xxxxxxxxxx795
/*changelog- 16-12-2024 aoc map, hsb, add changelog lol, very lag. TODO let mapsize differ, randomize random maps, put 1 in queue, build it in a seperate steppable function */// latest edit: changed map to one from AoC2024day16// visualiser for A* for https://www.codingame.com/ide/puzzle/vindiniumconst MAP = [ "#############################################################################################################################################", "#.......#...#.....#.................#.......#.........#.......#.....#.......#.....#.#.....................#.........#.......#.#............E#", "#.###.#.#.#.###.#.#.#####.#########.#####.###.#.#######.#####.#.###.#.#.#.#.#.#.#.#.#.#.###.#####.#.###.#.#.###.###.#.###.#.#.#.#.###.###.###", "#.#...#...#.....#.........#...#.....#...#.....#.....#...#...#...#...#.#.............#.....................#.#.#...#.#.#.#.#...#.#...#.......#", "#.#.###.#######.###.#######.###.#####.#.#####.#####.#.#####.#.###.###.###.###.#.###.#.#######.#.###.#.###.#.#.###.###.#.#.#####.#.#.#####.#.#", "#.#.#...#.............................#.....#.#.....#.........#.#...#...#.....#.........#...#.#.#...#.#...#.....#.....#.#.......#.#...#...#.#", "###.#####.###.#.###.#.#.#####.#.###.#######.###.###.#########.#.###.###.#.###############.#.###.#.###.###.#####.#######.#########.#####.#.#.#", "#...#.......#...#.#.#.#.......#.....#.............................................#.......#...#.........#.....#.#.......#...#...#.#.....#...#", "#.###.#####.###.#.#.#.#######.#########.#.###.#.#.#####.#.###.#.#.#.#.#.#.#######.#.#########.#######.#.#####.#.#.#####.#.#.#.#.#.#.#######.#", "#.....#...#...#...#.#...#...#.#.......#.#.#...#.#...#...#.#...#.#.#...#.#.......#.#.....#...#...#...#.#.....#.#...#...#...#...#.#.#.......#.#", "#.#####.#.###.#.###.#.#.#.###.###.###.###.#.###.#.###.###.#.#.#.#.###.#.#.#####.#.#####.#.#####.#.#.###.###.#######.#.#########.#.#######.#.#", "#.#...#.#...#...#...#.#.#...#.....#.#...................#...#...#.#...#.#.#...#.#...#...#.#...#.#.#.................#.....#...#.#.....#...#.#", "#.###.#.###.###.#.#####.#.#.#######.###.#.#.#.###.#####.#######.#.#####.#.#.###.###.#.###.#.#.#.#.###.#.#.#.#.#.#.#.#.#####.#.#.#.#####.###.#", "#.....#...............................#.#.#...#.#.#.....#.#.....#.#...#.#.#...#.....#.#...#.#...#...#.#...#...#.#.#.#.#.....#...#...#...#...#", "#######.#.#####.###.#.#.#############.#.#.#####.#.#.###.#.#.#####.#.#.#.#.#.#.###.###.#.###.#######.#.#####.###.#.#.#.#.#######.###.#.###.###", "#.......#.#...#.....#.#.....#.......#...............#.#.#.#.#...#...#.#.#.#.#.#...#.....#...#.......#.....#...#.#.#.#...#.#.........#.#.....#", "#.#.#####.#.#.#.#####.#.###.#.#####.#################.#.#.#.#.#.#####.#.#.###.#.###.###.#.###.###########.#####.###.#.###.#.#.#######.#######", "#.#.#...#.#.#...#.....#...#.....#.#...................#...#.#.#.....#.#...#...#.#...#...#.#...#.........#.....#.#.........#.#.#.......#.....#", "#.#.#.#.###.#####.#############.#.###################.###.#.#######.#.#####.###.#.###.###.#.#######.###.#####.#.#.#####.#.#.#.#.#.#.###.###.#", "#.#.#.#.....#...#.......#...#...#...........#...#...#...#.#.....#...#...........#...#.......#.....#...#.#.....#.#.....#.#.#.#...#.#.....#.#.#", "#.#.#.#######.#.#######.#.#.#.#.#####.#####.#.#.#.#.###.#.#####.#.#.#########.#.###.#.#######.###.###.#.#.#####.#####.#.#.#.#######.#####.#.#", "#.#.#...#.....#.#.....#.#.#.#...#.........#...#...#.#...#...#.#.#.#.....#...#...#...#.#.....#...#...#.#...........#...#.#.#.....#.........#.#", "#.#.###.#######.#.#.#.#.#.#.#.###.#######.#####.###.#.#.#.#.#.#.#.#####.#.#.#####.#####.###.###.###.###.###########.#####.#####.#.#.#######.#", "#.#...#...........#.#.#...#.#.....#.....#.#...#...#.#.#...#...#.#...#.....#.#...#.....#.#.#.....#.#...#.#...................#...#...#.......#", "#.###########.#####.#####.#.###.###.###.#.#.#.#####.#.#######.#.###.#####.###.#.#####.#.#.#######.###.###.#.#########.#####.#.###.#.#.#####.#", "#.........#...#.....#...#.#.#...#...#...#...#.......#.#.....#.#...#...#.#.#...#.....#.#.#.......#...#.....#...#...........#.#.....#...#.#...#", "#.#######.#.###.#####.#.#.#.###.#.###.#######.#.#####.#.#.###.###.#.#.#.#.#.#.#####.#.#.#.###.###.#.#######.#.###.#######.#.#######.###.#.###", "#.........#.....#.....#.#.#...#.#...#.........#.#...#...........#...#.#...#.#.........#.#.#...#.........#...#.....#.......#...#...#...#.#...#", "#.#####.#######.#.#####.###.#.#####.#########.###.#.#.#########.#.###.#.###.###########.#.#.#.#.#####.#.#.#####.#######.#####.#.#.#.#.#.#.#.#", "#.#...#.#.......#.#...#...#.#...#...#...#...#...#.#.#.#.......#.#.....#...#.....#.......#.#.#.#.#...#.#...#.....#.......#.....#.#...#.#.....#", "#.###.#.#.#######.#.#.###.#####.#.###.#.###.###.#.#.###.#####.#.#####.###.#####.#.#######.#.###.#.#.#.#####.###.#.#.###.#.#####.###.#.###.#.#", "#...#...#...#.#...#.#...#...#...#.#...#...#...#...#.....#...#.#.#.....#...#.....#...#...#.#.....#.#.#.#.....#.#...#.#...#...#.......#.#...#.#", "#.#.#.#####.#.#.#####.#####.#.#.#.#.#.###.#.#.#########.###.#.###.#.###.###.###.###.###.#.#.#######.#.#####.#.#####.#.###.#.#######.#.#.#.#.#", "#.#.#.#...#...#.....#.........#.#.#.#...#.#.#...#.....#.....#.....#...#.#.#.#.....#...#.............#.....#.......#.#.#...#.........#...#...#", "#.#.#.#.#####.#####.#############.#.###.#.#.###.#.###.#############.#.#.#.#.#.#######.#.#########.#######.#######.#.#.###.#########.#####.#.#", "#...#...#.....#.#...#...#...#.....#...#.#.#.#.......#.............#.#...#.#.#.#.....#.#.#...........#.....#.........#.#.......#.......#...#.#", "#.#####.#.#####.#.###.#.#.#.#.#########.#.#.#####.#.#############.#.#####.#.###.###.#.#.#.#.#######.#.#####.#.#######.#.#.#####.###.#.#.#.#.#", "#.#.............#.#...#...#.#.#.........#...#.......#...#.....#...#.#...#.#.....#...#.#.#.#.#.....#.#.#.....#.#...#.....#.#.....#...#.#.#...#", "#.#.#.###.#.###.#.#.#######.#.###.#.#########.#######.#.#.###.#.#.#.#.#.#.#######.#.#.###.###.###.#.#.#.#.#####.#.#########.#####.#.###.#.#.#", "#...#.......#.#.#.#...#...#.#...#.#.#.......#.#.......#...#...#.#...#.#...#.#.....#.#.#...#...#...#...#.#.......#.#.......#.....#.#...#...#.#", "#.#.#########.#.#.###.#.#.#.#.#.#.###.#####.#.#.###########.###.###.#.#.#.#.#.#####.#.#.#.#.###.#######.#######.#.#.#####.#####.#.###.###.#.#", "#.....#...#.....#.....#.#.......#.#...#.#...#.#.#...#.....#...#...#...#.#...#.#...#.#...#.#.#.....#...#.#.....#...#.#.#...#.....#...#.....#.#", "#.#.###.#.###.#########.###.#.###.#.###.#.###.#.#.#.#.###.###.###.#####.#.###.#.###.#####.#.#.###.#.#.#.#.###.#.#.#.#.#.###.###.###.#####.#.#", "#...#...#...#.#.......#.#.#.#.#...#.#.....#.......#.#.#.....#...#.#.....#.#...#.#.....#...#.#.#.....#...#.#...#.#.#.#.#.......#.....#.....#.#", "#.#.#.#####.#.#.#####.#.#.#.#.###.#.#.#.#.#.#######.#.#.###.###.#.#.###.#.#.###.#.#####.###.#.#####.#.###.#.#.#.###.#.#########.###.#.###.###", "#.....#.#...#...#.....#.#...#.....#.#.#.#.#.....#...........#...#.#...#.#.#.#.....#.....#...#.#.....#...#.#.#.#.....#.......#...#...#.#.#...#", "#.#.###.#.#############.#.#####.#.#.#.#.#.#####.#####.#######.#.#.###.#.#.#.#######.#####.###.#.###.###.#.#.#.#######.#.#####.#.#####.#.#.#.#", "#.#.......#.........#...#.#.....#.#.#.#.#.....#.....#.#...#...#.#.#.#.#...#.........#...#.#.....#.....#...#.........#.#.....#...#.....#...#.#", "#.#.#.#####.#######.#.###.#.#####.#.#.#.#.#########.###.#.#.#####.#.#.#######.#########.#.#.###.#####.###.#####.###.#.#####.###.#.#####.###.#", "#...#.#.....#.......#...#.#.....#...#.#.#.#...........#.#.#.#.....#.#.#.....#...........#...#...#...#...#.#...#...#.#.#.#...#.#.#...#...#...#", "###.#.###.#.#######.###.#.#####.#.###.###.#.#####.###.#.#.#.#.#####.#.#.###.#########.#####.#####.#.###.###.#.#.#.#.#.#.#.#.#.#.###.###.#.###", "#...#.....#.#...........#.#.....#.....#...#.#...#.#...#.#.#.#.#.....#.#.#...........#.#...#.......#.#.#.....#.#.#.......#.#...#...#.#...#...#", "#.###.#######.###.#########.###########.#.#.#.###.#.###.#.#.#.#.#####.#.#.#########.###.#.#######.#.#.#######.#.#.#######.#####.#.#.#.#.###.#", "#.#.........#.#.#.......#...#.....#.....#.#.#...#.#.#...#.#.#.#.......#.#.#.......#...#.#.#.........#...#.....#.#...#...#...#.....#...#.#...#", "#.#.#######.#.#.#######.#.#####.#.#.#####.#.###.#.#.#.###.#.#.#########.#.#.###.#.#.#.#.#.#.###########.#.#####.###.#.#.###.#.#.#######.#.###", "#.#.#...#...#...#.....#...#.....#...#.....#.....#.#...#.#...#.......#...#.#.#...#...#...#.#.#.#...........#.......#.#.#.....#...#.......#...#", "#.#.#.#.#.#####.#.###.#######.#######.#######.###.#####.###.#######.#.#####.#.###.#.#####.#.#.#.#.#####.#.#.#######.#.#####.###.#.#########.#", "#.#.#.#.#...#...#.......#.....#.....#...#.....#.......#.....#.......#...#...#...#.#.#...#.#.#...#...#...#.#...#.......#...#.#...#.#.....#...#", "#.#.#.#.###.#.#####.###.#.#####.###.###.#.#####.#.#####.#####.#######.#.#.#####.#.###.#.#.#.###.###.#.###.#.#.#.#.#####.###.#.#.#.#.#.###.#.#", "#...#.#...#...#.....#...#.#...#...#...#.#...#.#.#.#...#.#.............#.#.#...#.#...#.#...#...#...#.#.#...#.#...#...........#.#.#.#.#.#...#.#", "#.#####.#.#####.#.###.###.#.#.#######.#.###.#.#.###.#.#.#.#####.#######.#.#.#.#.###.#.###.###.#####.###.###########.#########.#.#.#.###.###.#", "#...#...#...#.......#.#.....#...#.......#.#.#.#.........#...#.#.#.....#.....#.#...#.#.#.....#.....#...#.#.........#.#.......#.#.#...#...#.#.#", "###.#.#####.#######.#.###.#####.#.#####.#.#.#.#############.#.#.#.###.#.###.#####.#.#.#.###.#.###.#.#.#.###.#####.###.#####.#.#####.#.###.#.#", "#.#...#.#...#.......#...#.#.#...#.........#...#.....#.......#...#...#.#...#.#.....#.#.#...#.#...#.#.#.#...#...#.#.....#.#...#...#...........#", "#.#####.#.###.#########.#.#.#.###.###########.#####.#.#######.###.###.#.#.###.#####.#.###.#.#####.#.#.###.###.#.#######.#.#####.#.#.#.#.#.#.#", "#...#...#.....#.......#.#...#.#.#...#.........#.....#.#...#.....#.#...#.#.......#...#...#...#.....#.#.....#.............#.....#...#...#.#.#.#", "#.###.#.###########.#.#.###.#.#.###.#.#########.#####.#.#.#######.#.###.#.###.#.#.#.###.#.#.#.#####.###.###.###.#.#####.#####.#####.###.#.#.#", "#.....#.........#...#.#.#...#.#...#.#...#.#.....#...#...#.........#.#...#.#...#...#.....#.#.......#.....#...#...#.#...#.....#.......#.#.#.#.#", "#.#####.#######.#.#.###.#.###.#.###.#.#.#.#.#.###.#.###############.#.#####.#.#.#########.#.#####.#####.#.#.###.###.#.#.###########.#.#.#.#.#", "#.#...#.#...#...#.#.#...#...#.#.#.....#.#...#.#...#.......#.....#...#.......#.#...#.......#.#.....#...#.#.#...#.......#.#...#.......#...#.#.#", "#.#.###.###.#.###.###.#######.#.#.#####.#####.#.#####.#.#.#.###.#.###########.###.#.#.#####.#.#.###.###.#####.#.#####.###.#.#.#.###.#.###.#.#", "#...#...#...#.#.#...........#.#...#...#.#.....#.#...#.#.#.#...#.#.......#.....#.#.#.#...#.#...#.#.....#.#.....#...#.#.....#.#.#.#...#.#.#...#", "#.###.###.#.#.#.#.#.#######.#.#####.#.#.#.#####.#.#.###.#.#####.#########.#####.#.#####.#.#####.#.###.#.#.#######.#.#######.#.#.###.#.#.#####", "#.....#...#.#.#.#.#.......#.#...#...#.....#.....#.#.#...#.....#...........#...#...#...#.#.........#.......#.#.....#...#...#...#.....#.#.....#", "#.#####.#####.#.#.#.#.###.#.###.#.#######.#.#####.#.#.#######.#.###.#####.###.#.###.#.#.###########.#######.#.#####.#.###.#########.#.#.#####", "#.#.#.........#...#...#.....#...#.#.........#.....#.#.#.....#.#.#.#...........#.#...#.#...........#.........#...#...#...#.........#...#.....#", "#.#.#.#######.#######.#.###.#.#.#.###.#######.#####.#.###.#.#.#.#.#.#.#######.#.###.#.#.#########.###.#.###.###.###.###.###.#####.#####.###.#", "#.#...............#...#...#...#.#.............#.#...#...#.#.#...#.#.#.#...#.#.#.#...#.#.........#...#.#.......#.....#.#...#...#...#...#.#.#.#", "#.###############.#.#.#########.###############.#.###.#.#.#.#####.#.#.#.#.#.#.#.#.#.#.###.#########.#.#.#####.#######.#.#.#.#.#####.#.#.#.#.#", "#...#...#.......#.#...#.......#...#...#.......#...#.....#.#.....#...#.#.#.#...#...#...#...#.......#.#.#.....#...#...#.......#.......#.....#.#", "#.#.#.#.#.###.###.#.###.#####.###.#.#.#.#.###.#.###.#####.###.###.###.#.#.#########.###.###.#####.#.#.#.###.#.###.#.#.#.###.###############.#", "#.#...#.....#...#.#.....#.......#...#.#.#.#...#...#.#.....#...#.....#...#...#.......#...#.#.#.#...#.#.....#.#.#...#...#.#...#...........#...#", "#.#######.#.#.#.#.#.#####.#####.#####.###.#######.#.#####.#.###.#####.#####.#.#######.###.#.#.#.###.#####.#.###.#######.#.###.#######.###.#.#", "#.......#...#.#...#.#.....#...#.....#...........#.#.......#.....#...#...#...#.....#...#...#.#.....#.#.....#.....#.....#.....#.#.....#.#...#.#", "#########.###.#######.#####.#.#########.#####.###.#.###.#.#####.#.#.###.#.#####.#.#.###.###.#####.#.#.###########.#.#.#####.#.#.###.#.#.###.#", "#.....#...#...#.....#.......#...#.....#...#...#...#.....#.#...#.#.#...#.#.....#.#.........#.....#...#.....#.........#...#...#.#...#.#.#...#.#", "#.###.#.#.#.###.###.#.#########.#.###.###.#.###.#######.#.#.#.###.###.###.###.#.###.#####.#####.#####.#.#.#.#######.###.#.###.#####.#.###.###", "#...#...#.......#...............#...#.....#...#.#.....#.#...#...#.#.....#...#.#...#.....#.....#.....#...#.#.........#...#.....#...#.....#...#", "#.#.#####.#####.#########.#####.###.#######.#.#.#####.#.#######.#.#####.#####.###.#####.#.###.#####.#####.###.#.#####.#########.#.#.#######.#", "#.#...#...#...#.#...#.............#.....#...#.#.....#.......#...#...#.#.....#...#.#.......#.#.#...#.....#...#.#.#...#...#...#...#.#.#.....#.#", "#.###.#####.#.###.#.#############.#####.#.###.#####.#######.#.#####.#.#####.###.#.#########.#.###.#####.#.#.###.#.#.###.#.#.#.###.#.#.###.#.#", "#.#.#.......#.....#...........#.....#...#.#...........#...#.#.#.......#...#.....#.....#.....#.....#...#.#.......#.#...#...#...#.#.#.#...#.#.#", "#.#.#####################.###.#####.#.###.#.###.#.###.#.#.###.#.#####.#.#.#####.#####.###.#.#####.#.#.#.#########.###.#########.#.#####.#.#.#", "#.#.......#.......#.....#...#...#.....#...#...#...#.#...#.....#.#.....#.#...........#...#.#.....#.#.#.#.......#...#...#...#.....#.......#.#.#", "#.#.#####.#.#.#####.###.#.#####.#####.#######.#.###.###########.###.###.###.#####.#.###.#.#.#####.#.#.#######.#####.###.#.#.#.#.#########.#.#", "#.........#.#.....#...#.#.#...#.....#.........#.#.........#.............#.#...#.....#...#.#.....#.#.#.....#...#.....#...#...#.#.........#...#", "#####.###.#######.###.#.###.#.#####.#.#########.###.#.###.#.#####.#####.#.#.#.#####.#.###.#####.#.#.###.###.###.#####.#######.#############.#", "#.....#...........#...#.....#...........#.........#.#.#...#.#...#.#...#...#.#.....#.#.......#...#.#.#...#...#...#.....#...................#.#", "#.#.#.#.#########.#.#####.#############.#####.###.###.#####.#.#.#.#.#.###.#.#####.#.###.###.#.###.#.#.###.###.###.#####.#####.#.#######.###.#", "#.#.#.#...#...#...#.....#.#.......#...#.....#...#...#.#.....#.#.#...#...#.#.....#.....#.#.#.#...#.#.#...#.#.......#...#...#...#.#.....#.....#", "#.#.#.#.###.#.#####.###.#.#.#####.#.#.#####.#.#####.#.#.#####.###.###.#.#.#####.###.###.#.#.###.#.###.#.#.#####.#####.###.#.###.#.###.#######", "#.#.#.#.#...#.....#.#...#.#.#.....#.#.#.......#...#.#.#.......#.....#.#.#.#...#...#.....#.#...#.....#.#.#.#...#.#...#...#.#.#...#.#...#.....#", "#.#.#.#.#.#######.#.#.#####.#.#.#####.#.#######.#.#.#.###.#####.###.#.#.#.###.###.#.#####.#.###.###.###.#.#.#.#.#.#.#.#.#.#.#.###.#.###.#.###", "#.#.#...#.....#...#.#.......#.#.#...#...#...#...#...#.....#.....#...#.#.......#.#.#.......#.#...#.......#...#...#.#.......#.#.#...#...#.#...#", "#.#.#.#####.#.#.#############.###.#.#.#.#.###.#######.#.#.#.#####.#####.#####.#.#.###.###.#.#.###.#.#########.#.#.#####.#.###.#.#####.#.###.#", "#...............#...........#...#.#...#...#...#.....#.#...#.....#.....#...#.....#...#...#...#.......#.........#...#.....#.....#...#...#...#.#", "#.#.#.###.#.#.#.###.#######.###.#.###.#####.###.#####.#########.#####.#.#.#########.###########.#####.#############.#.###########.#.#######.#", "#.#...#.....#.#.....#.....#.....#...#.....#.#.#.......#.....#.#...#...#.#.........#...........#.#...#.#.....#...#...#.#...#.#.....#.#.......#", "###.#.#.###.#.#######.#.#.#####.###.#####.#.#.#.#######.#.#.#.###.#.###.#######.#.###########.###.#.#.#.###.#.#.#.#.#.#.#.#.#.#.###.###.###.#", "#...#...#.....#.....#.#.#.....#.#.#...#.#.#.#.#.#.......#.#.....#.#.#.......#...#.........#...#...#.#...#...#.#...#.#...#.#...#.#...#...#...#", "#.###.###.#.###.###.#.#.#####.#.#.###.#.#.#.#.#.#####.#.#.#####.#.#.#########.#####.#####.#.###.###.#.#.#####.#####.#####.###.#.#.###.###.###", "#.....#.........#.#.#.#.#.....#.#...#...#.#.#.#.#...#.#.#.#.....#.#.......#...#...#.#...#.#...#.#.#.#.........#...#.....#...#.#.#...#.#.....#", "#.###.#.###.#.#.#.#.#.#.#####.#.#.#.###.#.#.#.#.#.#.#.#.#.#####.#.#######.#.#.#.#.###.#.#####.#.#.#.#.#####.#####.###.#.###.#.#.###.#.#######", "#.......#...#.#.......#.#...#.#.#...#...#.#.#.....#.......#...#.#.......#...#.#.#.#...#...#...#.#.....#...#.......#.#.....#.#.#.#.#.#.......#", "#####.#.#.#.#.###.#####.#.#.#.#.#.###.###.#.#####.###.#.###.#.###.#####.#####.#.#.#.#####.#.###.#######.#.#######.#.#####.#.###.#.#.###.###.#", "#.#...#...#...#.......#...#.#.#...#...#...#.....#.#...#.#...#...#.#...#.....#...#.#.....#...#...#.....#.#...#...#.#...#...#.#...#.#.........#", "#.#.#.###.#.#########.#.###.###.###.###.#######.###.#.###.#####.#.#.#.#####.#.###.#####.#####.###.###.#.###.#.#.#.#.#.#.###.#.###.#.###.###.#", "#...#.#...#...#...#...#...#.#...#...#.#.....#.#.....#.....#...#.#.#.#.....#.#.#.....#.#.#.....#...#.#...#...#.#.#.#.#.#...#...#...#.......#.#", "#.###.#.###.#.#.#.#.#.###.#.#.###.###.#.#.#.#.#######.#.#####.#.#.#.#######.#.#.###.#.#.###.#.#.###.#####.###.#.#.#.#.###.###.#.###.#.#.###.#", "#...#...........#...#...#.#.......#.....#.#.........#.#.#.....#.#.#.#.....#...#.#.....#...#.#...#.......#.....#.#...#...#.....#...#.#.#.#...#", "###.#.#####.###########.#.#######.#####.#.#########.#.#.#.#.###.#.#.#.###.#.#.#.#########.#.#####.#.#######.###.###########.###.#.#.#.#.#.###", "#.#.#.............#.....#.#.......#...#.#.#.......#.#.#.#.#.....#.#.....#.#...#.......#...#...#...#.#.....#...#...........#.....#...#.#.#.#.#", "#.#.#.#############.#####.#.#######.#.#.#.#.#####.###.#.#.#######.#.#####.###########.#.#####.#.#####.###.###.###########.#.#######.#.#.#.#.#", "#...#.............#...#...#.........#.#.#...#...#.....#.#.#...#...#.#.......#.....#...#.....#.#.#.....#.#.#...#.......#...#.#.............#.#", "#.###.###########.###.#####.#.#######.#.#####.#########.#.#.#.#.#####.#####.#####.#.#.#####.#.#.#.#####.#.#####.#####.#.###.###.###.#.#.###.#", "#.#...........#.....#.......#.#.....#.#.................#.#.#.#.......#.....#...#.#.#.....#.#...#.......#...........#.#...#...#.#...#.#.#...#", "#.###.#######.#.###.#########.###.###.#.#.#######.#######.#.#####.#####.#####.#.#.#.#.#####.#.#.###.#.#########.#.###.###.###.#.#.#.#.#.#.#.#", "#...#.#.....#...#...#.......#...#.....#.#.#.....#...#.#...#...#.......#.....................#.....#.#.....#...#.....#.....#...#.#.#...#...#.#", "###.#.#.#.#.#####.#####.###.###.#.#####.#.#.###.#.#.#.#.#####.#.#.###.#.#.#.#.#####.#.#######.###.#.###.#.#.#.#.###.#######.###.#.#.#.#####.#", "#.#...#...#...#.#.....#...#.....................#.#.#.#.#...#.......#.....#...#.....#.#...#.....................................#.#.#.#...#.#", "#.#######.#.#.#.#####.###.###.#.#########.###.#.###.#.#.#.#.#####.###########.#.###.#.#.#.#.#.#.#####.#.#####.#.#.#####.#####.#.#.#.#.#.###.#", "#.....#...#.#.#.....#...#...#.#.....#.#...#...#.........#.#.........................#...#...#.#.#...#.#...#...#.................#.#...#.#...#", "#.#####.#.#.#.#.#######.#.#.#.#####.#.#.###.###.#.#####.#.#######.#.###.#.#.#.###.#.#.#######.#.#.#.#.#.###.#.#.###.#.###.#.###.#.#.###.#.###", "#...#...#.#.#...#.......#.#.#.......#.......#.....#...#.#.#.....#.#...#.#.#.....#.#.........#...#.#...#.#...#.#.#.#.#.#...#...#.#.#.....#.#.#", "#.#.#.###.#.###.#.#########.#####.#.###############.#.#.#.#.#.#.#.###.#.#########.#########.#.###.#####.#.###.#.#.#.###.#####.#.#.#####.#.#.#", "#.#.#.....#.........................................#.#...#.#...#.....#.........#.#.....#...#.#...#.....#.#...#.#.#...#.#...#.........#.#.#.#", "#.#.#####.###.#.#.#.#.#.#####.#.#.#.#########.#.#####.#######.#.###############.#.#.#.#.#.###.###.#######.#.###.#.###.#.#.###########.###.#.#", "#.#.......#.#.#.#.#...#...#...#.#.#.#.......#...........................#.....#.#.#.#.#.#...#...#...#.....#.#...#.#...#...........#...#...#.#", "#.#########.#.###.#######.#.#.###.###.#####.###########.#.#.#.#######.#.#.#.###.#.#.#.#####.#.#.###.#.#######.###.#.###.###.#####.#.###.###.#", "#S........................#.#.........#.................#.............#...#.......#.#.........#.....#.............#.........#.....#.........#", "#############################################################################################################################################",];const size = MAP.length;let openSet = [];let cameFrom = new Map();let gScore = {};let fScore = {};let current = null;let path = [];let pathFound = false;let cellSize = 40;let start = { x: 1, y: 139 }; // Adjust as neededlet goal = { x: 139, y: 1 }; // Adjust as neededlet AStarStepSlider;let oscillator;let env;let restarting; // used to continuously reset start/goal if no interaction is foundlet osc_type = "sine";const RETRY_RESTART_DELAY = 3000; // Example delay of 10 secondsconst NEW_SOUND_TIMEOUT_DELAY = 250;let show_text_checkbox;const DEBUG_ON = false;const DEFAULT_FRAMERATE = 15; // per secondconst DEFAULT_ASTAR_STEPS_PER_FRAME = 10;let rainbow_mode_checkbox;let show_debug_checkbox;function windowResized() { let mapWidth = MAP[0].length; let mapHeight = MAP.length; cellSize = Math.min( Math.floor(windowWidth / mapWidth), Math.floor(windowHeight / mapHeight) ); resizeCanvas(mapWidth * cellSize, mapHeight * cellSize);}function setup() { let mapWidth = MAP[0].length; let mapHeight = MAP.length; cellSize = Math.min( Math.floor(windowWidth / mapWidth), Math.floor(windowHeight / mapHeight) ); let canvas = createCanvas(mapWidth * cellSize, mapHeight * cellSize); canvas.parent("main"); // Attach the canvas to the main container // Apply CSS dynamically canvas.style("margin", "5px auto"); canvas.style("display", "block"); frameRate(15); // Visualization speed show_text_checkbox = createCheckbox("show_text") .checked(false) .parent("sidebar_id"); show_debug_checkbox = createCheckbox("debug") .checked(DEBUG_ON) .parent("sidebar_id"); rainbow_mode_checkbox = createCheckbox("rainbow-mode") .checked(true) .parent("sidebar_id"); openSet.push(start); gScore[nodeKey(start)] = 0; fScore[nodeKey(start)] = heuristic(start, goal); let framerateSlider = document.getElementById("framerateSlider"); framerateSlider.value = DEFAULT_FRAMERATE; document.getElementById("framerateSpan").innerHTML = DEFAULT_FRAMERATE; frameRate(DEFAULT_FRAMERATE); framerateSlider.addEventListener("input", (event) => { frameRate(parseInt(event.target.value, 10)); document.getElementById("framerateSpan").innerHTML = event.target.value; }); // Set initial frame rate document.getElementById("framerateSpan").innerHTML = framerateSlider.value; frameRate(framerateSlider.value); AStarStepSlider = document.getElementById("AStarStepSlider"); AStarStepSlider.value = DEFAULT_ASTAR_STEPS_PER_FRAME; document.getElementById( "AStarStepSpan" ).innerHTML = DEFAULT_ASTAR_STEPS_PER_FRAME; AStarStepSlider.addEventListener("input", (event) => { document.getElementById("AStarStepSpan").innerHTML = event.target.value; }); // Set initial frame rate document.getElementById("AStarStepSpan").innerHTML = AStarStepSlider.value; setupSoundSystem();}function draw() { background(220); // Clear the canvas if (!pathFound) { for (var i = 0; i < AStarStepSlider.value; i++) { if (!pathFound) { let first_time_path_found = stepAstar(); if (first_time_path_found) { restarting = true; setTimeout(() => { osc_type = random([ "sawtooth", "sine", "square", "triangle", "sine", "sine", "triangle", "triangle", ]); // Corrected typo 'tiangle' to 'triangle' oscillator.setType(osc_type); if (restarting) { pickNewStartAndGoal(); } }, NEW_SOUND_TIMEOUT_DELAY); attemptPickNewStartAndGoal(); } } } playBeepBoop(); } drawMap(); // Draw the map // Inside draw function for start and goal visualization fill("rgba(0,255,0,1)"); // Start ellipse( start.x * cellSize + cellSize / 2, start.y * cellSize + cellSize / 2, cellSize ); fill("rgba(255,0,0,1)"); // Goal ellipse( goal.x * cellSize + cellSize / 2, goal.y * cellSize + cellSize / 2, cellSize ); // Optionally, draw the current best path if current is defined if (current) { let partialPath = reconstructPartialPath(cameFrom, current); drawPath2(partialPath, color("cyan"), color("red")); // Use a distinct color for the partial path } // Draw the final path if found if (pathFound) { drawPath2(path, color("rgba(0,255,0, 0.5)"), color("gold")); // Original path color } // Visualize the current node if (current) { fill("rgba(255,165,0, 0.5)"); // Orange for the current node rect(current.x * cellSize, current.y * cellSize, cellSize, cellSize); } // Visualize the open set fill("rgba(0,0,255, 0.25)"); // Blue for open set nodes for (let node of openSet) { rect(node.x * cellSize, node.y * cellSize, cellSize, cellSize); } if (start.x == goal.x && start.y == goal.y) { push(); textSize(40); textAlign(CENTER); textWrap(WORD); fill("red"); text( "⚠\nstart and goal are overlapping\n⚠", width / 4, height / 4, width / 2, height / 2 ); pop(); } push(); fill("yellow"); textAlign(CENTER); textSize(10); if (show_text_checkbox.checked()) { text(`you're listening to ${osc_type} beeps`, width / 2, height - 15); fill(restarting ? "green" : "red"); text( `demo ${restarting ? "on" : "off (press T or S somewhere to restart)"}`, width / 2, height - 50 ); } pop();}function attemptPickNewStartAndGoal() { if (restarting) { // Initial check to see if we're still in the state that requires a restart setTimeout(() => { // Check again after the delay to confirm we still want to restart if (restarting) { pickNewStartAndGoal(); } // If needed, else logic for not restarting can go here }, RETRY_RESTART_DELAY); }}function setupSoundSystem() { { oscillator = new p5.Oscillator(); oscillator.setType(osc_type); // You can change this to 'triangle', 'sawtooth', or 'square' oscillator.freq(440); // Frequency in Hz, 440 is the A above middle C oscillator.amp(0); // Start with amplitude at 0 to avoid sudden sounds oscillator.start(); // Initialize the envelope env = new p5.Envelope(); env.setADSR(0.01, 0.1, 0.1, 0.1); // Attack, Decay, Sustain, Release times env.setRange(0.1, 0); // Max and min amplitudes let gainNode = new p5.Gain(); gainNode.connect(); oscillator.disconnect(); // Disconnect from master output oscillator.connect(gainNode); // Connect oscillator to gain node gainNode.amp(0.2); // Set gain node amplitude }}function playBeepBoop() { let freq = random(100, 1200); // Random frequency for variety oscillator.freq(freq); // Trigger the envelope to play the sound env.play(oscillator);}function nodeKey(node) { return `${node.x},${node.y}`;}function heuristic(a, b) { // Manhattan distance on a square grid return Math.abs(a.x - b.x) + Math.abs(a.y - b.y);}function aStar(start, goal) { let openSet = [start]; let cameFrom = new Map(); // Using Map for better handling of complex keys let gScore = {}; gScore[nodeKey(start)] = 0; let fScore = {}; fScore[nodeKey(start)] = heuristic(start, goal); while (openSet.length > 0) { let current = openSet.reduce((prev, curr) => fScore[nodeKey(prev)] === undefined || fScore[nodeKey(curr)] < fScore[nodeKey(prev)] ? curr : prev ); if (current.x === goal.x && current.y === goal.y) { return reconstructPath(cameFrom, current); } openSet = openSet.filter( (item) => item.x !== current.x || item.y !== current.y ); let neighbors = getNeighbors(current); for (let neighbor of neighbors) { let tentativeGScore = gScore[nodeKey(current)] + 1; // assuming cost of 1 to move between neighbors if (tentativeGScore < (gScore[nodeKey(neighbor)] || Infinity)) { cameFrom.set(nodeKey(neighbor), current); // Correctly map using nodeKey gScore[nodeKey(neighbor)] = tentativeGScore; fScore[nodeKey(neighbor)] = gScore[nodeKey(neighbor)] + heuristic(neighbor, goal); if ( !openSet.some( (item) => item.x === neighbor.x && item.y === neighbor.y ) ) { openSet.push(neighbor); } } } } return false; // No path found}function getNeighbors(node) { let neighbors = []; const directions = [ [1, 0], [0, 1], [-1, 0], [0, -1], ]; // Right, Down, Left, Up for (let [dx, dy] of directions) { let newX = node.x + dx; let newY = node.y + dy; if ( newX >= 0 && newX < MAP[0].length && newY >= 0 && newY < MAP.length && MAP[newY][newX] !== "#" ) { neighbors.push({ x: newX, y: newY }); } } return neighbors;}function stepAstar() { if (openSet.length > 0 && !pathFound) { current = openSet.reduce((prev, curr) => fScore[nodeKey(prev)] === undefined || fScore[nodeKey(curr)] < fScore[nodeKey(prev)] ? curr : prev ); if (current.x === goal.x && current.y === goal.y) { path = reconstructPath(cameFrom, current); pathFound = true; // Path found return true; // Exit the function early } openSet = openSet.filter( (item) => item.x !== current.x || item.y !== current.y ); let neighbors = getNeighbors(current); for (let neighbor of neighbors) { let tentativeGScore = gScore[nodeKey(current)] + 1; if (tentativeGScore < (gScore[nodeKey(neighbor)] || Infinity)) { cameFrom.set(nodeKey(neighbor), current); gScore[nodeKey(neighbor)] = tentativeGScore; fScore[nodeKey(neighbor)] = tentativeGScore + heuristic(neighbor, goal); if ( !openSet.some( (item) => item.x === neighbor.x && item.y === neighbor.y ) ) { openSet.push(neighbor); } } } } else if (!pathFound) { print("no path found!"); noLoop(); // Stop the draw loop if no path is found and openSet is empty }}function findNearestNonWall(x, y) { if (MAP[y][x] !== "#") { return { x, y }; } console.debug("Looking for nonwall"); // Search in expanding squares around the initial position for (let radius = 1; radius < MAP.length; radius++) { for (let i = -radius; i <= radius; i++) { let checkPositions = [ { x: x + i, y: y - radius }, { x: x + i, y: y + radius }, { x: x - radius, y: y + i }, { x: x + radius, y: y + i }, ]; for (let pos of checkPositions) { if ( pos.x >= 0 && pos.x < MAP[0].length && pos.y >= 0 && pos.y < MAP.length && MAP[pos.y][pos.x] !== "#" ) { return pos; } } } } return { x, y }; // Fallback to the original position if no non-wall found}function resetAndRestart() { openSet = [start]; cameFrom = new Map(); gScore = {}; fScore = {}; current = null; path = []; pathFound = false; gScore[nodeKey(start)] = 0; fScore[nodeKey(start)] = heuristic(start, goal); loop(); // Ensure the draw loop is running}function mouseMoved() { print("forcing the user to listen!"); userStartAudio(); mouseMoved = function () { if (mouseX < 0 || mouseX > width || mouseY < 0 || mouseY > height) { return; } if (restarting) { restarting = false; } };}function keyPressed() { if (mouseX < 0 || mouseX > width || mouseY < 0 || mouseY > height) { return; } if (restarting) { restarting = false; } if (key == "r") { resetAndRestart(); } if (key == "t" || key == "s") { let mouseXIndex = Math.floor(mouseX / cellSize); let mouseYIndex = Math.floor(mouseY / cellSize); if ( mouseXIndex >= 0 && mouseXIndex < MAP[0].length && mouseYIndex >= 0 && mouseYIndex < MAP.length ) { let newPos = findNearestNonWall(mouseXIndex, mouseYIndex); if (key === "s") { start = newPos; } else if (key === "t") { goal = newPos; } resetAndRestart(); // Reset everything and restart the animation } }}function reconstructPartialPath(cameFrom, current) { let partialPath = []; let tempCurrent = current; let safetyCounter = 0; // Safety counter to prevent infinite loops const MAX_ITERATIONS = 1000; // Adjust based on the expected maximum path length while (cameFrom.has(nodeKey(tempCurrent)) && safetyCounter < MAX_ITERATIONS) { partialPath.unshift(tempCurrent); tempCurrent = cameFrom.get(nodeKey(tempCurrent)); safetyCounter++; // Increment safety counter if (tempCurrent === start) break; // Break if start node is reached } if (safetyCounter >= MAX_ITERATIONS) { console.error("Infinite loop detected in reconstructPartialPath"); return []; // Return an empty path as a fallback } partialPath.unshift(start); // Ensure start is included return partialPath;}function pickNewStartAndGoal() { let attempts = 0; const maxAttempts = 100; // Prevent infinite loops const minDistance = Math.floor(Math.max(MAP.length, MAP[0].length) / 2) - 1; while (attempts < maxAttempts) { // Randomly pick two points from the map let startX = Math.floor(random(MAP[0].length)); let startY = Math.floor(random(MAP.length)); let goalX = Math.floor(random(MAP[0].length)); let goalY = Math.floor(random(MAP.length)); // (1, 139) (139, 1) // Use findNearestNonWall to ensure these are walkable let newStart = findNearestNonWall(startX, startY); let newGoal = findNearestNonWall(goalX, goalY); // Calculate distance to ensure it meets the minimum required distance let distance = Math.abs(newStart.x - newGoal.x) + Math.abs(newStart.y - newGoal.y); if (distance >= minDistance) { start = newStart; // Set the new start position goal = newGoal; // Set the new goal position resetAndRestart(); // Reset and restart pathfinding with the new points break; // Break the loop once suitable points are found } attempts++; }}function reconstructPath(cameFrom, current) { let totalPath = [current]; let safetyCounter = 0; // Safety counter to prevent infinite loops const MAX_ITERATIONS = 1000; // Adjust based on the expected maximum path length while (cameFrom.has(nodeKey(current)) && safetyCounter < MAX_ITERATIONS) { current = cameFrom.get(nodeKey(current)); totalPath.unshift(current); safetyCounter++; // Increment safety counter if (current === start) break; // Break if start node is reached } if (safetyCounter >= MAX_ITERATIONS) { console.error("Infinite loop detected in reconstructPath"); return []; // Return an empty path as a fallback } return totalPath;}function drawRainBowMap() { push(); colorMode(HSB, 100); stroke(0); for (let y = 0; y < MAP.length; y++) { for (let x = 0; x < MAP[y].length; x++) { if (MAP[y][x] === "#") { const pulse = abs(sin(frameCount / 10)) * 50; const wall_color = color( (x / MAP[y].length) * 100, 20 + (y / MAP[y].length) * 120, pulse ); fill(wall_color); } else { fill(255); // White for walkable paths } rect(x * cellSize, y * cellSize, cellSize, cellSize); } } pop();}function drawNormalMap() { push(); colorMode(HSB, 100); const wallcolor = color(100, 100, 0); stroke(0); for (let y = 0; y < MAP.length; y++) { for (let x = 0; x < MAP[y].length; x++) { if (MAP[y][x] === "#") { fill(wallcolor); } else { fill(255); } rect(x * cellSize, y * cellSize, cellSize, cellSize); } } pop();}function drawMap() { if (rainbow_mode_checkbox.checked()) { drawRainBowMap(); } else { drawNormalMap(); }}function drawPath(path, col = "rgba(0,255,0, 0.5)") { // Change the fill color based on the argument for (let [i, node] of path.entries()) { fill(lerpColor(color("red"), color(col), i / path.length)); ellipse( node.x * cellSize + cellSize / 2, node.y * cellSize + cellSize / 2, cellSize * 0.8 ); }}function drawPath2(path, colFrom = color("green"), colTo = color("red")) { /* draw the path from colFrom to colTo */ for (let [i, node] of path.entries()) { fill(lerpColor(colFrom, colTo, i / path.length)); ellipse( node.x * cellSize + cellSize / 2, node.y * cellSize + cellSize / 2, cellSize * 0.8 ); }}