pathfind

Package pathfind finds the shortest path between two points in a polygon set.

The algorithm works as follows:

• determine all concave polygon vertices
• add start and end points
• build a visibility graph
• use the A* search algorithm (package astar) on the visibility graph to find the shortest path

Demo

go run github.com/fzipp/pathfind/cmd/pathfinddemo@latest

pathfind.mp4

Example Code

package main

import (
	"fmt"
	"image"
	
	"github.com/fzipp/pathfind"
)

func main() {
	//  (0,0) >---+   +-----------+ (50,0)
	//        | s |   |   >---+   |
	//        |   +---+   |   | d |
	//        |           +---+   |
	// (0,20) +-------------------+ (50,20)
	//
	// s = start, d = destination
	polygons := [][]image.Point{
		// Outer shape
		{
			image.Pt(0, 0),
			image.Pt(10, 0),
			image.Pt(10, 10),
			image.Pt(20, 10),
			image.Pt(20, 0),
			image.Pt(50, 0),
			image.Pt(50, 20),
			image.Pt(0, 20),
		},
		// Inner rectangle ("hole")
		{
			image.Pt(30, 5),
			image.Pt(40, 5),
			image.Pt(40, 15),
			image.Pt(30, 15),
		},
	}
	start := image.Pt(5, 5)
	destination := image.Pt(45, 10)

	pathfinder := pathfind.NewPathfinder(polygons)
	path := pathfinder.Path(start, destination)
	fmt.Println(path)
}

Output:

[(5,5) (10,10) (30,15) (40,15) (45,10)]

License

This project is free and open source software licensed under the BSD 3-Clause License.