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https://github.com/fzipp/pathfind
Path finding on a 2D polygonal map
https://github.com/fzipp/pathfind
go golang path-planning pathfinding polygons shortest-path visibility-graph walkboxes
Last synced: about 7 hours ago
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Path finding on a 2D polygonal map
- Host: GitHub
- URL: https://github.com/fzipp/pathfind
- Owner: fzipp
- License: bsd-3-clause
- Created: 2023-03-29T19:18:42.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2024-08-13T19:01:23.000Z (5 months ago)
- Last Synced: 2024-12-26T19:07:27.659Z (7 days ago)
- Topics: go, golang, path-planning, pathfinding, polygons, shortest-path, visibility-graph, walkboxes
- Language: Go
- Homepage:
- Size: 28.3 KB
- Stars: 57
- Watchers: 2
- Forks: 6
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# pathfind
[](https://pkg.go.dev/github.com/fzipp/pathfind)
[](https://goreportcard.com/report/github.com/fzipp/pathfind)
Package pathfind finds the shortest path between two points in a polygon set.
The algorithm works as follows:
- determine all concave polygon vertices
- add start and end points
- build a visibility graph
- use the A* search algorithm (package [astar](https://github.com/fzipp/astar))
on the visibility graph to find the shortest path
## Demo
```
go run github.com/fzipp/pathfind/cmd/pathfinddemo@latest
```
https://user-images.githubusercontent.com/598327/228644017-a9800747-a096-46ae-befe-d725da18205a.mp4
## Example Code
```go
package main
import (
"fmt"
"image"
"github.com/fzipp/pathfind"
)
func main() {
// (0,0) >---+ +-----------+ (50,0)
// | s | | >---+ |
// | +---+ | | d |
// | +---+ |
// (0,20) +-------------------+ (50,20)
//
// s = start, d = destination
polygons := [][]image.Point{
// Outer shape
{
image.Pt(0, 0),
image.Pt(10, 0),
image.Pt(10, 10),
image.Pt(20, 10),
image.Pt(20, 0),
image.Pt(50, 0),
image.Pt(50, 20),
image.Pt(0, 20),
},
// Inner rectangle ("hole")
{
image.Pt(30, 5),
image.Pt(40, 5),
image.Pt(40, 15),
image.Pt(30, 15),
},
}
start := image.Pt(5, 5)
destination := image.Pt(45, 10)
pathfinder := pathfind.NewPathfinder(polygons)
path := pathfinder.Path(start, destination)
fmt.Println(path)
}
```
Output:
```
[(5,5) (10,10) (30,15) (40,15) (45,10)]
```
## License
This project is free and open source software licensed under the
[BSD 3-Clause License](LICENSE).