quickest_path.py 文件源码

def shortest_path(mgrid, domain, targets, obstacles, buffer_radius):
    """Vector field guiding towards targets."""
    obstacles_buffered = obstacles.buffer(buffer_radius).intersection(domain)

    dmap_targets = distance_map(mgrid, targets, obstacles_buffered)
    dir_map_targets = direction_map(dmap_targets)

    # Fill values between buffered region and obstacles
    mask = np.full(mgrid.shape, False, dtype=np.bool_)
    draw_geom(obstacles, mask, mgrid.indicer, True)
    fill_missing(np.logical_xor(mask, dir_map_targets[0].mask),
                 *mgrid.values, *dir_map_targets)

    return dir_map_targets, dmap_targets