biDirectionalDijastra.py

from time import sleep
from tkinter import N, W
import pygame
import math
import queue
import copy

WIDTH = 500
WIN = pygame.display.set_mode((WIDTH, WIDTH))
pygame.display.set_caption("Bi-Diriectional Dijasktra Path Finding Algorithm")

RED = (255, 0, 0) 
GREEN = (0, 255, 0)
BLUE = (0, 255, 0)
LGREY = (155, 155, 155)
YELLOW = (255, 255, 0)
WHITE = (255, 255, 255)
BLACK = (0, 0, 0)
PURPLE = (128, 0, 128)
ORANGE = (255, 165 ,0)
GREY = (128, 128, 128)
TURQUOISE = (64, 224, 208)

class Spot:
	def __init__(self, row, col, width, total_rows):
		self.row = row
		self.col = col
		self.x = row * width
		self.y = col * width
		self.color = WHITE
		self.neighbors = []
		self.width = width
		self.total_rows = total_rows

	def get_pos(self):
		return self.row, self.col

	def is_closed(self):
		return self.color == RED

	def is_open(self):
		return self.color == GREEN

	def is_barrier(self):
		return self.color == BLACK

	def is_start(self):
		return self.color == ORANGE

	def is_end(self):
		return self.color == TURQUOISE

	def reset(self):
		self.color = WHITE

	def make_start(self):
		self.color = ORANGE
	def make_complete(self):
		self.color= YELLOW
		
	def make_closed(self):
		self.color = RED

	def make_open(self):
		self.color = GREEN

	def make_barrier(self):
		self.color = BLACK

	def make_end(self):
		self.color = TURQUOISE

	def make_path(self):
		self.color = PURPLE

	def draw(self, win):
		pygame.draw.rect(win, self.color, (self.x, self.y, self.width, self.width))

	def update_neighbors(self, grid):
		self.neighbors = []
		if self.row < self.total_rows - 1 and not grid[self.row + 1][self.col].is_barrier(): # DOWN
			self.neighbors.append(grid[self.row + 1][self.col])

		if self.row > 0 and not grid[self.row - 1][self.col].is_barrier(): # UP
			self.neighbors.append(grid[self.row - 1][self.col])

		if self.col < self.total_rows - 1 and not grid[self.row][self.col + 1].is_barrier(): # RIGHT
			self.neighbors.append(grid[self.row][self.col + 1])

		if self.col > 0 and not grid[self.row][self.col - 1].is_barrier(): # LEFT
			self.neighbors.append(grid[self.row][self.col - 1])

	def __lt__(self, other):
		return False


def h(p1, p2):
	x1, y1 = p1
	x2, y2 = p2
	return abs(x1 - x2) + abs(y1 - y2)



    
def reconstruct_path(came_from, start, end,curr1,curr2, draw):
    temp1=curr1
    temp2=curr2

    while temp2!=end:
        temp2.make_path()
        temp2=came_from[temp2]
        draw()
    
    while temp1!=start:
        temp1.make_path()
        temp1=came_from[temp1]
        draw()



def algorithm(draw, grid, start, end):
    count1=0
    count2=0
    inQueue1=[]
    inQueue2=[]
    inQueue1.append((count1,start))
    inQueue2.append((count2,end))
    came_from={}
    trav1=[]
    trav2=[]
    while( len(inQueue1)!=0 and len(inQueue2)!=0):
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                pygame.quit()
        current1=inQueue1[0][1]
        inQueue1=inQueue1[1:]
        current2=inQueue2[0][1]
        inQueue2=inQueue2[1:]
       
        for neighbor in current1.neighbors:
            if neighbor in trav2 :
                reconstruct_path(came_from,start, end,current1,neighbor, draw)
                start.make_start()
                end.make_end()
                return True
            if neighbor not in trav1:
                came_from[neighbor] = current1
                count1 += 1
                inQueue1.append((count1,neighbor))
                trav1.append(neighbor)
                neighbor.make_open()
        for neighbor in current2.neighbors:
            if neighbor in trav1 :
                reconstruct_path(came_from,start, end,neighbor,current2, draw)
                end.make_end()
                start.make_start()
                return True
            if neighbor not in trav2:
                came_from[neighbor] = current2
                count2 += 1
                inQueue2.append((count2,neighbor))
                trav2.append(neighbor)
                neighbor.make_open()    
        draw()
        if current1 != start:
            current1.make_closed()
        else:
            current1.make_complete()
        if current2 != end:
            current2.make_closed()
        else:
            current2.make_complete()
    for event in pygame.event.get():
            if event.type == pygame.QUIT:
                pygame.quit()
    return False
		

def make_grid(rows, width):
	grid = []
	gap = width // rows
	for i in range(rows):
		grid.append([])
		for j in range(rows):
			spot = Spot(i, j, gap, rows)
			grid[i].append(spot)

	return grid


def draw_grid(win, rows, width):
	gap = width // rows
	for i in range(rows):
		pygame.draw.line(win, GREY, (0, i * gap), (width, i * gap))
		for j in range(rows):
			pygame.draw.line(win, GREY, (j * gap, 0), (j * gap, width))


def draw(win, grid, rows, width):
	win.fill(WHITE)

	for row in grid:
		for spot in row:
			spot.draw(win)

	draw_grid(win, rows, width)
	pygame.display.update()


def get_clicked_pos(pos, rows, width):
	gap = width // rows
	y, x = pos

	row = y // gap
	col = x // gap

	return row, col


def main(win, width):
	ROWS = 25
	grid = make_grid(ROWS, width)

	start = None
	end = None

	run = True
	while run:
		draw(win, grid, ROWS, width)
		for event in pygame.event.get():
			if event.type == pygame.QUIT:
				run = False

			if pygame.mouse.get_pressed()[0]: # LEFT
				pos = pygame.mouse.get_pos()
				row, col = get_clicked_pos(pos, ROWS, width)
				spot = grid[row][col]
				if not start and spot != end:
					start = spot
					start.make_start()

				elif not end and spot != start:
					end = spot
					end.make_end()

				elif spot != end and spot != start:
					spot.make_barrier()

			elif pygame.mouse.get_pressed()[2]: # RIGHT
				pos = pygame.mouse.get_pos()
				row, col = get_clicked_pos(pos, ROWS, width)
				spot = grid[row][col]
				spot.reset()
				if spot == start:
					start = None
				elif spot == end:
					end = None

			if event.type == pygame.KEYDOWN:
				if event.key == pygame.K_SPACE and start and end:
					for row in grid:
						for spot in row:
							spot.update_neighbors(grid)

					algorithm(lambda: draw(win, grid, ROWS, width), grid, start, end)

				if event.key == pygame.K_c:
					start = None
					end = None
					grid = make_grid(ROWS, width)

	pygame.quit()

main(WIN, WIDTH)