25:["$","title",null,{"children":"A* Pathfinding | Neil Russell | Observable"}] 49:T42c,

Color pallette

${viewof paletteGridBg}

${viewof paletteGridBdr}

${viewof paletteObstacleBg}

${viewof paletteObstacleBdr}

${viewof paletteGoalBg}

${viewof paletteGoalBdr}

${viewof paletteGoalText}

${viewof palettePathCurrentBg}

${viewof palettePathCurrentBdr}

${viewof palettePathOpenBg}

${viewof palettePathOpenBdr}

${viewof palettePathClosedBg}

${viewof palettePathClosedBdr}

${viewof palettePathCurrentBg}

${viewof palettePathCurrentBgAlpha}

${viewof palettePathCurrentBdr}

${viewof palettePathCurrentNeighborBg}

${viewof palettePathCurrentNeighborBgAlpha}

${viewof palettePathCurrentNeighborBdr}

4a:T6d1,function* findPath(start, goal) { mutable openSet.add(start) mutable gScore.set(start, 0) mutable hScore.set(start, distBetween(deserializeCoords(start), deserializeCoords(goal))) mutable fScore.set(start, heuristicCostEstimate(deserializeCoords(start), deserializeCoords(goal))) while (mutable openSet.size > 0) { const current = findOpenWithLowestFCost() if (current === goal) { const bestPath = reconstructPath(current) const result = [] for (const coord of bestPath) { result.push(coord) yield { current: null, neighbor: null, result } } return result } mutable openSet.delete(current) mutable closedSet.add(current) const neighbors = getNeighbors(current) for (const neighbor of neighbors) { if (mutable closedSet.has(neighbor)) { continue } const _current = deserializeCoords(current) const _neighbor = deserializeCoords(neighbor) yield { current: _current, neighbor: _neighbor, result: null } mutable hScore.set(neighbor, distBetween(deserializeCoords(neighbor), deserializeCoords(goal))) const tentativeGScore = mutable gScore.get(current) + distBetween(deserializeCoords(current), deserializeCoords(neighbor)) if (!mutable openSet.has(neighbor)) { mutable openSet.add(neighbor) } if (mutable openSet.has(neighbor) && tentativeGScore >= mutable gScore.get(neighbor)) { continue } mutable cameFrom.set(neighbor, current) mutable gScore.set(neighbor, tentativeGScore) mutable fScore.set(neighbor, mutable gScore.get(neighbor) + heuristicCostEstimate(deserializeCoords(neighbor), deserializeCoords(goal))) } } return null }4b:T507,viewof grid = { // canvas const context = DOM.context2d(gridWidth, gridHeight) // draw drawBg(context)({ bg: paletteGridBg, bdr: paletteGridBdr }) drawGrid(drawCell(context)({ bg: paletteGridBg, bdr: paletteGridBdr })) R.forEach(drawCellWithScores(context)({ bg: palettePathOpenBg, bdr: palettePathOpenBdr }))(openSet) R.forEach(drawCellWithScores(context)({ bg: palettePathClosedBg, bdr: palettePathClosedBdr }))(closedSet) if (gridState.current) { const _palettePathCurrentBg = palettePathCurrentBg + percentageToHex(palettePathCurrentBgAlpha) drawCellWithScores(context)({ bg: _palettePathCurrentBg, bdr: palettePathCurrentBdr })(serializeCoords(gridState.current)) } if (gridState.neighbor) { const _palettePathCurrentNeighborBg = palettePathCurrentNeighborBg + percentageToHex(palettePathCurrentNeighborBgAlpha) drawCellWithScores(context)({ bg: _palettePathCurrentNeighborBg, bdr: palettePathCurrentNeighborBdr })(serializeCoords(gridState.neighbor)) } if (!R.isNil(solution)) { const _palettePathCurrentBg = palettePathCurrentBg + percentageToHex(palettePathCurrentBgAlpha) R.forEach((coord) => drawCell(context)({ bg: _palettePathCurrentBg, bdr: palettePathCurrentBdr })(coord))(gridState.result) } return context.canvas }4c:Tb06,viewof inputConfigGrid = { const svg = DOM.svg(gridWidth, gridHeight); const grid = R.addIndex(R.reduce)((acc, _, x) => R.addIndex(R.reduce)((acc2, __, y) => R.append([x, y])(acc2))(acc)(new Array(rows)) )([])(new Array(columns)) const isGoal = (d) => (!R.isNil(goalA) && d[0] === goalA[0] && d[1] === goalA[1]) || (!R.isNil(goalB) && d[0] === goalB[0] && d[1] === goalB[1]) const whichGoal = (d) => R.isNil(goalA) ? '' : (d[0] === goalA[0] && d[1] === goalA[1] ? 'A' : 'B') const isObstacle = (d) => obstacleSet.has(serializeCoords(d)) const onClick = (grid) => (e, d) => { if (isDrawingGoals) { if (settingGoalA) { mutable goalA = d } else { mutable goalB = d } mutable settingGoalA = !mutable settingGoalA } if (isDrawingObstacles) { if (obstacleSet.has(serializeCoords(d))) { mutable obstacleSet = obstacleSet.delete(serializeCoords(d)) } else { mutable obstacleSet = obstacleSet.add(serializeCoords(d)) } } } d3.select(svg) .selectAll(".square") .data(grid) // .join( // enter => enter // .append('rect') // .attr("x", R.compose(R.multiply(gridCellSize), R.head)) // .attr("y", R.compose(R.multiply(gridCellSize), R.last)) // .attr("width", () => gridCellSize) // .attr("height", () => gridCellSize) // .style("fill", (d) => { // if (isGoal(d)) { // return paletteGoalBg // } else if (isObstacle(d)) { // return paletteObstacleBg // } // return 'transparent'//paletteGridBg // }) // .style("stroke-width", 1) // .style("stroke", paletteGridBdr) // .style('opacity', 0) // .transition() // .duration(1000) // .style('opacity', 1) // .selection(), // update => update, // exit => exit.remove(), // ) // .on('click', onClick(grid)) .enter() .append("rect") .style("stroke", "black") .attr("x", R.compose(R.multiply(gridCellSize), R.head)) .attr("y", R.compose(R.multiply(gridCellSize), R.last)) .attr("width", () => gridCellSize) .attr("height", () => gridCellSize) .style("fill", (d) => { if (isGoal(d)) { return paletteGoalBg } else if (isObstacle(d)) { return paletteObstacleBg } return 'transparent'//paletteGridBg }) .style("stroke-width", 1) .style("stroke", paletteGridBdr) .on('click', onClick(grid)) d3.select(svg) .selectAll(".squareText") .data(grid) .enter() .filter(isGoal) .append("text") .attr("x", ([x, y]) => x * gridCellSize + gridCellSize / 2) .attr("y", ([x, y]) => y * gridCellSize + gridCellSize / 2 + 10) .attr("text-anchor", "middle") .text(whichGoal) return svg; }4d:T423,drawCellWithText3 = context => ({ bg, bdr, text } = { bg: '#FFFFFF', bdr: null, text: null }) => (coords, text1, text2, text3) => { const [x, y] = deserializeCoords(coords) context.fillStyle = bg context.strokeWidth = 1 context.strokeStyle = bdr ? bdr : bg context.strokeRect(x * gridCellSize, y * gridCellSize, gridCellSize - 1, gridCellSize - 1) context.fillRect(x * gridCellSize, y * gridCellSize, gridCellSize - 1, gridCellSize - 1) context.font = "12px Arial" context.fillStyle = text ? text : (bdr ? bdr : bg) context.textAlign = "left" context.fillText(text2, x * gridCellSize + 2, y * gridCellSize + 12) context.font = "12px Arial" context.fillStyle = text ? text : (bdr ? bdr : bg) context.textAlign = "right" context.fillText(text3, x * gridCellSize + gridCellSize - 2, y * gridCellSize + 12) context.font = "24px Arial" context.fillStyle = text ? text : (bdr ? bdr : bg) context.textAlign = "center" context.fillText(text1, x * gridCellSize + gridCellSize / 2, y * gridCellSize + gridCellSize / 2 + 14) }4e:[] 29:{"id":"8c930e0dc9a1e817","slug":null,"title":"A* Pathfinding","thumbnail":"66d3102a8135df1f0e8095e8baf44e5ebc1bec52b6fabbd33e171a16c4f16e30","access_level":"public","create_time":"$D2022-12-08T15:52:01.498Z","update_time":"$D2022-12-16T13:25:37.735Z","view_time":null,"first_public_time":"$D2022-12-08T15:52:01.498Z","has_unpublished_edits":null,"fork":false,"stars":1,"starred":false,"owner":{"type":"team","id":"e0806e5ab6d2c145","login":"neilrussell6","name":" Neil Russell","avatar_url":"https://avatars-next.observableusercontent.com/a3c6158fccd59dae2787eaafc6e28aaa7e42c77d17d54ea36017433f968af2ed","tier":"starter_2024","bio":"","followed_by_you":false,"follows_you":false},"version":2527,"publish_version":null,"role":null,"authored":false,"authors":[{"type":"individual","id":"1b43f139eeeffcb9","login":"neilrussell6","name":" Neil Russell","avatar_url":"https://avatars-next.observableusercontent.com/a3c6158fccd59dae2787eaafc6e28aaa7e42c77d17d54ea36017433f968af2ed","tier":null,"bio":"","followed_by_you":false,"follows_you":false}],"members":[{"type":"individual","id":"1b43f139eeeffcb9","login":"neilrussell6","name":" Neil Russell","avatar_url":"https://avatars-next.observableusercontent.com/a3c6158fccd59dae2787eaafc6e28aaa7e42c77d17d54ea36017433f968af2ed","tier":null,"role":"editor"}],"comments":[],"custom_thumbnail":false,"trashed":false,"lapsed":null,"subscribed":null,"forks":1,"collection":null,"type":"notebook","body":{"titling":"auto","title":"A* Pathfinding","cells":[{"id":667,"value":"# A* Pathfinding","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1241,"value":"

Path Finding

${viewof speed}

${viewof maxSteps}

Grid

${viewof gridWidth}

${viewof gridHeight}

${viewof gridCellSize}

${viewof inputReplay}

${viewof grid}

${viewof inputConfigGrid}

","pinned":false,"hidden":false,"mode":"html","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1406,"value":"$49","pinned":false,"hidden":false,"mode":"html","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":2059,"value":"# State","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1981,"value":"mutable settingGoalA = true","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1948,"value":"mutable goalA = [7,4]","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1968,"value":"mutable goalB = [4, 1]","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2047,"value":"mutable obstacleSet = new Set([\"3,1\", \"3,2\", \"4,2\", \"5,2\", \"6,2\", \"7,2\"])","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1908,"value":"mutable isDrawingGoals = false","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1910,"value":"mutable isDrawingGoalA = false","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1914,"value":"mutable isDrawingObstacles = false","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2142,"value":"mutable openSet = new Set()","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2144,"value":"mutable closedSet = new Set()","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2150,"value":"mutable cameFrom = new Map()","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2153,"value":"mutable gScore = new Map()","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2155,"value":"mutable hScore = new Map()","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2157,"value":"mutable fScore = new Map()","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2162,"value":"columns = Math.floor(gridWidth / gridCellSize)","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2167,"value":"rows = Math.floor(gridHeight / gridCellSize)","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2500,"value":"mutable solution = null","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1744,"value":"# Algorithm Function","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":877,"value":"$4a","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1749,"value":"# Algorithm Helper Functions","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1023,"value":"serializeCoords = R.join(',')","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1025,"value":"deserializeCoords = R.compose(R.map((x) => parseInt(x)), R.split(','))","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":884,"value":"This function returns an estimation of the cost of getting from the start node to the goal node. This cost should never exceed the actual cost of getting from the start node to the goal node.","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":882,"value":"heuristicCostEstimate = distBetween","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":888,"value":"This function returns the node in openSet having the lowest fScore value.","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":890,"value":"getLowestFScoreNode = (openSet, fScore) => {}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":897,"value":"This function returns an array of the neighbors of the given node.","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":902,"value":"getNeighbors = (node) => {\n const checks = [[-1, -1], [0, -1], [1, -1], [1, 0], [1, 1], [0, 1], [-1, 1], [-1, 0]]\n const obstacles = Array.from(mutable obstacleSet.values())\n const closed = Array.from(mutable closedSet.values())\n const [nodeX, nodeY] = deserializeCoords(node)\n return R.reduce((result, [i, j]) => {\n const x = nodeX + i\n const y = nodeY + j\n const coords = serializeCoords([x, y])\n if (R.includes(coords)(obstacles)) {\n return result\n }\n if (x < 0 || x >= columns || y < 0 || y >= rows) {\n return result\n }\n return R.append(coords)(result)\n })([])(checks)\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":916,"value":"distBetween = (current, neighbor) => {\n const x = Math.abs(current[0] - neighbor[0])\n const y = Math.abs(current[1] - neighbor[1])\n if (x > y) {\n return 14 * y + 10 * (x - y)\n } else {\n return 14 * x + 10 * (y - x)\n }\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":907,"value":"recover the sequence of actions leading from the initial state to the goal state once the goal has been found.","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1291,"value":"findOpenWithLowestFCost = () => {\n let current = mutable openSet.values().next().value\n mutable openSet.forEach((open) => {\n if (mutable fScore.get(open) < mutable fScore.get(current) || mutable fScore.get(open) === mutable fScore.get(current) && mutable hScore.get(open) < mutable hScore.get(current)) {\n current = open\n }\n })\n return current\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":909,"value":"reconstructPath = (current) => {\n const result = []\n while (mutable cameFrom.has(current)) {\n result.push(current)\n current = mutable cameFrom.get(current)\n }\n return R.reverse(result)\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1784,"value":"# Defaults","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1549,"value":"paletteDefault = ({\n paletteGridBg: '#FFFFFF',\n paletteGridBdr: '#CCCCCC',\n paletteObstacleBg: '#666666',\n paletteObstacleBdr: '#333333',\n paletteGoalBg: '#B467CB',\n paletteGoalBdr: '#702387',\n paletteGoalText: '#FFFFFF',\n palettePathOpenBg: '#abdbe3',\n palettePathOpenBdr: '#154c79',\n palettePathClosedBg: '#eab676',\n palettePathClosedBdr: '#873e23',\n palettePathCurrentBg: '#B467CB',\n palettePathCurrentBgAlpha: 65,\n palettePathCurrentBdr: '#702387',\n palettePathCurrentNeighborBg: '#B467CB',\n palettePathCurrentNeighborBgAlpha: 47,\n palettePathCurrentNeighborBdr: '#702387',\n})","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":311,"value":"# Visualisation","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":277,"value":"gridState = {\n inputReplay\n \n const goals = [\n [{ label: 'A', coords: mutable goalA }, { label: 'B', coords: mutable goalB }],\n ]\n const start = serializeCoords(goals[0][0].coords)\n const goal = serializeCoords(goals[0][1].coords)\n const gen = findPath(start, goal)\n\n let step = gen.next()\n let steps = 0\n\n while (!step.done && (maxSteps === 30 || steps < maxSteps)) {\n const _value = step.value\n if (!R.isNil(_value.result)) {\n mutable solution = _value.result\n }\n yield step.value\n step = gen.next()\n if (speed < 1000) {\n await Promises.tick(1000 / speed)\n }\n steps++\n }\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":649,"value":"$4b","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1801,"value":"$4c","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2137,"value":"{\n // when we replay or change specs (goals / obstacles)\n inputReplay\n goalA\n goalB\n obstacleSet\n \n // ... clear console\n console.clear()\n\n // ... and reset global vars\n mutable cameFrom = new Map()\n mutable gScore = new Map()\n mutable hScore = new Map()\n mutable fScore = new Map()\n mutable openSet = new Set()\n mutable closedSet = new Set()\n mutable solution = null\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":300,"value":"# Grid Utils","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1305,"value":"drawCellWithScores = context => (color, bdrColor = null, strokeWidth = 1) => (coords) => {\n const _fScore = fScore.get(coords)\n const _gScore = gScore.get(coords)\n const _hScore = hScore.get(coords)\n const __fScore = R.isNil(_fScore) ? '' : _fScore\n const __gScore = R.isNil(_gScore) ? '' : _gScore\n const __hScore = R.isNil(_hScore) ? '' : _hScore\n drawCellWithText3(context)(color, bdrColor, strokeWidth)(coords, __fScore, __gScore, __hScore)\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":262,"value":"drawGrid = (draw) => {\n R.addIndex(R.forEach)((_, x) => {\n R.addIndex(R.forEach)((_, y) => {\n draw(serializeCoords([x, y]))\n })(new Array(rows))\n })(new Array(columns))\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":298,"value":"# Canvas Utils","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":316,"value":"drawBg = context => ({ bg, bdr } = { bg: '#FFFFFF', bdr: null }) => {\n context.clearRect(0, 0, gridWidth, gridHeight)\n context.strokeStyle = bdr\n context.fillStyle = bdr ? bdr : bg\n context.strokeRect(0, 0, gridWidth, gridHeight)\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1297,"value":"drawCell = context => ({ bg, bdr } = { bg: '#FFFFFF', bdr: null }) => (coords) => {\n const [x, y] = deserializeCoords(coords)\n context.fillStyle = bg\n context.strokeWidth = 1\n context.strokeStyle = bdr ? bdr : bg\n context.strokeRect(x * gridCellSize, y * gridCellSize, gridCellSize - 1, gridCellSize - 1)\n context.fillRect(x * gridCellSize, y * gridCellSize, gridCellSize - 1, gridCellSize - 1)\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1310,"value":"drawCellWithText1 = context => ({ bg, bdr, text: color } = { bg: null, bdr: null, text: null }) => (coords, text) => {\n const [x, y] = deserializeCoords(coords)\n context.fillStyle = bg\n context.strokeWidth = 1\n context.strokeStyle = bdr ? bdr : bg\n context.strokeRect(x * gridCellSize, y * gridCellSize, gridCellSize - 1, gridCellSize - 1)\n context.fillRect(x * gridCellSize, y * gridCellSize, gridCellSize - 1, gridCellSize - 1)\n context.font = \"24px Arial\"\n context.fillStyle = color ? color : (bdr ? bdr : bg)\n context.textAlign = \"center\"\n context.fillText(text, x * gridCellSize + gridCellSize / 2, y * gridCellSize + gridCellSize / 2 + 14)\n}","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":258,"value":"$4d","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1470,"value":"# Color Utils","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1454,"value":"hexToPercentage = hex => parseInt(hex, 16) / 255 * 100","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1465,"value":"percentageToHex = n => parseInt(n / 100 * 255).toString(16).padStart(2, '0')","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1775,"value":"# Form Views","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":1208,"value":"viewof speed = Inputs.range([1, 1000], {value: 1000, step: 1, label: \"Speed\"})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1215,"value":"viewof maxSteps = Inputs.range([1, 30], {value: 30, step: 1, label: \"Max Steps\"})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1250,"value":"viewof gridWidth = Inputs.range([200, 1600], {value: 800, step: 10, label: \"Grid Width\"})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1254,"value":"viewof gridHeight = Inputs.range([200, 1000], {value: 350, step: 10, label: \"Grid Height\"})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1232,"value":"viewof gridCellSize = Inputs.range([10, 100], {value: 50, step: 1, label: \"Grid Cell Size\"})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1363,"value":"viewof paletteGridBg = Inputs.color({label: \"Grid BG\", value: paletteDefault.paletteGridBg })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1365,"value":"viewof paletteGridBdr = Inputs.color({label: \"Grid Border\", value: paletteDefault.paletteGridBdr })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1369,"value":"viewof paletteObstacleBg = Inputs.color({label: \"Obstacle BG\", value: paletteDefault.paletteObstacleBg })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1374,"value":"viewof paletteObstacleBdr = Inputs.color({label: \"Obstacle Border\", value: paletteDefault.paletteObstacleBdr })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1378,"value":"viewof paletteGoalBg = Inputs.color({label: \"Goal BG\", value: paletteDefault.paletteGoalBg })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1380,"value":"viewof paletteGoalBdr = Inputs.color({label: \"Goal Border\", value: paletteDefault.paletteGoalBdr })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":2063,"value":"viewof paletteGoalText = Inputs.color({label: \"Goal Text\", value: paletteDefault.paletteGoalText })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1382,"value":"viewof palettePathOpenBg = Inputs.color({label: \"Path Open BG\", value: paletteDefault.palettePathOpenBg })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1386,"value":"viewof palettePathOpenBdr = Inputs.color({label: \"Path Open Border\", value: paletteDefault.palettePathOpenBdr })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1384,"value":"viewof palettePathClosedBg = Inputs.color({label: \"Path Closed BG\", value: paletteDefault.palettePathClosedBg })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1388,"value":"viewof palettePathClosedBdr = Inputs.color({label: \"Path Closed Border\", value: paletteDefault.palettePathClosedBdr })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1391,"value":"viewof palettePathCurrentBg = Inputs.color({label: \"Path Current BG\", value: paletteDefault.palettePathCurrentBg })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1446,"value":"viewof palettePathCurrentBgAlpha = Inputs.range([0, 100], {value: paletteDefault.palettePathCurrentBgAlpha, step: 1, label: \"Path Current BG Alpha\"})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1392,"value":"viewof palettePathCurrentBdr = Inputs.color({label: \"Path Current Border\", value: paletteDefault.palettePathCurrentBdr })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1399,"value":"viewof palettePathCurrentNeighborBg = Inputs.color({label: \"Path Current Neighbour BG\", value: paletteDefault.palettePathCurrentNeighborBg })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1478,"value":"viewof palettePathCurrentNeighborBgAlpha = Inputs.range([0, 100], {value: paletteDefault.palettePathCurrentNeighborBgAlpha, step: 1, label: \"Path Current Neighbour BG Alpha\"})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1402,"value":"viewof palettePathCurrentNeighborBdr = Inputs.color({label: \"Path Current Neighbour Border\", value: paletteDefault.palettePathCurrentNeighborBdr })","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1740,"value":"viewof inputReplay = Inputs.button(\"Replay\")","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1860,"value":"viewof inputDrawGoals = Inputs.button(\"\")","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1862,"value":"viewof inputDrawObstacles = Inputs.button(\"\", { reduce: () => {\n mutable isDrawingObstacles = isDrawingObstacles ? false : true\n}})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1843,"value":"html``","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":1781,"value":"# Imports","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"","database":"$undefined"},{"id":675,"value":"import {form} from \"@mbostock/form-input\"","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":16,"value":"import {p5, ParticleSystem} from \"@tmcw/p5\"","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"},{"id":20,"value":"R = require('ramda')","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","tool":"$undefined","providerMetadata":"$undefined","attachments":"$undefined","output":"$undefined","database":"$undefined"}],"files":"$W4e","stdlib":"1"}} 24:null