move apis into rom/modules/main for shell compatibility

sys/modules/opus/jumper/search/astar.lua

@@ -0,0 +1,77 @@
+-- Astar algorithm
+-- This actual implementation of A-star is based on
+-- [Nash A. & al. pseudocode](http://aigamedev.com/open/tutorials/theta-star-any-angle-paths/)
+
+if (...) then
+
+	-- Internalization
+	local huge = math.huge
+
+	-- Dependancies
+	local _PATH = (...):match('(.+)%.search.astar$')
+	local Heap = require (_PATH.. '.core.bheap')
+
+	-- Updates G-cost
+	local function computeCost(node, neighbour, heuristic)
+		local mCost, heading = heuristic(neighbour, node) -- Heuristics.EUCLIDIAN(neighbour, node)
+
+		if node._g + mCost < neighbour._g then
+			neighbour._parent = node
+			neighbour._g = node._g + mCost
+			neighbour.heading = heading
+		end
+	end
+
+	-- Updates vertex node-neighbour
+	local function updateVertex(openList, node, neighbour, endNode, heuristic)
+		local oldG = neighbour._g
+		computeCost(node, neighbour, heuristic)
+		if neighbour._g < oldG then
+			if neighbour._opened then neighbour._opened = false end
+			neighbour._h = heuristic(endNode, neighbour)
+			neighbour._f = neighbour._g + neighbour._h
+			openList:push(neighbour)
+			neighbour._opened = true
+		end
+	end
+
+	-- Calculates a path.
+	-- Returns the path from location `<startX, startY>` to location `<endX, endY>`.
+	return function (finder, startNode, endNode, toClear)
+		local openList = Heap()
+		startNode._g = 0
+		startNode._h = finder._heuristic(endNode, startNode)
+		startNode._f = startNode._g + startNode._h
+		openList:push(startNode)
+		toClear[startNode] = true
+		startNode._opened = true
+
+		while not openList:empty() do
+			local node = openList:pop()
+			node._closed = true
+			if node == endNode then return node end
+			local neighbours = finder._grid:getNeighbours(node)
+			for i = 1,#neighbours do
+				local neighbour = neighbours[i]
+				if not neighbour._closed then
+					toClear[neighbour] = true
+					if not neighbour._opened then
+						neighbour._g = huge
+						neighbour._parent = nil
+					end
+					updateVertex(openList, node, neighbour, endNode, finder._heuristic)
+				end
+			end
+
+			--[[
+			printf('x:%d y:%d z:%d  g:%d', node.x, node.y, node.z, node._g)
+			for i = 1,#neighbours do
+				local n = neighbours[i]
+				printf('x:%d y:%d z:%d f:%f g:%f h:%d', n.x, n.y, n.z, n._f, n._g, n.heading or -1)
+			end
+			--]]
+
+		end
+		return nil
+	end
+end