Merge pull request #79 from happygts/feature/include_non_walkable_neighbors

Implement include_non_walkables on grid neighbors.

Author: brean

pathfinding/core/grid.py

@@ -116,7 +116,8 @@ def calc_cost(self, node_a, node_b, weighted=False):
 
     def neighbors(
         self, node: GridNode,
-        diagonal_movement: DiagonalMovement = DiagonalMovement.never
+        diagonal_movement: DiagonalMovement = DiagonalMovement.never,
+        include_non_walkables: bool = False
     ) -> List[GridNode]:
         """
         get all neighbors of one node
@@ -133,7 +134,7 @@ def neighbors(
         else:
             north_y = y - 1
 
-        if self.walkable(x, north_y):
+        if self.walkable(x, north_y) or include_non_walkables and self.inside(x, north_y):
             neighbors.append(self.nodes[north_y][x])
             north = True
 
@@ -143,7 +144,7 @@ def neighbors(
         else:
             east_x = x + 1
 
-        if self.walkable(east_x, y):
+        if self.walkable(east_x, y) or include_non_walkables and self.inside(east_x, y):
             neighbors.append(self.nodes[y][east_x])
             east = True
 
@@ -152,7 +153,7 @@ def neighbors(
             south_y = 0
         else:
             south_y = y + 1
-        if self.walkable(x, south_y):
+        if self.walkable(x, south_y) or include_non_walkables and self.inside(x, south_y):
             neighbors.append(self.nodes[south_y][x])
             south = True
 
@@ -161,7 +162,7 @@ def neighbors(
             west_x = self.width - 1
         else:
             west_x = x - 1
-        if self.walkable(west_x, y):
+        if self.walkable(west_x, y) or include_non_walkables and self.inside(west_x, y):
             neighbors.append(self.nodes[y][west_x])
             west = True
 
@@ -195,7 +196,7 @@ def neighbors(
                 nw_y = self.height - 1
             else:
                 nw_y = y - 1
-            if self.walkable(nw_x, nw_y):
+            if self.walkable(nw_x, nw_y) or include_non_walkables and self.inside(nw_x, nw_y):
                 neighbors.append(self.nodes[nw_y][nw_x])
 
         # ↗
@@ -208,7 +209,7 @@ def neighbors(
                 ne_y = self.height - 1
             else:
                 ne_y = y - 1
-            if self.walkable(ne_x, ne_y):
+            if self.walkable(ne_x, ne_y) or include_non_walkables and self.inside(ne_x, ne_y):
                 neighbors.append(self.nodes[ne_y][ne_x])
 
         # ↘
@@ -221,7 +222,7 @@ def neighbors(
                 se_y = 0
             else:
                 se_y = y + 1
-            if self.walkable(se_x, se_y):
+            if self.walkable(se_x, se_y) or include_non_walkables and self.inside(se_x, se_y):
                 neighbors.append(self.nodes[se_y][se_x])
 
         # ↙
@@ -234,7 +235,7 @@ def neighbors(
                 sw_y = 0
             else:
                 sw_y = y + 1
-            if self.walkable(sw_x, sw_y):
+            if self.walkable(sw_x, sw_y) or include_non_walkables and self.inside(sw_x, sw_y):
                 neighbors.append(self.nodes[sw_y][sw_x])
 
         return neighbors

test/test_grid.py

@@ -81,5 +81,17 @@ def test_numpy():
     assert grid.grid_str(path, start, end) == SIMPLE_WALKED[1:-1]
 
 
+def test_include_non_walkables():
+    matrix = np.array([
+        [0, 0, 1],
+        [1, 1, 1],
+        [1, 1, 1]
+    ])
+    grid = Grid(matrix=matrix)
+    start = grid.node(0, 0)
+    neighbors = grid.neighbors(start, include_non_walkables=True)
+    assert len(neighbors) == 2  # 1 walkable + 1 non-walkable
+
+
 if __name__ == '__main__':
     test_str()