<snapdata remixID="11892781"><project name="A* Search" app="Snap! 7, https://snap.berkeley.edu" version="2"><notes>Drag the starting position around to where you wish. Press space to calculate path. The position will be clamped between -100 x/y and 100 x/y, and snapped to the nav grid.&#xD;&#xD;The path points will be briefly displayed before the final path is drawn.</notes><thumbnail>data:image/png;base64,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</thumbnail><scenes select="1"><scene name="A* Search"><notes>Drag the starting position around to where you wish. Press space to calculate path. The position will be clamped between -100 x/y and 100 x/y, and snapped to the nav grid.&#xD;&#xD;The path points will be briefly displayed before the final path is drawn.</notes><hidden></hidden><headers></headers><code></code><blocks><block-definition s="path corner loc: %&apos;loc&apos;" type="reporter" category="other"><header></header><code></code><translations></translations><inputs><input type="%l"></input></inputs><script><block s="doReport"><block s="reportNewList"><list><block var="loc"/><block s="reportNewList"><list></list></block></list></block></block></script></block-definition><block-definition s="a* path corners %&apos;fail?&apos; $nl start: %&apos;a&apos; $nl goal: %&apos;b&apos;" type="reporter" category="other"><header></header><code></code><translations></translations><inputs><input type="%upvar"></input><input type="%n">1</input><input type="%n">121</input></inputs><script><block s="doSetVar"><l>fail?</l><block 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</pentrails><costumes><list struct="atomic" id="664"></list></costumes><sounds><list struct="atomic" id="665"></list></sounds><variables></variables><blocks></blocks><scripts></scripts><sprites select="2"><watcher var="path corners" style="normal" x="10" y="10" color="243,118,29" extX="141" extY="150" hidden="true"/><sprite name="Obstacles" idx="2" x="-5" y="10" heading="90" scale="1" volume="100" pan="0" rotation="1" draggable="false" costume="2" color="73.94999999999999,39.933,0,1" pen="tip" id="671"><costumes><list id="672"><item><ref mediaID="Obstacles_cst_Untitled"></ref></item><item><ref mediaID="Obstacles_cst_alonzo (vector)"></ref></item></list></costumes><sounds><list struct="atomic" id="673"></list></sounds><blocks></blocks><variables></variables><scripts><script x="111" y="75.33333333333334"><block s="receiveGo"></block><block s="gotoXY"><l>-5</l><l>10</l></block><block s="setEffect"><l><option>pixelate</option></l><l>200</l></block></script></scripts></sprite><watcher var="scale" style="normal" x="10" y="183.000002" color="243,118,29" hidden="true"/><watcher var="size" style="normal" x="10" y="204.000004" color="243,118,29" hidden="true"/><sprite name="Pathfinder" idx="1" x="100" y="-100" heading="90" scale="0.25" volume="100" pan="0" rotation="1" draggable="true" hidden="true" costume="1" color="80,80,80,1" pen="tip" id="686"><costumes><list id="687"><item><ref mediaID="Pathfinder_cst_Untitled"></ref></item></list></costumes><sounds><list struct="atomic" id="688"></list></sounds><blocks></blocks><variables></variables><scripts><script x="10" y="10"><block s="receiveGo"></block><block s="bubble"><l></l></block><block s="up"></block><block s="clear"></block><block s="show"></block><block s="doSetVar"><l>path corners</l><block s="reportNewList"><list></list></block></block><block s="doSetVar"><l>scale</l><l>5</l><comment w="90" collapsed="false">Experimental grid resolution, multiples of 5 recommended.</comment></block><block s="doSetVar"><l>size</l><l>1</l></block><block s="doWarp"><script><block s="doFor"><l>y</l><block s="reportMonadic"><l><option>neg</option></l><block var="scale"/></block><block var="scale"/><script><block s="doFor"><l>x</l><block s="reportMonadic"><l><option>neg</option></l><block var="scale"/></block><block var="scale"/><script><block s="doGotoObject"><block s="reportNewList"><list><block s="reportVariadicProduct"><list><block var="x"/><block s="reportQuotient"><l>20</l><block s="reportVariadicProduct"><list><block s="reportQuotient"><block var="scale"/><l>20</l></block><l>4</l></list></block></block></list></block><block s="reportVariadicProduct"><list><block var="y"/><block s="reportQuotient"><l>20</l><block s="reportVariadicProduct"><list><block s="reportQuotient"><block var="scale"/><l>20</l></block><l>4</l></list></block></block></list></block></list></block></block><block s="doAddToList"><custom-block s="path corner loc: %l"><block s="reportNewList"><list><block s="reportVariadicProduct"><list><block var="x"/><block s="reportQuotient"><l>20</l><block s="reportVariadicProduct"><list><block s="reportQuotient"><block var="scale"/><l>20</l></block><l>4</l></list></block></block></list></block><block s="reportVariadicProduct"><list><block var="y"/><block s="reportQuotient"><l>20</l><block s="reportVariadicProduct"><list><block s="reportQuotient"><block var="scale"/><l>20</l></block><l>4</l></list></block></block></list></block></list></block></custom-block><block var="path corners"/><comment w="90" collapsed="false">Generate Navigatable Grid</comment></block><block s="setScale"><l>10</l></block><block s="doStamp"></block><block s="setScale"><l>100</l></block></script></block></script></block><block s="doFor"><l>i</l><l>1</l><block s="reportListAttribute"><l><option>length</option></l><block var="path corners"/></block><script><block s="doGotoObject"><block s="reportListItem"><l>1</l><block s="reportListItem"><block var="i"/><block var="path corners"/></block></block></block><block s="doIf"><block s="reportListItem"><block s="reportVariadicSum"><list><custom-block s="snap to grid %l"><block s="reportNewList"><list><block s="reportListItem"><l>1</l><custom-block s="grid to world %n"><block var="i"/></custom-block></block><l>-100</l></list></block></custom-block><l>-1</l></list></block><block var="path corners"/></block><script><block s="doIf"><block s="reportLessThan"><block s="reportListAttribute"><l><option>length</option></l><block s="reportAspect"><l><option>sprites</option></l><custom-block s="grid to world %n"><block s="reportVariadicSum"><list><block var="i"/><l>-1</l></list></block></custom-block></block></block><l>1</l></block><script><block s="doAddToList"><block s="reportListItem"><block s="reportVariadicSum"><list><block var="i"/><l>-1</l></list></block><block var="path corners"/></block><block s="reportListItem"><l>2</l><block s="reportListItem"><block var="i"/><block var="path corners"/></block></block></block></script></block></script></block><block s="doIf"><block s="reportListItem"><block s="reportVariadicSum"><list><custom-block s="snap to grid %l"><block s="reportNewList"><list><block s="reportListItem"><l>1</l><custom-block s="grid to world %n"><block var="i"/></custom-block></block><l>100</l></list></block></custom-block><l>1</l></list></block><block var="path corners"/></block><script><block s="doIf"><block s="reportLessThan"><block s="reportListAttribute"><l><option>length</option></l><block s="reportAspect"><l><option>sprites</option></l><custom-block s="grid to world %n"><block s="reportVariadicSum"><list><block var="i"/><l>1</l></list></block></custom-block></block></block><l>1</l></block><script><block s="doAddToList"><block s="reportListItem"><block s="reportVariadicSum"><list><block var="i"/><l>1</l></list></block><block var="path corners"/></block><block s="reportListItem"><l>2</l><block s="reportListItem"><block var="i"/><block var="path corners"/></block></block></block></script></block></script></block><block s="doIf"><block s="reportListItem"><block s="reportVariadicSum"><list><block var="i"/><l>-11</l></list></block><block var="path corners"/></block><script><block s="doIf"><block s="reportLessThan"><block s="reportListAttribute"><l><option>length</option></l><block s="reportAspect"><l><option>sprites</option></l><custom-block s="grid to world %n"><block s="reportVariadicSum"><list><block var="i"/><l>-11</l></list></block></custom-block></block></block><l>1</l></block><script><block s="doAddToList"><block s="reportListItem"><block s="reportVariadicSum"><list><block var="i"/><l>-11</l></list></block><block var="path corners"/></block><block s="reportListItem"><l>2</l><block s="reportListItem"><block var="i"/><block var="path corners"/></block></block></block></script></block></script></block><block s="doIf"><block s="reportListItem"><block s="reportVariadicSum"><list><block var="i"/><l>11</l></list></block><block var="path corners"/></block><script><block s="doIf"><block s="reportLessThan"><block s="reportListAttribute"><l><option>length</option></l><block s="reportAspect"><l><option>sprites</option></l><custom-block s="grid to world %n"><block s="reportVariadicSum"><list><block var="i"/><l>11</l></list></block></custom-block></block></block><l>1</l></block><script><block s="doAddToList"><block s="reportListItem"><block s="reportVariadicSum"><list><block var="i"/><l>11</l></list></block><block var="path corners"/></block><block s="reportListItem"><l>2</l><block s="reportListItem"><block var="i"/><block var="path corners"/></block></block></block></script></block></script></block></script></block></script></block><block s="gotoXY"><l>-100</l><l>100</l></block><block s="down"></block><block s="gotoXY"><l>100</l><l>100</l></block><block s="gotoXY"><l>100</l><l>-100</l></block><block s="gotoXY"><l>-100</l><l>-100</l></block><block s="gotoXY"><l>-100</l><l>100</l></block><block s="up"></block><block s="gotoXY"><l>0</l><l>50</l></block><block s="doWaitUntil"><block s="reportKeyPressed"><l><option>space</option></l></block></block><block s="doGotoObject"><custom-block s="grid to world %n"><custom-block s="snap to grid %l"><custom-block s="clamp %n %n %n"><block s="getPosition"></block><l>-100</l><l>100</l></custom-block></custom-block></custom-block></block><block s="bubble"><l>Calculating path</l></block><block s="doWait"><l>1</l></block><block s="doDeclareVariables"><list><l>currentPath</l><l>newPath</l></list></block><block s="doWarp"><script><block s="doSetVar"><l>currentPath</l><custom-block s="a* path corners %upvar %br start: %n %br goal: %n"><l>fail?</l><custom-block s="snap to grid %l"><block s="getPosition"></block></custom-block><l>11</l><comment w="90" collapsed="false">Do A* Algorithm</comment></custom-block></block><block s="bubble"><l></l></block><block s="doSetVar"><l>newPath</l><block s="reportNewList"><list></list></block></block><block s="doForEach"><l>item</l><block var="currentPath"/><script><block s="doIf"><block s="reportNotEquals"><block var="item"/><l></l></block><script><block s="doAddToList"><block var="item"/><block var="newPath"/></block></script></block></script></block><block s="doSetVar"><l>currentPath</l><block var="newPath"/></block><block s="doSayFor"><block var="currentPath"/><l>2</l></block><block s="hide"></block><block s="doForEach"><l>corner</l><block var="currentPath"/><script><block s="doGotoObject"><custom-block s="grid to world %n"><block var="corner"/></custom-block></block><block s="down"></block></script></block><block s="doIf"><block s="reportNot"><block var="fail?"/></block><script></script><comment w="90" collapsed="false">If algorithm success, draw path</comment></block></script></block></script></scripts></sprite></sprites></stage><variables><variable name="path corners"><list id="1157"><item><list id="1158"><item><list struct="atomic" id="1159">-100,-100</list></item><item><list id="1160"><item><list id="1161"><item><list struct="atomic" 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mediaID="Obstacles_cst_alonzo (vector)"/><costume name="Untitled" center-x="7" center-y="7" image="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAA4AAAAOCAYAAAAfSC3RAAAAAXNSR0IArs4c6QAAANFJREFUOE+V0rFKAlAUBuBPBx+gVwiHJqEWoyBokCgwegHFRSF6Avd6gSKwJeoBCqEiGoIgcSpwcoheoQdoELnghQsleu92zvm/u5xT8Pe1sI+12WiMJ1yn0UJSbOAK6/98FlqfaOMjFBFW8IqVOSi2f7CLUYTv2FqA4niA7QDr6C+JYuwwwHOcZMKLAB9wkAkfA7zDUSa8D/AU3Ux4FmAVw0y4Gddxg8aS+BbNCEt4wc4C/IYaftOTK+ISnTm4h2NM0pNLs2XsYXXW/MYzvtLQFASeHw+dzNIwAAAAAElFTkSuQmCC" mediaID="Pathfinder_cst_Untitled"/></media></snapdata>