pathfinding-browser.min.js

!function(t){if("object"==typeof exports)module.exports=t();else if("function"==typeof define&&define.amd)define(t);else{var e;"undefined"!=typeof window?e=window:"undefined"!=typeof global?e=global:"undefined"!=typeof self&&(e=self),e.PF=t()}}(function(){return function t(e,i,n){function o(a,s){if(!i[a]){if(!e[a]){var l="function"==typeof require&&require;if(!s&&l)return l(a,!0);if(r)return r(a,!0);throw new Error("Cannot find module '"+a+"'")}var h=i[a]={exports:{}};e[a][0].call(h.exports,function(t){var i=e[a][1][t];return o(i?i:t)},h,h.exports,t,e,i,n)}return i[a].exports}for(var r="function"==typeof require&&require,a=0;a<n.length;a++)o(n[a]);return o}({1:[function(t,e,i){e.exports=t("./lib/heap")},{"./lib/heap":2}],2:[function(t,e,i){(function(){var t,i,n,o,r,a,s,l,h,u,p,c,f,d,g;n=Math.floor,u=Math.min,i=function(t,e){return e>t?-1:t>e?1:0},h=function(t,e,o,r,a){var s;if(null==o&&(o=0),null==a&&(a=i),0>o)throw new Error("lo must be non-negative");for(null==r&&(r=t.length);r>o;)s=n((o+r)/2),a(e,t[s])<0?r=s:o=s+1;return[].splice.apply(t,[o,o-o].concat(e)),e},a=function(t,e,n){return null==n&&(n=i),t.push(e),d(t,0,t.length-1,n)},r=function(t,e){var n,o;return null==e&&(e=i),n=t.pop(),t.length?(o=t[0],t[0]=n,g(t,0,e)):o=n,o},l=function(t,e,n){var o;return null==n&&(n=i),o=t[0],t[0]=e,g(t,0,n),o},s=function(t,e,n){var o;return null==n&&(n=i),t.length&&n(t[0],e)<0&&(o=[t[0],e],e=o[0],t[0]=o[1],g(t,0,n)),e},o=function(t,e){var o,r,a,s,l,h;for(null==e&&(e=i),s=function(){h=[];for(var e=0,i=n(t.length/2);i>=0?i>e:e>i;i>=0?e++:e--)h.push(e);return h}.apply(this).reverse(),l=[],r=0,a=s.length;a>r;r++)o=s[r],l.push(g(t,o,e));return l},f=function(t,e,n){var o;return null==n&&(n=i),o=t.indexOf(e),-1!==o?(d(t,0,o,n),g(t,o,n)):void 0},p=function(t,e,n){var r,a,l,h,u;if(null==n&&(n=i),a=t.slice(0,e),!a.length)return a;for(o(a,n),u=t.slice(e),l=0,h=u.length;h>l;l++)r=u[l],s(a,r,n);return a.sort(n).reverse()},c=function(t,e,n){var a,s,l,p,c,f,d,g,b,v;if(null==n&&(n=i),10*e<=t.length){if(p=t.slice(0,e).sort(n),!p.length)return p;for(l=p[p.length-1],g=t.slice(e),c=0,d=g.length;d>c;c++)a=g[c],n(a,l)<0&&(h(p,a,0,null,n),p.pop(),l=p[p.length-1]);return p}for(o(t,n),v=[],s=f=0,b=u(e,t.length);b>=0?b>f:f>b;s=b>=0?++f:--f)v.push(r(t,n));return v},d=function(t,e,n,o){var r,a,s;for(null==o&&(o=i),r=t[n];n>e&&(s=n-1>>1,a=t[s],o(r,a)<0);)t[n]=a,n=s;return t[n]=r},g=function(t,e,n){var o,r,a,s,l;for(null==n&&(n=i),r=t.length,l=e,a=t[e],o=2*e+1;r>o;)s=o+1,r>s&&!(n(t[o],t[s])<0)&&(o=s),t[e]=t[o],e=o,o=2*e+1;return t[e]=a,d(t,l,e,n)},t=function(){function t(t){this.cmp=null!=t?t:i,this.nodes=[]}return t.push=a,t.pop=r,t.replace=l,t.pushpop=s,t.heapify=o,t.updateItem=f,t.nlargest=p,t.nsmallest=c,t.prototype.push=function(t){return a(this.nodes,t,this.cmp)},t.prototype.pop=function(){return r(this.nodes,this.cmp)},t.prototype.peek=function(){return this.nodes[0]},t.prototype.contains=function(t){return-1!==this.nodes.indexOf(t)},t.prototype.replace=function(t){return l(this.nodes,t,this.cmp)},t.prototype.pushpop=function(t){return s(this.nodes,t,this.cmp)},t.prototype.heapify=function(){return o(this.nodes,this.cmp)},t.prototype.updateItem=function(t){return f(this.nodes,t,this.cmp)},t.prototype.clear=function(){return this.nodes=[]},t.prototype.empty=function(){return 0===this.nodes.length},t.prototype.size=function(){return this.nodes.length},t.prototype.clone=function(){var e;return e=new t,e.nodes=this.nodes.slice(0),e},t.prototype.toArray=function(){return this.nodes.slice(0)},t.prototype.insert=t.prototype.push,t.prototype.top=t.prototype.peek,t.prototype.front=t.prototype.peek,t.prototype.has=t.prototype.contains,t.prototype.copy=t.prototype.clone,t}(),("undefined"!=typeof e&&null!==e?e.exports:void 0)?e.exports=t:window.Heap=t}).call(this)},{}],3:[function(t,e,i){var n={Always:1,Never:2,IfAtMostOneObstacle:3,OnlyWhenNoObstacles:4};e.exports=n},{}],4:[function(t,e,i){function n(t,e,i){var n;"object"!=typeof t?n=t:(e=t.length,n=t[0].length,i=t),this.width=n,this.height=e,this.nodes=this._buildNodes(n,e,i)}var o=t("./Node"),r=t("./DiagonalMovement");n.prototype._buildNodes=function(t,e,i){var n,r,a=new Array(e);for(n=0;e>n;++n)for(a[n]=new Array(t),r=0;t>r;++r)a[n][r]=new o(r,n);if(void 0===i)return a;if(i.length!==e||i[0].length!==t)throw new Error("Matrix size does not fit");for(n=0;e>n;++n)for(r=0;t>r;++r)i[n][r]&&(a[n][r].walkable=!1);return a},n.prototype.getNodeAt=function(t,e){return this.nodes[e][t]},n.prototype.isWalkableAt=function(t,e){return this.isInside(t,e)&&this.nodes[e][t].walkable},n.prototype.isInside=function(t,e){return t>=0&&t<this.width&&e>=0&&e<this.height},n.prototype.setWalkableAt=function(t,e,i){this.nodes[e][t].walkable=i},n.prototype.getNeighbors=function(t,e){var i=t.x,n=t.y,o=[],a=!1,s=!1,l=!1,h=!1,u=!1,p=!1,c=!1,f=!1,d=this.nodes;if(this.isWalkableAt(i,n-1)&&(o.push(d[n-1][i]),a=!0),this.isWalkableAt(i+1,n)&&(o.push(d[n][i+1]),l=!0),this.isWalkableAt(i,n+1)&&(o.push(d[n+1][i]),u=!0),this.isWalkableAt(i-1,n)&&(o.push(d[n][i-1]),c=!0),e===r.Never)return o;if(e===r.OnlyWhenNoObstacles)s=c&&a,h=a&&l,p=l&&u,f=u&&c;else if(e===r.IfAtMostOneObstacle)s=c||a,h=a||l,p=l||u,f=u||c;else{if(e!==r.Always)throw new Error("Incorrect value of diagonalMovement");s=!0,h=!0,p=!0,f=!0}return s&&this.isWalkableAt(i-1,n-1)&&o.push(d[n-1][i-1]),h&&this.isWalkableAt(i+1,n-1)&&o.push(d[n-1][i+1]),p&&this.isWalkableAt(i+1,n+1)&&o.push(d[n+1][i+1]),f&&this.isWalkableAt(i-1,n+1)&&o.push(d[n+1][i-1]),o},n.prototype.clone=function(){var t,e,i=this.width,r=this.height,a=this.nodes,s=new n(i,r),l=new Array(r);for(t=0;r>t;++t)for(l[t]=new Array(i),e=0;i>e;++e)l[t][e]=new o(e,t,a[t][e].walkable);return s.nodes=l,s},e.exports=n},{"./DiagonalMovement":3,"./Node":6}],5:[function(t,e,i){e.exports={manhattan:function(t,e){return t+e},euclidean:function(t,e){return Math.sqrt(t*t+e*e)},octile:function(t,e){var i=Math.SQRT2-1;return e>t?i*t+e:i*e+t},chebyshev:function(t,e){return Math.max(t,e)}}},{}],6:[function(t,e,i){function n(t,e,i){this.x=t,this.y=e,this.walkable=void 0===i?!0:i}e.exports=n},{}],7:[function(t,e,i){function n(t){for(var e=[[t.x,t.y]];t.parent;)t=t.parent,e.push([t.x,t.y]);return e.reverse()}function o(t,e){var i=n(t),o=n(e);return i.concat(o.reverse())}function r(t){var e,i,n,o,r,a=0;for(e=1;e<t.length;++e)i=t[e-1],n=t[e],o=i[0]-n[0],r=i[1]-n[1],a+=Math.sqrt(o*o+r*r);return a}function a(t,e,i,n){var o,r,a,s,l,h,u=Math.abs,p=[];for(a=u(i-t),s=u(n-e),o=i>t?1:-1,r=n>e?1:-1,l=a-s;;){if(p.push([t,e]),t===i&&e===n)break;h=2*l,h>-s&&(l-=s,t+=o),a>h&&(l+=a,e+=r)}return p}function s(t){var e,i,n,o,r,s,l=[],h=t.length;if(2>h)return l;for(r=0;h-1>r;++r)for(e=t[r],i=t[r+1],n=a(e[0],e[1],i[0],i[1]),o=n.length,s=0;o-1>s;++s)l.push(n[s]);return l.push(t[h-1]),l}function l(t,e){var i,n,o,r,s,l,h,u,p,c,f,d=e.length,g=e[0][0],b=e[0][1],v=e[d-1][0],A=e[d-1][1];for(i=g,n=b,s=[[i,n]],l=2;d>l;++l){for(u=e[l],o=u[0],r=u[1],p=a(i,n,o,r),f=!1,h=1;h<p.length;++h)if(c=p[h],!t.isWalkableAt(c[0],c[1])){f=!0;break}f&&(lastValidCoord=e[l-1],s.push(lastValidCoord),i=lastValidCoord[0],n=lastValidCoord[1])}return s.push([v,A]),s}function h(t){if(t.length<3)return t;var e,i,n,o,r,a,s=[],l=t[0][0],h=t[0][1],u=t[1][0],p=t[1][1],c=u-l,f=p-h;for(r=Math.sqrt(c*c+f*f),c/=r,f/=r,s.push([l,h]),a=2;a<t.length;a++)e=u,i=p,n=c,o=f,u=t[a][0],p=t[a][1],c=u-e,f=p-i,r=Math.sqrt(c*c+f*f),c/=r,f/=r,c===n&&f===o||s.push([e,i]);return s.push([u,p]),s}i.backtrace=n,i.biBacktrace=o,i.pathLength=r,i.interpolate=a,i.expandPath=s,i.smoothenPath=l,i.compressPath=h},{}],8:[function(t,e,i){e.exports={Heap:t("heap"),Node:t("./core/Node"),Grid:t("./core/Grid"),Util:t("./core/Util"),DiagonalMovement:t("./core/DiagonalMovement"),Heuristic:t("./core/Heuristic"),AStarFinder:t("./finders/AStarFinder"),BestFirstFinder:t("./finders/BestFirstFinder"),BreadthFirstFinder:t("./finders/BreadthFirstFinder"),DijkstraFinder:t("./finders/DijkstraFinder"),BiAStarFinder:t("./finders/BiAStarFinder"),BiBestFirstFinder:t("./finders/BiBestFirstFinder"),BiBreadthFirstFinder:t("./finders/BiBreadthFirstFinder"),BiDijkstraFinder:t("./finders/BiDijkstraFinder"),IDAStarFinder:t("./finders/IDAStarFinder"),JumpPointFinder:t("./finders/JumpPointFinder")}},{"./core/DiagonalMovement":3,"./core/Grid":4,"./core/Heuristic":5,"./core/Node":6,"./core/Util":7,"./finders/AStarFinder":9,"./finders/BestFirstFinder":10,"./finders/BiAStarFinder":11,"./finders/BiBestFirstFinder":12,"./finders/BiBreadthFirstFinder":13,"./finders/BiDijkstraFinder":14,"./finders/BreadthFirstFinder":15,"./finders/DijkstraFinder":16,"./finders/IDAStarFinder":17,"./finders/JumpPointFinder":22,heap:1}],9:[function(t,e,i){function n(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.heuristic=t.heuristic||a.manhattan,this.weight=t.weight||1,this.diagonalMovement=t.diagonalMovement,this.diagonalMovement||(this.allowDiagonal?this.dontCrossCorners?this.diagonalMovement=s.OnlyWhenNoObstacles:this.diagonalMovement=s.IfAtMostOneObstacle:this.diagonalMovement=s.Never),this.diagonalMovement===s.Never?this.heuristic=t.heuristic||a.manhattan:this.heuristic=t.heuristic||a.octile}var o=t("heap"),r=t("../core/Util"),a=t("../core/Heuristic"),s=t("../core/DiagonalMovement");n.prototype.findPath=function(t,e,i,n,a){var s,l,h,u,p,c,f,d,g=new o(function(t,e){return t.f-e.f}),b=a.getNodeAt(t,e),v=a.getNodeAt(i,n),A=this.heuristic,m=this.diagonalMovement,y=this.weight,k=Math.abs,M=Math.SQRT2;for(b.g=0,b.f=0,g.push(b),b.opened=!0;!g.empty();){if(s=g.pop(),s.closed=!0,s===v)return r.backtrace(v);for(l=a.getNeighbors(s,m),u=0,p=l.length;p>u;++u)h=l[u],h.closed||(c=h.x,f=h.y,d=s.g+(c-s.x===0||f-s.y===0?1:M),(!h.opened||d<h.g)&&(h.g=d,h.h=h.h||y*A(k(c-i),k(f-n)),h.f=h.g+h.h,h.parent=s,h.opened?g.updateItem(h):(g.push(h),h.opened=!0)))}return[]},e.exports=n},{"../core/DiagonalMovement":3,"../core/Heuristic":5,"../core/Util":7,heap:1}],10:[function(t,e,i){function n(t){o.call(this,t);var e=this.heuristic;this.heuristic=function(t,i){return 1e6*e(t,i)}}var o=t("./AStarFinder");n.prototype=new o,n.prototype.constructor=n,e.exports=n},{"./AStarFinder":9}],11:[function(t,e,i){function n(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.diagonalMovement=t.diagonalMovement,this.heuristic=t.heuristic||a.manhattan,this.weight=t.weight||1,this.diagonalMovement||(this.allowDiagonal?this.dontCrossCorners?this.diagonalMovement=s.OnlyWhenNoObstacles:this.diagonalMovement=s.IfAtMostOneObstacle:this.diagonalMovement=s.Never),this.diagonalMovement===s.Never?this.heuristic=t.heuristic||a.manhattan:this.heuristic=t.heuristic||a.octile}var o=t("heap"),r=t("../core/Util"),a=t("../core/Heuristic"),s=t("../core/DiagonalMovement");n.prototype.findPath=function(t,e,i,n,a){var s,l,h,u,p,c,f,d,g=function(t,e){return t.f-e.f},b=new o(g),v=new o(g),A=a.getNodeAt(t,e),m=a.getNodeAt(i,n),y=this.heuristic,k=this.diagonalMovement,M=this.weight,W=Math.abs,w=Math.SQRT2,N=1,x=2;for(A.g=0,A.f=0,b.push(A),A.opened=N,m.g=0,m.f=0,v.push(m),m.opened=x;!b.empty()&&!v.empty();){for(s=b.pop(),s.closed=!0,l=a.getNeighbors(s,k),u=0,p=l.length;p>u;++u)if(h=l[u],!h.closed){if(h.opened===x)return r.biBacktrace(s,h);c=h.x,f=h.y,d=s.g+(c-s.x===0||f-s.y===0?1:w),(!h.opened||d<h.g)&&(h.g=d,h.h=h.h||M*y(W(c-i),W(f-n)),h.f=h.g+h.h,h.parent=s,h.opened?b.updateItem(h):(b.push(h),h.opened=N))}for(s=v.pop(),s.closed=!0,l=a.getNeighbors(s,k),u=0,p=l.length;p>u;++u)if(h=l[u],!h.closed){if(h.opened===N)return r.biBacktrace(h,s);c=h.x,f=h.y,d=s.g+(c-s.x===0||f-s.y===0?1:w),(!h.opened||d<h.g)&&(h.g=d,h.h=h.h||M*y(W(c-t),W(f-e)),h.f=h.g+h.h,h.parent=s,h.opened?v.updateItem(h):(v.push(h),h.opened=x))}}return[]},e.exports=n},{"../core/DiagonalMovement":3,"../core/Heuristic":5,"../core/Util":7,heap:1}],12:[function(t,e,i){function n(t){o.call(this,t);var e=this.heuristic;this.heuristic=function(t,i){return 1e6*e(t,i)}}var o=t("./BiAStarFinder");n.prototype=new o,n.prototype.constructor=n,e.exports=n},{"./BiAStarFinder":11}],13:[function(t,e,i){function n(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.diagonalMovement=t.diagonalMovement,this.diagonalMovement||(this.allowDiagonal?this.dontCrossCorners?this.diagonalMovement=r.OnlyWhenNoObstacles:this.diagonalMovement=r.IfAtMostOneObstacle:this.diagonalMovement=r.Never)}var o=t("../core/Util"),r=t("../core/DiagonalMovement");n.prototype.findPath=function(t,e,i,n,r){var a,s,l,h,u,p=r.getNodeAt(t,e),c=r.getNodeAt(i,n),f=[],d=[],g=this.diagonalMovement,b=0,v=1;for(f.push(p),p.opened=!0,p.by=b,d.push(c),c.opened=!0,c.by=v;f.length&&d.length;){for(l=f.shift(),l.closed=!0,a=r.getNeighbors(l,g),h=0,u=a.length;u>h;++h)if(s=a[h],!s.closed)if(s.opened){if(s.by===v)return o.biBacktrace(l,s)}else f.push(s),s.parent=l,s.opened=!0,s.by=b;for(l=d.shift(),l.closed=!0,a=r.getNeighbors(l,g),h=0,u=a.length;u>h;++h)if(s=a[h],!s.closed)if(s.opened){if(s.by===b)return o.biBacktrace(s,l)}else d.push(s),s.parent=l,s.opened=!0,s.by=v}return[]},e.exports=n},{"../core/DiagonalMovement":3,"../core/Util":7}],14:[function(t,e,i){function n(t){o.call(this,t),this.heuristic=function(t,e){return 0}}var o=t("./BiAStarFinder");n.prototype=new o,n.prototype.constructor=n,e.exports=n},{"./BiAStarFinder":11}],15:[function(t,e,i){function n(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.diagonalMovement=t.diagonalMovement,this.diagonalMovement||(this.allowDiagonal?this.dontCrossCorners?this.diagonalMovement=r.OnlyWhenNoObstacles:this.diagonalMovement=r.IfAtMostOneObstacle:this.diagonalMovement=r.Never)}var o=t("../core/Util"),r=t("../core/DiagonalMovement");n.prototype.findPath=function(t,e,i,n,r){var a,s,l,h,u,p=[],c=this.diagonalMovement,f=r.getNodeAt(t,e),d=r.getNodeAt(i,n);for(p.push(f),f.opened=!0;p.length;){if(l=p.shift(),l.closed=!0,l===d)return o.backtrace(d);for(a=r.getNeighbors(l,c),h=0,u=a.length;u>h;++h)s=a[h],s.closed||s.opened||(p.push(s),s.opened=!0,s.parent=l)}return[]},e.exports=n},{"../core/DiagonalMovement":3,"../core/Util":7}],16:[function(t,e,i){function n(t){o.call(this,t),this.heuristic=function(t,e){return 0}}var o=t("./AStarFinder");n.prototype=new o,n.prototype.constructor=n,e.exports=n},{"./AStarFinder":9}],17:[function(t,e,i){function n(t){t=t||{},this.allowDiagonal=t.allowDiagonal,this.dontCrossCorners=t.dontCrossCorners,this.diagonalMovement=t.diagonalMovement,this.heuristic=t.heuristic||o.manhattan,this.weight=t.weight||1,this.trackRecursion=t.trackRecursion||!1,this.timeLimit=t.timeLimit||1/0,this.diagonalMovement||(this.allowDiagonal?this.dontCrossCorners?this.diagonalMovement=a.OnlyWhenNoObstacles:this.diagonalMovement=a.IfAtMostOneObstacle:this.diagonalMovement=a.Never),this.diagonalMovement===a.Never?this.heuristic=t.heuristic||o.manhattan:this.heuristic=t.heuristic||o.octile}var o=(t("../core/Util"),t("../core/Heuristic")),r=t("../core/Node"),a=t("../core/DiagonalMovement");n.prototype.findPath=function(t,e,i,n,o){var a,s,l,h=0,u=(new Date).getTime(),p=function(t,e){return this.heuristic(Math.abs(e.x-t.x),Math.abs(e.y-t.y))}.bind(this),c=function(t,e){return t.x===e.x||t.y===e.y?1:Math.SQRT2},f=function(t,e,i,n,a){if(h++,this.timeLimit>0&&(new Date).getTime()-u>1e3*this.timeLimit)return 1/0;var s=e+p(t,g)*this.weight;if(s>i)return s;if(t==g)return n[a]=[t.x,t.y],t;var l,d,b,v,A=o.getNeighbors(t,this.diagonalMovement);for(b=0,l=1/0;v=A[b];++b){if(this.trackRecursion&&(v.retainCount=v.retainCount+1||1,v.tested!==!0&&(v.tested=!0)),d=f(v,e+c(t,v),i,n,a+1),d instanceof r)return n[a]=[t.x,t.y],d;this.trackRecursion&&0===--v.retainCount&&(v.tested=!1),l>d&&(l=d)}return l}.bind(this),d=o.getNodeAt(t,e),g=o.getNodeAt(i,n),b=p(d,g);for(a=0;!0;++a){if(s=[],l=f(d,0,b,s,0),l===1/0)return[];if(l instanceof r)return s;b=l}return[]},e.exports=n},{"../core/DiagonalMovement":3,"../core/Heuristic":5,"../core/Node":6,"../core/Util":7}],18:[function(t,e,i){function n(t){o.call(this,t)}var o=t("./JumpPointFinderBase"),r=t("../core/DiagonalMovement");n.prototype=new o,n.prototype.constructor=n,n.prototype._jump=function(t,e,i,n){var o=this.grid,r=t-i,a=e-n;if(!o.isWalkableAt(t,e))return null;if(this.trackJumpRecursion===!0&&(o.getNodeAt(t,e).tested=!0),o.getNodeAt(t,e)===this.endNode)return[t,e];if(0!==r&&0!==a){if(o.isWalkableAt(t-r,e+a)&&!o.isWalkableAt(t-r,e)||o.isWalkableAt(t+r,e-a)&&!o.isWalkableAt(t,e-a))return[t,e];if(this._jump(t+r,e,t,e)||this._jump(t,e+a,t,e))return[t,e]}else if(0!==r){if(o.isWalkableAt(t+r,e+1)&&!o.isWalkableAt(t,e+1)||o.isWalkableAt(t+r,e-1)&&!o.isWalkableAt(t,e-1))return[t,e]}else if(o.isWalkableAt(t+1,e+a)&&!o.isWalkableAt(t+1,e)||o.isWalkableAt(t-1,e+a)&&!o.isWalkableAt(t-1,e))return[t,e];return this._jump(t+r,e+a,t,e)},n.prototype._findNeighbors=function(t){var e,i,n,o,a,s,l,h,u=t.parent,p=t.x,c=t.y,f=this.grid,d=[];if(u)e=u.x,i=u.y,n=(p-e)/Math.max(Math.abs(p-e),1),o=(c-i)/Math.max(Math.abs(c-i),1),0!==n&&0!==o?(f.isWalkableAt(p,c+o)&&d.push([p,c+o]),f.isWalkableAt(p+n,c)&&d.push([p+n,c]),f.isWalkableAt(p+n,c+o)&&d.push([p+n,c+o]),f.isWalkableAt(p-n,c)||d.push([p-n,c+o]),f.isWalkableAt(p,c-o)||d.push([p+n,c-o])):0===n?(f.isWalkableAt(p,c+o)&&d.push([p,c+o]),f.isWalkableAt(p+1,c)||d.push([p+1,c+o]),f.isWalkableAt(p-1,c)||d.push([p-1,c+o])):(f.isWalkableAt(p+n,c)&&d.push([p+n,c]),f.isWalkableAt(p,c+1)||d.push([p+n,c+1]),f.isWalkableAt(p,c-1)||d.push([p+n,c-1]));else for(a=f.getNeighbors(t,r.Always),l=0,h=a.length;h>l;++l)s=a[l],d.push([s.x,s.y]);return d},e.exports=n},{"../core/DiagonalMovement":3,"./JumpPointFinderBase":23}],19:[function(t,e,i){function n(t){o.call(this,t)}var o=t("./JumpPointFinderBase"),r=t("../core/DiagonalMovement");n.prototype=new o,n.prototype.constructor=n,n.prototype._jump=function(t,e,i,n){var o=this.grid,r=t-i,a=e-n;if(!o.isWalkableAt(t,e))return null;if(this.trackJumpRecursion===!0&&(o.getNodeAt(t,e).tested=!0),o.getNodeAt(t,e)===this.endNode)return[t,e];if(0!==r&&0!==a){if(o.isWalkableAt(t-r,e+a)&&!o.isWalkableAt(t-r,e)||o.isWalkableAt(t+r,e-a)&&!o.isWalkableAt(t,e-a))return[t,e];if(this._jump(t+r,e,t,e)||this._jump(t,e+a,t,e))return[t,e]}else if(0!==r){if(o.isWalkableAt(t+r,e+1)&&!o.isWalkableAt(t,e+1)||o.isWalkableAt(t+r,e-1)&&!o.isWalkableAt(t,e-1))return[t,e]}else if(o.isWalkableAt(t+1,e+a)&&!o.isWalkableAt(t+1,e)||o.isWalkableAt(t-1,e+a)&&!o.isWalkableAt(t-1,e))return[t,e];return o.isWalkableAt(t+r,e)||o.isWalkableAt(t,e+a)?this._jump(t+r,e+a,t,e):null},n.prototype._findNeighbors=function(t){var e,i,n,o,a,s,l,h,u=t.parent,p=t.x,c=t.y,f=this.grid,d=[];if(u)e=u.x,i=u.y,n=(p-e)/Math.max(Math.abs(p-e),1),o=(c-i)/Math.max(Math.abs(c-i),1),0!==n&&0!==o?(f.isWalkableAt(p,c+o)&&d.push([p,c+o]),f.isWalkableAt(p+n,c)&&d.push([p+n,c]),(f.isWalkableAt(p,c+o)||f.isWalkableAt(p+n,c))&&d.push([p+n,c+o]),!f.isWalkableAt(p-n,c)&&f.isWalkableAt(p,c+o)&&d.push([p-n,c+o]),!f.isWalkableAt(p,c-o)&&f.isWalkableAt(p+n,c)&&d.push([p+n,c-o])):0===n?f.isWalkableAt(p,c+o)&&(d.push([p,c+o]),f.isWalkableAt(p+1,c)||d.push([p+1,c+o]),f.isWalkableAt(p-1,c)||d.push([p-1,c+o])):f.isWalkableAt(p+n,c)&&(d.push([p+n,c]),f.isWalkableAt(p,c+1)||d.push([p+n,c+1]),f.isWalkableAt(p,c-1)||d.push([p+n,c-1]));else for(a=f.getNeighbors(t,r.IfAtMostOneObstacle),l=0,h=a.length;h>l;++l)s=a[l],d.push([s.x,s.y]);return d},e.exports=n},{"../core/DiagonalMovement":3,"./JumpPointFinderBase":23}],20:[function(t,e,i){function n(t){o.call(this,t)}var o=t("./JumpPointFinderBase"),r=t("../core/DiagonalMovement");n.prototype=new o,n.prototype.constructor=n,n.prototype._jump=function(t,e,i,n){var o=this.grid,r=t-i,a=e-n;if(!o.isWalkableAt(t,e))return null;if(this.trackJumpRecursion===!0&&(o.getNodeAt(t,e).tested=!0),o.getNodeAt(t,e)===this.endNode)return[t,e];if(0!==r&&0!==a){if(this._jump(t+r,e,t,e)||this._jump(t,e+a,t,e))return[t,e]}else if(0!==r){if(o.isWalkableAt(t,e-1)&&!o.isWalkableAt(t-r,e-1)||o.isWalkableAt(t,e+1)&&!o.isWalkableAt(t-r,e+1))return[t,e]}else if(0!==a&&(o.isWalkableAt(t-1,e)&&!o.isWalkableAt(t-1,e-a)||o.isWalkableAt(t+1,e)&&!o.isWalkableAt(t+1,e-a)))return[t,e];return o.isWalkableAt(t+r,e)&&o.isWalkableAt(t,e+a)?this._jump(t+r,e+a,t,e):null},n.prototype._findNeighbors=function(t){var e,i,n,o,a,s,l,h,u=t.parent,p=t.x,c=t.y,f=this.grid,d=[];if(u)if(e=u.x,i=u.y,n=(p-e)/Math.max(Math.abs(p-e),1),o=(c-i)/Math.max(Math.abs(c-i),1),0!==n&&0!==o)f.isWalkableAt(p,c+o)&&d.push([p,c+o]),f.isWalkableAt(p+n,c)&&d.push([p+n,c]),f.isWalkableAt(p,c+o)&&f.isWalkableAt(p+n,c)&&d.push([p+n,c+o]);else{var g;if(0!==n){g=f.isWalkableAt(p+n,c);var b=f.isWalkableAt(p,c+1),v=f.isWalkableAt(p,c-1);g&&(d.push([p+n,c]),b&&d.push([p+n,c+1]),v&&d.push([p+n,c-1])),b&&d.push([p,c+1]),v&&d.push([p,c-1])}else if(0!==o){g=f.isWalkableAt(p,c+o);var A=f.isWalkableAt(p+1,c),m=f.isWalkableAt(p-1,c);g&&(d.push([p,c+o]),A&&d.push([p+1,c+o]),m&&d.push([p-1,c+o])),A&&d.push([p+1,c]),m&&d.push([p-1,c])}}else for(a=f.getNeighbors(t,r.OnlyWhenNoObstacles),l=0,h=a.length;h>l;++l)s=a[l],d.push([s.x,s.y]);return d},e.exports=n},{"../core/DiagonalMovement":3,"./JumpPointFinderBase":23}],21:[function(t,e,i){function n(t){o.call(this,t)}var o=t("./JumpPointFinderBase"),r=t("../core/DiagonalMovement");n.prototype=new o,n.prototype.constructor=n,n.prototype._jump=function(t,e,i,n){var o=this.grid,r=t-i,a=e-n;if(!o.isWalkableAt(t,e))return null;if(this.trackJumpRecursion===!0&&(o.getNodeAt(t,e).tested=!0),o.getNodeAt(t,e)===this.endNode)return[t,e];if(0!==r){if(o.isWalkableAt(t,e-1)&&!o.isWalkableAt(t-r,e-1)||o.isWalkableAt(t,e+1)&&!o.isWalkableAt(t-r,e+1))return[t,e]}else{if(0===a)throw new Error("Only horizontal and vertical movements are allowed");if(o.isWalkableAt(t-1,e)&&!o.isWalkableAt(t-1,e-a)||o.isWalkableAt(t+1,e)&&!o.isWalkableAt(t+1,e-a))return[t,e];if(this._jump(t+1,e,t,e)||this._jump(t-1,e,t,e))return[t,e]}return this._jump(t+r,e+a,t,e)},n.prototype._findNeighbors=function(t){var e,i,n,o,a,s,l,h,u=t.parent,p=t.x,c=t.y,f=this.grid,d=[];if(u)e=u.x,i=u.y,n=(p-e)/Math.max(Math.abs(p-e),1),o=(c-i)/Math.max(Math.abs(c-i),1),0!==n?(f.isWalkableAt(p,c-1)&&d.push([p,c-1]),f.isWalkableAt(p,c+1)&&d.push([p,c+1]),f.isWalkableAt(p+n,c)&&d.push([p+n,c])):0!==o&&(f.isWalkableAt(p-1,c)&&d.push([p-1,c]),f.isWalkableAt(p+1,c)&&d.push([p+1,c]),f.isWalkableAt(p,c+o)&&d.push([p,c+o]));else for(a=f.getNeighbors(t,r.Never),l=0,h=a.length;h>l;++l)s=a[l],d.push([s.x,s.y]);return d},e.exports=n},{"../core/DiagonalMovement":3,"./JumpPointFinderBase":23}],22:[function(t,e,i){function n(t){return t=t||{},t.diagonalMovement===o.Never?new r(t):t.diagonalMovement===o.Always?new a(t):t.diagonalMovement===o.OnlyWhenNoObstacles?new s(t):new l(t)}var o=t("../core/DiagonalMovement"),r=t("./JPFNeverMoveDiagonally"),a=t("./JPFAlwaysMoveDiagonally"),s=t("./JPFMoveDiagonallyIfNoObstacles"),l=t("./JPFMoveDiagonallyIfAtMostOneObstacle");e.exports=n},{"../core/DiagonalMovement":3,"./JPFAlwaysMoveDiagonally":18,"./JPFMoveDiagonallyIfAtMostOneObstacle":19,"./JPFMoveDiagonallyIfNoObstacles":20,"./JPFNeverMoveDiagonally":21}],23:[function(t,e,i){function n(t){t=t||{},this.heuristic=t.heuristic||a.manhattan,this.trackJumpRecursion=t.trackJumpRecursion||!1}var o=t("heap"),r=t("../core/Util"),a=t("../core/Heuristic");t("../core/DiagonalMovement");n.prototype.findPath=function(t,e,i,n,a){var s,l=this.openList=new o(function(t,e){return t.f-e.f}),h=this.startNode=a.getNodeAt(t,e),u=this.endNode=a.getNodeAt(i,n);for(this.grid=a,h.g=0,h.f=0,l.push(h),h.opened=!0;!l.empty();){if(s=l.pop(),s.closed=!0,s===u)return r.expandPath(r.backtrace(u));this._identifySuccessors(s)}return[]},n.prototype._identifySuccessors=function(t){var e,i,n,o,r,s,l,h,u,p,c=this.grid,f=this.heuristic,d=this.openList,g=this.endNode.x,b=this.endNode.y,v=t.x,A=t.y,m=Math.abs;Math.max;for(e=this._findNeighbors(t),o=0,r=e.length;r>o;++o)if(i=e[o],n=this._jump(i[0],i[1],v,A)){if(s=n[0],l=n[1],p=c.getNodeAt(s,l),p.closed)continue;h=a.octile(m(s-v),m(l-A)),u=t.g+h,(!p.opened||u<p.g)&&(p.g=u,p.h=p.h||f(m(s-g),m(l-b)),p.f=p.g+p.h,p.parent=t,p.opened?d.updateItem(p):(d.push(p),p.opened=!0))}},e.exports=n},{"../core/DiagonalMovement":3,"../core/Heuristic":5,"../core/Util":7,heap:1}]},{},[8])(8)});