Right
vertical_nodes.append((x0 - vertical_distance, y0 - 1)) # Add Node To List
calculate_stuff((x0 - vertical_distance, y0 - 1), (x0, y0), math.sqrt(2), end_node, Nodes) # Calculate Node's Attributes
except:
pass
try:
if Nodes[(x0 - 1, y0 + 2)].type == 0 and Nodes[(x0 - 1, y0 + 3)].type != 0: # Forced Neighbor Is To the Left
vertical_nodes.append((x0 + vertical_distance, y0 - 1)) # Add Node tp List
calculate_stuff((x0 + vertical_distance, y0 - 1), (x0, y0), math.sqrt(2), end_node, Nodes) # Calculate Node's Attributes
except:
pass
y0 += vertical_distance # Keep Moving In The Direction
return vertical_nodes # Return List Of Nodes To Check
def diagonal_search(pos, horizontal_distance, vertical_distance, Nodes, end_node):
""" Look For Nodes To Check Moving Diagonally (Checking For Nodes With Forced Neighbord Not Needed Since Our Character Is A 40x40 square) """
# Diagonal Steps Inecrease g by sqrt(2)
g = math.sqrt(2)
# x, y coordinates for the nodes
x0, y0 = pos
# List of Nodes To Check
diagonal_nodes = []
while True:
# Make Sure That If Square Were To Be Here, It Wouldn't Be On A Wall
try:
for i in range(4):
for j in range(4):
if Nodes[(x0 + i, y0 + j)].type != 0:
raise Exception
except:
break
# If Node Is End Node, Add Node To List, Break
if (x0, y0) == end_node:
diagonal_nodes.append((x0, y0))
calculate_stuff((x0, y0), (x0 - horizontal_distance, y0 - vertical_distance), g, end_node, Nodes)
break
calculate_stuff((x0, y0), (x0 - horizontal_distance, y0 - vertical_distance), g, end_node, Nodes) # Calculate Node's Attributes
# Look Left/Right
diagonal_nodes += horizontal_search((x0, y0), horizontal_distance, Nodes, end_node, (x0 - horizontal_distance, y0 - vertical_distance))
# Look Up/Down
diagonal_nodes += vertical_search((x0, y0), vertical_distance, Nodes, end_node, (x0 - horizontal_distance, y0 - vertical_distance))
x0 += horizontal_distance; y0 += vertical_distance # Keep Moving In The Direction
return diagonal_nodes
def retrace_path(current_node, Nodes):
path = []
while Nodes[current_node].parent:
path.append(current_node)
current_node = Nodes[current_node].parent
return path[::-1]
if __name__ == "__main__":
matrix =[[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]]
Nodes = {(i, j) : Node((i, j), None) for i in range(len(matrix)) for j in range(len(matrix[0]))}
for i in range(80):
for j in range(80):
if matrix[i][j] == 1:
Nodes[(i, j)].type = 1
start = Nodes[(0, 0)]
end = Nodes[(13, 75)]
begin = time.time()
print(astar(start, end, Nodes))
print(time.time() - begin)