Repository: qiao/PathFinding.js
Branch: master
Commit: 2904a9afba48
Files: 78
Total size: 517.5 KB

Directory structure:
gitextract_jynln01x/

├── .gitignore
├── .travis.yml
├── README.md
├── TODO
├── benchmark/
│   ├── benchmark.js
│   ├── parse_map.js
│   ├── parse_scen.js
│   ├── scen/
│   │   ├── 64room_000.map.scen
│   │   ├── arena.map.scen
│   │   ├── lak304d.map.scen
│   │   └── losttemple.map.scen
│   └── test_cases.js
├── docs/
│   ├── contributor-guide/
│   │   ├── authors.md
│   │   ├── contributing.md
│   │   └── developing.md
│   ├── custom.css
│   ├── index.md
│   └── user-guide/
│       ├── diagonal-movement.md
│       ├── faq.md
│       ├── getting-started.md
│       ├── installation.md
│       ├── introduction.md
│       └── obstacles.md
├── gulpfile.js
├── index.js
├── mkdocs.yml
├── package.json
├── src/
│   ├── PathFinding.js
│   ├── banner
│   ├── core/
│   │   ├── DiagonalMovement.js
│   │   ├── Grid.js
│   │   ├── Heuristic.js
│   │   ├── Node.js
│   │   └── Util.js
│   └── finders/
│       ├── AStarFinder.js
│       ├── BestFirstFinder.js
│       ├── BiAStarFinder.js
│       ├── BiBestFirstFinder.js
│       ├── BiBreadthFirstFinder.js
│       ├── BiDijkstraFinder.js
│       ├── BreadthFirstFinder.js
│       ├── DijkstraFinder.js
│       ├── IDAStarFinder.js
│       ├── JPFAlwaysMoveDiagonally.js
│       ├── JPFMoveDiagonallyIfAtMostOneObstacle.js
│       ├── JPFMoveDiagonallyIfNoObstacles.js
│       ├── JPFNeverMoveDiagonally.js
│       ├── JumpPointFinder.js
│       └── JumpPointFinderBase.js
├── test/
│   ├── Grid.js
│   ├── PathTest.js
│   ├── PathTestScenarios.js
│   └── Util.js
└── visual/
    ├── Makefile
    ├── css/
    │   └── style.css
    ├── doc/
    │   ├── state-description.md
    │   └── state-diagram.gv
    ├── index.html
    ├── js/
    │   ├── controller.js
    │   ├── main.js
    │   ├── panel.js
    │   └── view.js
    ├── lib/
    │   ├── raphael-min.js
    │   └── themes/
    │       ├── jquery.ui.accordion.css
    │       ├── jquery.ui.all.css
    │       ├── jquery.ui.autocomplete.css
    │       ├── jquery.ui.base.css
    │       ├── jquery.ui.button.css
    │       ├── jquery.ui.core.css
    │       ├── jquery.ui.datepicker.css
    │       ├── jquery.ui.dialog.css
    │       ├── jquery.ui.progressbar.css
    │       ├── jquery.ui.resizable.css
    │       ├── jquery.ui.selectable.css
    │       ├── jquery.ui.slider.css
    │       ├── jquery.ui.tabs.css
    │       └── jquery.ui.theme.css
    └── notsupported.html

================================================
FILE CONTENTS
================================================

================================================
FILE: .gitignore
================================================
*.swp
node_modules/
/lib
site/
release/

================================================
FILE: .travis.yml
================================================
language: node_js
node_js:
  - "0.11"
  - "0.10"
before_script:
  - npm install -g gulp
  - npm install -g mocha
sudo: false


================================================
FILE: README.md
================================================
PathFinding.js
==============
#### A comprehensive path-finding library in javascript. ####

[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/qiao/PathFinding.js?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

[![Build Status](https://travis-ci.org/qiao/PathFinding.js.svg?branch=master)](https://travis-ci.org/qiao/PathFinding.js)
[![Dependency Status](https://david-dm.org/qiao/pathfinding.js.png)](https://david-dm.org/qiao/pathfinding.js)
[![Documentation Status](https://readthedocs.org/projects/pathfindingjs/badge/)](https://readthedocs.org/projects/pathfindingjs/?badge=latest)

Introduction
------------

The aim of this project is to provide a path-finding library that can be easily incorporated into web games. It may run on Node.js or the browser.

It comes along with an [online demo](http://qiao.github.io/PathFinding.js/visual) to show how the algorithms execute. (The pathfinding speed is slowed down in the demo)

Note that this project only provides path-finding algorithms for 2D space. If you need to work in a 3D environment, then you may use [@schteppe](https://github.com/schteppe)'s [fork](https://github.com/schteppe/PathFinding3D.js).

There is new documentation being written for PathFinding.js. You can read it [here](http://pathfindingjs.readthedocs.org/en/latest/). Note that this is in very early stages and far from complete so keep your eyes open for mistakes and don't hesitate to open a pull request in case you find one.

Server
------

If you want to use it in Node.js, you may install it via `npm`.

```bash
npm install pathfinding
```

Then, in your program:

```javascript
var PF = require('pathfinding');
```

See the `Basic Usage` section below for usage details.


Browser
-------

If you have bower installed then you can install it with the following command:

```bash
bower install pathfinding
```

By default bower will install pathfinding under the bower_components folder, so to include it in your page do something like:

```html
<script type="text/javascript" src="path/to/bower_components/pathfinding/pathfinding-browser.min.js"></script>
```

You can also grab a release from the [Releases Page](https://github.com/imor/pathfinding-bower/releases) if you don't use bower.

Basic Usage
-----------

To build a grid-map of width 5 and height 3:

```javascript
var grid = new PF.Grid(5, 3); 
```

By default, all the nodes in the grid will be able to be walked through.
To set whether a node at a given coordinate is walkable or not, use the `setWalkableAt` method.

For example, to set the node at (0, 1) to be un-walkable, where 0 is the x coordinate (from left to right), and 
1 is the y coordinate (from up to down):

```javascript
grid.setWalkableAt(0, 1, false);
```

You may also pass in a matrix while instantiating the `PF.Grid` class.
It will initiate all the nodes in the grid with the same walkability indicated by the matrix.
0 for walkable while 1 for blocked.

```javascript
var matrix = [
    [0, 0, 0, 1, 0],
    [1, 0, 0, 0, 1],
    [0, 0, 1, 0, 0],
];
var grid = new PF.Grid(matrix);
```

Currently there are 10 path-finders bundled in this library, namely:

*  `AStarFinder` *
*  `BestFirstFinder`
*  `BreadthFirstFinder` *
*  `DijkstraFinder` *
*  `IDAStarFinder.js` *
*  `JumpPointFinder` *
*  `OrthogonalJumpPointFinder` *
*  `BiAStarFinder`
*  `BiBestFirstFinder`
*  `BiBreadthFirstFinder` *
*  `BiDijkstraFinder` *

The prefix `Bi` for the last four finders in the above list stands for the bi-directional searching strategy.

Also, Note that only the finders with trailing asterisks are guaranteed to find the shortest path.

To build a path-finder, say, the `AStarFinder`:

```javascript
var finder = new PF.AStarFinder();
```

To find a path from (1, 2) to (4, 2), (Note: both the start point and end point should be walkable):

```javascript
var path = finder.findPath(1, 2, 4, 2, grid);
```

`path` will be an array of coordinates including both the start and end positions.

For the `matrix` defined previously, the `path` will be:

```javascript
[ [ 1, 2 ], [ 1, 1 ], [ 2, 1 ], [ 3, 1 ], [ 3, 2 ], [ 4, 2 ] ]
```

Be aware that `grid` will be modified in each path-finding, and will not be usable afterwards. If you want to use a single grid multiple times, create a clone for it before calling `findPath`.

```javascript
var gridBackup = grid.clone();
```


Advanced Usage
--------------

When instantiating path-finders, you may pass in additional parameters to indicate which specific strategies to use.

For all path-finders, you may indicate whether diagonal movement is allowed. The default value is `false`, which means that the path can only go orthogonally.

In order to enable diagonal movement:

```javascript
var finder = new PF.AStarFinder({
    allowDiagonal: true
});
```

When diagonal movement is enabled, you might want to prevent the path from touching the corners of the occupied grid blocks. This is usually desirable if the objects using the path have physical width and can also move between the grid cells.

To enable the corner crossing prevention:

```javascript
var finder = new PF.AStarFinder({
    allowDiagonal: true,
    dontCrossCorners: true
});
```

Note that `dontCrossCorners` only makes sense when `allowDiagonal` is also used. Currently all algorithms except `JumpPointFinder` support this feature.

For `AStarFinder`, `BestFirstFinder` and all their `Bi` relatives, you may indicate which heuristic function to use.

The predefined heuristics are `PF.Heuristic.manhattan`(default), `PF.Heuristic.chebyshev`, `PF.Heuristic.euclidean` and `PF.Heuristic.octile`.

To use the chebyshev heuristic:

```javascript
var finder = new PF.AStarFinder({
    heuristic: PF.Heuristic.chebyshev
});
```

To build a `BestFirstFinder` with diagonal movement allowed and a custom heuristic function:

```javascript
var finder = new PF.BestFirstFinder({
    allowDiagonal: true,
    heuristic: function(dx, dy) {
        return Math.min(dx, dy);
    }
});
```

To smoothen the path, you may use `PF.Util.smoothenPath`. This routine will return
a new path with the original one unmodified.

```javascript
var newPath = PF.Util.smoothenPath(grid, path);
```

Note that the new path will be compressed as well, i.e. if the original path is
`[[0, 1], [0, 2], [0, 3], [0, 4]]`, then the new path will be `[[0, 1], [0, 4]]`.

To just compress a path without smoothing it, you may use `PF.Util.compressPath`.

```javascript
var newPath = PF.Util.compressPath(path);
```

To expand the compressed path like `[[0, 1], [0, 4]]` back to `[[0, 1], [0, 2], [0, 3], [0, 4]]`,
you may use `PF.Util.expandPath`.

```javascript
var newPath = PF.Util.expandPath(path);
```


Development
------------

Layout:

    .
    |-- lib          # browser distribution
    |-- src          # source code (algorithms only)
    |-- test         # test scripts
    |-- utils        # build scripts
	|-- benchmark    # benchmarks
    `-- visual       # visualization

Make sure you have `node.js` installed, then use `npm` to install the dependencies: 

    npm install -d 

The build system uses gulp, so make sure you have it installed:

    npm install -d -g gulp

To build the browser distribution:

    gulp compile

To run the tests
(algorithms only, not including the visualization) with
[mocha](http://mochajs.org/) and [should.js](https://github.com/visionmedia/should.js)
First install mocha:

    npm install -d -g mocha

Then run the tests:

    gulp test

To run the benchmarks:

    gulp bench

Or if you are feeling lazy, the default gulp task does everything(except running the benchmarks):

    gulp

License
-------

[MIT License](http://www.opensource.org/licenses/mit-license.php)

&copy; 2011-2012 Xueqiao Xu &lt;xueqiaoxu@gmail.com&gt;

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.


================================================
FILE: TODO
================================================
implement IDS
implement Dynamic Weighting
customize heuristic functions on demo page
beautify play panel


================================================
FILE: benchmark/benchmark.js
================================================
#!/usr/bin/env node

var colors    = require('colors');
var PF        = require('..');
var parseMap  = require('./parse_map').parse;
var parseScen = require('./parse_scen').parse;
var testCases = require('./test_cases');
var path      = require('path');

function profile(callback) {
  var startTime = Date.now();
  ret = callback();
  var endTime = Date.now();
  return {
    returnValue: ret,
    time: endTime - startTime
  };
}

/**
 * @param {object} opt
 * @param {string} opt.header
 * @param {string} opt.footer
 * @param {PF.*Finder} opt.finder
 * @param {PF.Grid} opt.grid
 * @param {number} opt.startX
 * @param {number} opt.startY
 * @param {number} opt.endX
 * @param {number} opt.endY
 */
function benchmark(opt) {
  var result = profile(function() {
    return opt.finder.findPath(
      opt.startX,
      opt.startY,
      opt.endX,
      opt.endY,
      opt.grid
    );
  });
  var fields = [
    opt.header,
    (''+result.time + 'ms').yellow,
    'length' , formatFloat(PF.Util.pathLength(result.returnValue)),
    opt.footer,
  ];
  console.log(fields.join(' '));
}

function formatFloat(float) {
  return Math.round(float * 1000) / 1000;
}

function map2grid(map) {
  return new PF.Grid(map.width, map.height, map.grid);
}

testCases.forEach(function(test) {
  var grid = map2grid(parseMap(path.join(__dirname, test.map)));
  var scens = parseScen(path.join(__dirname, test.scen)).scenarios;
  var select = test.select;

  select.forEach(function(id) {
    var scen = scens[id];
    var result = benchmark({
      header: 'AStarFinder',
      finder: new PF.AStarFinder({allowDiagonal: true}),
      grid: grid,
      startX: scen.startX,
      startY: scen.startY,
      endX: scen.endX,
      endY: scen.endY,
      footer: '(optimal: '.grey + (''+scen.length).green + ')'.grey
    });
  });
});


================================================
FILE: benchmark/parse_map.js
================================================
#!/usr/bin/env node

/**
 * Convert the `map` files into json
 * 
 * All maps begin with the lines:
 * 
 *     type octile
 *     height x
 *     width y
 *     map
 * 
 * where x and y are the repsective height and width of the map.
 * 
 * The map data is store as an ASCII grid. The following characters are possible:
 * 
 *     . - passable terrain
 *     G - passable terrain
 *     @ - out of bounds
 *     O - out of bounds
 *     T - trees (unpassable)
 *     S - swamp (passable from regular terrain)
 *     W - water (traversable, but not passable from terrain)
 * 
 */

/**
 * Implementation note:
 * For convenience, only '.' and 'G' are interpreted as walkable.
 */

var fs = require('fs');
var endOfLine = require('os').EOL;

function parse(filename) {
  var content = fs.readFileSync(filename).toString();
  var lines = content.split(endOfLine);
  return {
    height : parseInt(lines[1].split(' ')[1]),
    width  : parseInt(lines[2].split(' ')[1]),
    grid   : parseGrid(lines.slice(4)),
  };
}
exports.parse = parse;

function parseGrid(lines) {
  var grid = [];
  lines.forEach(function(line) {
    if (!line.length) {
      return;
    }
    var row = [];
    line.split('').forEach(function(char) {
      row.push(char in { '.': 1, 'G': 1 } ? 0 : 1);
    });
    grid.push(row);
  });
  return grid;
}

function splitext(filename) {
  var index = filename.lastIndexOf('.');
  if (index < 0) {
    return [filename, ''];
  } else {
    return [filename.substr(0, index), filename.substr(index)];
  }
}

function main(argv) {
  var filename = argv[2];
  var obj = parse(filename);
  var root = splitext(filename)[0];
  fs.writeFileSync(root + '.json', JSON.stringify(obj));
}

if (!module.parent) {
  main(process.argv);
}


================================================
FILE: benchmark/parse_scen.js
================================================
#!/usr/bin/env node

/**
 * The scenario files have the following format.
 * The begin with the text "version x.x". This document describes version 1.0. 
 * The trailing 0 is optional.
 *
 * Each line of a scenario has 9 fields:
 *
 * Bucket
 * map 
 * map width
 * map height 
 * start x-coordinate
 * start y-coordinate
 * goal x-coordinate
 * goal y-coordinate
 * optimal length
 */

var fs = require('fs');

function parse(filename) {
  var content = fs.readFileSync(filename).toString();
  var lines = content.split('\n');
  var version = lines[1].split(/\s+/);
  return {
    version: version,
    scenarios: lines.slice(1, lines.length - 1).map(parseLine)
  };
}

function parseLine(line) {
  var fields = line.split(/\s+/);
  return {
    bucket: parseInt(fields[0]),
    map: fields[1],
    width: parseInt(fields[2]),
    height: parseInt(fields[3]),
    startX: parseInt(fields[4]),
    startY: parseInt(fields[5]),
    endX: parseInt(fields[6]),
    endY: parseInt(fields[7]),
    length: parseFloat(fields[8])
  };
}

exports.parse = parse;


================================================
FILE: benchmark/scen/64room_000.map.scen
================================================
version 1
1	maps/rooms/64room_000.map	512	512	210	389	214	389	4
1	maps/rooms/64room_000.map	512	512	137	295	134	292	4.24264
1	maps/rooms/64room_000.map	512	512	71	507	65	510	7.24264
1	maps/rooms/64room_000.map	512	512	474	427	469	426	5.41421
1	maps/rooms/64room_000.map	512	512	291	14	295	15	4.41421
1	maps/rooms/64room_000.map	512	512	227	214	225	220	6.82843
1	maps/rooms/64room_000.map	512	512	68	315	74	316	6.41421
1	maps/rooms/64room_000.map	512	512	456	113	456	108	5
1	maps/rooms/64room_000.map	512	512	393	111	397	110	4.41421
1	maps/rooms/64room_000.map	512	512	262	146	263	142	4.41421
2	maps/rooms/64room_000.map	512	512	44	124	52	122	8.82843
2	maps/rooms/64room_000.map	512	512	370	293	371	282	11.4142
2	maps/rooms/64room_000.map	512	512	328	324	328	334	10
2	maps/rooms/64room_000.map	512	512	343	130	339	138	9.65685
2	maps/rooms/64room_000.map	512	512	45	333	49	323	11.6569
2	maps/rooms/64room_000.map	512	512	111	85	106	79	8.07107
2	maps/rooms/64room_000.map	512	512	41	143	43	152	9.82843
2	maps/rooms/64room_000.map	512	512	374	461	374	471	10
2	maps/rooms/64room_000.map	512	512	416	492	412	484	9.65685
2	maps/rooms/64room_000.map	512	512	496	399	488	404	10.0711
3	maps/rooms/64room_000.map	512	512	47	370	58	376	13.4853
3	maps/rooms/64room_000.map	512	512	204	140	215	131	14.7279
3	maps/rooms/64room_000.map	512	512	132	5	144	7	12.8284
3	maps/rooms/64room_000.map	512	512	26	497	13	500	14.2426
3	maps/rooms/64room_000.map	512	512	430	354	437	365	13.8995
3	maps/rooms/64room_000.map	512	512	44	376	36	367	12.3137
3	maps/rooms/64room_000.map	512	512	96	96	98	83	13.8284
3	maps/rooms/64room_000.map	512	512	500	81	509	93	15.7279
3	maps/rooms/64room_000.map	512	512	474	158	460	156	14.8284
3	maps/rooms/64room_000.map	512	512	342	154	344	166	12.8284
4	maps/rooms/64room_000.map	512	512	311	287	304	302	17.8995
4	maps/rooms/64room_000.map	512	512	343	313	324	312	19.4142
4	maps/rooms/64room_000.map	512	512	52	462	38	456	16.4853
4	maps/rooms/64room_000.map	512	512	488	360	491	377	18.2426
4	maps/rooms/64room_000.map	512	512	359	187	377	187	18
4	maps/rooms/64room_000.map	512	512	398	39	391	25	16.8995
4	maps/rooms/64room_000.map	512	512	38	102	38	118	16
4	maps/rooms/64room_000.map	512	512	99	184	84	192	18.8995
4	maps/rooms/64room_000.map	512	512	407	338	389	341	19.2426
4	maps/rooms/64room_000.map	512	512	184	276	184	292	16
5	maps/rooms/64room_000.map	512	512	163	347	182	344	20.2426
5	maps/rooms/64room_000.map	512	512	259	404	281	404	22
5	maps/rooms/64room_000.map	512	512	410	136	406	156	21.6569
5	maps/rooms/64room_000.map	512	512	342	207	336	190	23.8284
5	maps/rooms/64room_000.map	512	512	277	218	276	196	22.4142
5	maps/rooms/64room_000.map	512	512	194	147	204	129	22.1421
5	maps/rooms/64room_000.map	512	512	94	511	77	496	23.2132
5	maps/rooms/64room_000.map	512	512	208	97	231	97	23
5	maps/rooms/64room_000.map	512	512	420	47	400	38	23.7279
5	maps/rooms/64room_000.map	512	512	415	170	438	170	23
6	maps/rooms/64room_000.map	512	512	334	335	360	333	26.8284
6	maps/rooms/64room_000.map	512	512	477	148	468	169	24.7279
6	maps/rooms/64room_000.map	512	512	252	202	226	204	26.8284
6	maps/rooms/64room_000.map	512	512	433	284	433	259	25
6	maps/rooms/64room_000.map	512	512	395	495	401	471	26.4853
6	maps/rooms/64room_000.map	512	512	110	493	132	497	26.1421
6	maps/rooms/64room_000.map	512	512	229	284	210	265	26.8701
6	maps/rooms/64room_000.map	512	512	223	476	205	458	25.4558
6	maps/rooms/64room_000.map	512	512	152	497	162	477	24.1421
6	maps/rooms/64room_000.map	512	512	451	247	444	225	26.6569
7	maps/rooms/64room_000.map	512	512	121	155	103	178	30.4558
7	maps/rooms/64room_000.map	512	512	58	463	78	482	29.6274
7	maps/rooms/64room_000.map	512	512	154	418	149	447	31.0711
7	maps/rooms/64room_000.map	512	512	329	275	352	290	29.2132
7	maps/rooms/64room_000.map	512	512	366	190	378	166	28.9706
7	maps/rooms/64room_000.map	512	512	333	423	324	398	28.7279
7	maps/rooms/64room_000.map	512	512	279	188	277	157	31.8284
7	maps/rooms/64room_000.map	512	512	397	416	403	387	31.4853
7	maps/rooms/64room_000.map	512	512	105	136	97	162	29.3137
7	maps/rooms/64room_000.map	512	512	478	377	508	379	30.8284
8	maps/rooms/64room_000.map	512	512	370	455	376	428	33.7279
8	maps/rooms/64room_000.map	512	512	29	211	45	237	32.6274
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197	maps/rooms/64room_000.map	512	512	483	493	106	38	790.607
197	maps/rooms/64room_000.map	512	512	464	423	56	187	789.193
197	maps/rooms/64room_000.map	512	512	48	460	465	8	789.365
197	maps/rooms/64room_000.map	512	512	478	471	107	14	790.406
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203	maps/rooms/64room_000.map	512	512	36	145	498	475	813.252
203	maps/rooms/64room_000.map	512	512	496	505	48	17	813.879


================================================
FILE: benchmark/scen/arena.map.scen
================================================
version 1
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15	maps/dao/arena.map	49	49	1	7	47	46	62.1543


================================================
FILE: benchmark/scen/lak304d.map.scen
================================================
version 1
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================================================
FILE: benchmark/scen/losttemple.map.scen
================================================
version 1.0
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107 maps/wc3maps/losttemple.map 512 512 308 112 344 455 428.42
108 maps/wc3maps/losttemple.map 512 512 421 104 239 373 434.04
109 maps/wc3maps/losttemple.map 512 512 383 141 78 400 438.06
104 maps/wc3maps/losttemple.map 512 512 99 439 416 238 416.66
104 maps/wc3maps/losttemple.map 512 512 444 102 154 361 416.61
105 maps/wc3maps/losttemple.map 512 512 363 83 140 267 422.24
111 maps/wc3maps/losttemple.map 512 512 300 92 65 430 447.64
103 maps/wc3maps/losttemple.map 512 512 74 230 438 109 414.12
106 maps/wc3maps/losttemple.map 512 512 433 74 300 430 426.83
120 maps/wc3maps/losttemple.map 512 512 446 62 81 270 482.20
106 maps/wc3maps/losttemple.map 512 512 93 427 385 158 425.68
106 maps/wc3maps/losttemple.map 512 512 79 331 414 130 426.46
111 maps/wc3maps/losttemple.map 512 512 438 75 142 357 445.03
114 maps/wc3maps/losttemple.map 512 512 429 201 66 429 457.44
109 maps/wc3maps/losttemple.map 512 512 139 399 433 139 436.16
103 maps/wc3maps/losttemple.map 512 512 242 437 319 76 412.98
110 maps/wc3maps/losttemple.map 512 512 68 434 334 115 443.83
114 maps/wc3maps/losttemple.map 512 512 98 427 343 86 457.13
121 maps/wc3maps/losttemple.map 512 512 424 80 63 329 486.98
111 maps/wc3maps/losttemple.map 512 512 323 76 101 414 445.19
106 maps/wc3maps/losttemple.map 512 512 364 150 105 404 425.54
113 maps/wc3maps/losttemple.map 512 512 65 446 445 281 455.66
107 maps/wc3maps/losttemple.map 512 512 440 73 261 429 430.14
109 maps/wc3maps/losttemple.map 512 512 420 112 115 383 438.34
106 maps/wc3maps/losttemple.map 512 512 93 300 431 116 425.73
109 maps/wc3maps/losttemple.map 512 512 435 74 215 399 438.63
118 maps/wc3maps/losttemple.map 512 512 194 441 441 73 475.58
112 maps/wc3maps/losttemple.map 512 512 409 199 60 444 451.07
127 maps/wc3maps/losttemple.map 512 512 444 91 85 413 511.71
112 maps/wc3maps/losttemple.map 512 512 424 211 74 442 449.20
113 maps/wc3maps/losttemple.map 512 512 311 67 76 422 455.27
110 maps/wc3maps/losttemple.map 512 512 110 311 432 74 441.84
114 maps/wc3maps/losttemple.map 512 512 434 93 110 356 456.96
127 maps/wc3maps/losttemple.map 512 512 435 70 113 409 508.01
108 maps/wc3maps/losttemple.map 512 512 307 106 69 399 432.00
115 maps/wc3maps/losttemple.map 512 512 122 256 435 103 463.47
110 maps/wc3maps/losttemple.map 512 512 428 112 109 374 443.93
112 maps/wc3maps/losttemple.map 512 512 70 378 333 80 450.29
117 maps/wc3maps/losttemple.map 512 512 447 108 112 247 469.55
110 maps/wc3maps/losttemple.map 512 512 435 122 155 430 443.70
124 maps/wc3maps/losttemple.map 512 512 430 75 98 390 499.38
124 maps/wc3maps/losttemple.map 512 512 418 118 71 438 498.29
127 maps/wc3maps/losttemple.map 512 512 422 73 89 396 509.55
127 maps/wc3maps/losttemple.map 512 512 70 441 409 107 508.39
123 maps/wc3maps/losttemple.map 512 512 110 240 433 65 492.42
111 maps/wc3maps/losttemple.map 512 512 351 101 75 416 447.48
111 maps/wc3maps/losttemple.map 512 512 358 65 100 376 446.47
107 maps/wc3maps/losttemple.map 512 512 402 254 58 442 430.98
123 maps/wc3maps/losttemple.map 512 512 414 84 99 402 493.28
110 maps/wc3maps/losttemple.map 512 512 417 133 73 346 440.43
109 maps/wc3maps/losttemple.map 512 512 307 101 75 423 438.60
105 maps/wc3maps/losttemple.map 512 512 325 163 58 443 422.23
113 maps/wc3maps/losttemple.map 512 512 418 93 181 444 454.44
107 maps/wc3maps/losttemple.map 512 512 424 92 86 263 430.65
112 maps/wc3maps/losttemple.map 512 512 105 329 437 79 451.37
125 maps/wc3maps/losttemple.map 512 512 82 387 433 87 503.38
107 maps/wc3maps/losttemple.map 512 512 87 418 306 94 430.53
114 maps/wc3maps/losttemple.map 512 512 408 128 84 406 457.90
108 maps/wc3maps/losttemple.map 512 512 433 219 84 422 433.09
109 maps/wc3maps/losttemple.map 512 512 84 316 433 118 439.22
109 maps/wc3maps/losttemple.map 512 512 444 117 205 438 438.64
105 maps/wc3maps/losttemple.map 512 512 430 73 143 319 420.53
111 maps/wc3maps/losttemple.map 512 512 349 131 89 442 445.64
107 maps/wc3maps/losttemple.map 512 512 85 440 419 230 429.77
106 maps/wc3maps/losttemple.map 512 512 106 329 437 121 427.84
104 maps/wc3maps/losttemple.map 512 512 425 71 251 418 419.07
108 maps/wc3maps/losttemple.map 512 512 426 73 293 442 434.03
113 maps/wc3maps/losttemple.map 512 512 367 86 109 417 453.34
106 maps/wc3maps/losttemple.map 512 512 73 401 297 113 426.90
108 maps/wc3maps/losttemple.map 512 512 122 308 444 75 432.57
112 maps/wc3maps/losttemple.map 512 512 378 135 78 424 451.93
114 maps/wc3maps/losttemple.map 512 512 435 79 70 269 458.35
111 maps/wc3maps/losttemple.map 512 512 70 416 311 93 447.43
116 maps/wc3maps/losttemple.map 512 512 352 110 93 451 464.68
113 maps/wc3maps/losttemple.map 512 512 81 410 368 129 453.27
115 maps/wc3maps/losttemple.map 512 512 68 451 424 209 461.51
127 maps/wc3maps/losttemple.map 512 512 442 104 82 429 511.61
117 maps/wc3maps/losttemple.map 512 512 109 412 432 109 471.35
123 maps/wc3maps/losttemple.map 512 512 415 116 92 444 495.77
119 maps/wc3maps/losttemple.map 512 512 433 68 122 375 477.41
112 maps/wc3maps/losttemple.map 512 512 418 78 124 345 450.43
119 maps/wc3maps/losttemple.map 512 512 83 447 358 97 478.55
117 maps/wc3maps/losttemple.map 512 512 84 405 421 125 469.38
111 maps/wc3maps/losttemple.map 512 512 441 93 93 263 446.62
116 maps/wc3maps/losttemple.map 512 512 422 158 65 382 466.19
115 maps/wc3maps/losttemple.map 512 512 319 109 64 440 460.68
123 maps/wc3maps/losttemple.map 512 512 71 327 431 69 492.06
116 maps/wc3maps/losttemple.map 512 512 103 381 430 100 465.65
118 maps/wc3maps/losttemple.map 512 512 125 404 416 88 475.58
118 maps/wc3maps/losttemple.map 512 512 313 82 74 446 475.88
117 maps/wc3maps/losttemple.map 512 512 117 411 423 106 471.87
119 maps/wc3maps/losttemple.map 512 512 414 119 80 420 479.18
127 maps/wc3maps/losttemple.map 512 512 431 114 64 420 510.15
127 maps/wc3maps/losttemple.map 512 512 420 76 84 399 511.97
121 maps/wc3maps/losttemple.map 512 512 75 429 399 115 485.70
117 maps/wc3maps/losttemple.map 512 512 364 78 78 411 470.80
121 maps/wc3maps/losttemple.map 512 512 433 93 101 403 485.01
121 maps/wc3maps/losttemple.map 512 512 434 79 121 401 485.62
117 maps/wc3maps/losttemple.map 512 512 436 87 177 443 468.55
119 maps/wc3maps/losttemple.map 512 512 72 298 441 80 477.16
127 maps/wc3maps/losttemple.map 512 512 73 335 445 62 511.44
120 maps/wc3maps/losttemple.map 512 512 437 114 84 384 481.24
119 maps/wc3maps/losttemple.map 512 512 426 82 64 316 479.43
124 maps/wc3maps/losttemple.map 512 512 426 84 87 386 498.07
118 maps/wc3maps/losttemple.map 512 512 440 134 86 381 472.71
116 maps/wc3maps/losttemple.map 512 512 68 447 342 108 467.14
117 maps/wc3maps/losttemple.map 512 512 417 162 75 434 471.65
115 maps/wc3maps/losttemple.map 512 512 73 384 406 126 460.96
116 maps/wc3maps/losttemple.map 512 512 400 115 89 417 467.72
122 maps/wc3maps/losttemple.map 512 512 444 74 174 446 489.11
120 maps/wc3maps/losttemple.map 512 512 124 399 441 81 483.28
127 maps/wc3maps/losttemple.map 512 512 70 447 412 112 510.64
121 maps/wc3maps/losttemple.map 512 512 136 260 444 102 484.88
116 maps/wc3maps/losttemple.map 512 512 65 433 357 101 467.60
116 maps/wc3maps/losttemple.map 512 512 95 427 411 126 465.87
119 maps/wc3maps/losttemple.map 512 512 118 401 420 84 476.07
119 maps/wc3maps/losttemple.map 512 512 376 127 66 440 479.38
119 maps/wc3maps/losttemple.map 512 512 87 371 419 101 477.75
118 maps/wc3maps/losttemple.map 512 512 424 130 83 409 472.97
122 maps/wc3maps/losttemple.map 512 512 138 275 444 115 491.81
124 maps/wc3maps/losttemple.map 512 512 419 85 95 414 498.60
124 maps/wc3maps/losttemple.map 512 512 432 70 161 452 499.52
118 maps/wc3maps/losttemple.map 512 512 380 129 67 438 475.55
118 maps/wc3maps/losttemple.map 512 512 80 443 441 187 474.65
123 maps/wc3maps/losttemple.map 512 512 357 75 70 437 495.52
115 maps/wc3maps/losttemple.map 512 512 412 164 73 426 463.93
115 maps/wc3maps/losttemple.map 512 512 420 84 103 240 463.37
115 maps/wc3maps/losttemple.map 512 512 440 79 85 276 462.86
127 maps/wc3maps/losttemple.map 512 512 423 91 77 415 511.84
122 maps/wc3maps/losttemple.map 512 512 416 86 115 408 489.62
118 maps/wc3maps/losttemple.map 512 512 70 397 421 137 475.10
115 maps/wc3maps/losttemple.map 512 512 432 94 117 393 463.45
122 maps/wc3maps/losttemple.map 512 512 89 283 443 61 489.71
115 maps/wc3maps/losttemple.map 512 512 440 115 76 332 462.09
121 maps/wc3maps/losttemple.map 512 512 162 449 442 85 485.25


================================================
FILE: benchmark/test_cases.js
================================================
/**
 * the `select` field indicates which scenarios in the `scen` file are chosen 
 * to be included in the benchmark.
 */
module.exports = [
  {
    map: './map/64room_000.map',
    scen: './scen/64room_000.map.scen',
    select: [ 245, 1996 ]
  },
]


================================================
FILE: docs/contributor-guide/authors.md
================================================
# Authors

This is the alphabetically sorted list of contributors to PathFinding.js:

Anders Riutta <https://github.com/ariutta><br>
Chris Khoo <https://github.com/chriskck><br>
Gerjo <https://github.com/Gerjo><br>
Juan Pablo Canepa <https://github.com/jpcanepa><br>
Mat Gadd <https://github.com/Drarok><br>
Murilo Pereira <https://github.com/mpereira><br>
Nathan Witmer <https://github.com/zerowidth><br>
rafaelcastrocouto <https://github.com/rafaelcastrocouto><br>
Raminder Singh <https://github.com/imor><br>
Ricardo Tomasi <https://github.com/ricardobeat><br>
Rodrigo Navarro <https://github.com/reu><br>
Rory O'Kane <https://github.com/roryokane><br>
Stuart Lee <https://github.com/beeglebug><br>
surrim <https://github.com/surrim><br>
Tapio Vierros <https://github.com/tapio><br>
Thomas Hunter II <https://github.com/tlhunter><br>
Willem Mulder <https://github.com/willemmulder><br>
Xueqiao Xu <https://github.com/qiao>


================================================
FILE: docs/contributor-guide/contributing.md
================================================
If you have added a new feature or fixed a bug please open a pull request.

Don't forget to add yourself to the 
[list of contributors](https://github.com/qiao/PathFinding.js/blob/master/docs/contributor-guide/authors.md).

================================================
FILE: docs/contributor-guide/developing.md
================================================


================================================
FILE: docs/custom.css
================================================
/*This is a hack to prevent mkdocs from creating useless subheadings in table of
contents.
E.g. If there is a page called introduction.md and it contains the following:

# Introduction
Blah Blah Blah

Then mkdocs created a table of contents like this:

Introduction
    Introduction
	
This hack hides the second level heading

*/
.toctree-l2 {
    display: none;
}


================================================
FILE: docs/index.md
================================================
#Welcome to PathFinding.js documentation

Table of Contents

* User Guide
    * [Introduction](./user-guide/introduction.md)
    * [Installation](./user-guide/installation.md)
	* [Getting Started](./user-guide/getting-started.md)
	* [Obstacles](./user-guide/obstacles.md)
	* [Diagonal Movement](./user-guide/diagonal-movement.md)
	* [FAQ](./user-guide/faq.md)
* Contributor Guide
    * [Contributing](./contributor-guide/contributing.md)
	* [Developing](./contributor-guide/developing.md)
	* [Authors](./contributor-guide/authors.md)

================================================
FILE: docs/user-guide/diagonal-movement.md
================================================
# Diagonal Movement
To disable diagonal movement you need to configure the finder. The finder takes
a configuration object with an option called `diagonalMovement`. Setting this
option to `DiagonalMovement.Never` will disable diagonal movement completely.
Let us try it.

```javascript
var finder = new PF.AStarFinder({
    diagonalMovement: PF.DiagonalMovement.Never
});
```

See that the path is straight now:

![Screenshot](user-guide/images/DiagonalMovementDisabled.png)

The `diagonalMovement` option can take any of the following values:

* Always
* Never
* IfAtMostOneObstacle
* OnlyWhenNoObstacles

To understand them consider the following four simple maps labelled A, B, C and
D. A has no obstacles for diagonal movement from green to orange cell, B and C
have one obstacle and D has two obstacles.

![Screenshot](user-guide/images/DiagonalMaps.png)

## Always
With this option PathFinding.js will always find a diagonal path, irrespective
of the obstacles when moving diagonally.

![Screenshot](user-guide/images/AllMapsWithAPath.png)

## Never
With this option PathFinding.js will only find straight paths and will never
find any diagonal paths.

![Screenshot](user-guide/images/AllMapsWithStraightPaths.png)

## IfAtMostOneObstacle
With this option PathFinding.js will find diagonal paths only if there is at
most one obstacle for the diagonal path.

![Screenshot](user-guide/images/DiagonalPathsForAtMostOneObstacle.png)

## OnlyWhenNoObstacles
With this option PathFinding.js will find diagonal paths only if there are no
obstacles for the diagonal path.

![Screenshot](user-guide/images/DiagonalPathsForOnlyWhenNoObstacles.png)


================================================
FILE: docs/user-guide/faq.md
================================================


================================================
FILE: docs/user-guide/getting-started.md
================================================
# Getting Started
This section explains the basic usage of PathFinding.js.

## Importing in Node.js
To import PathFinding.js in your file do:

```javascript
var PF = require('pathfinding');
```

## Including in Browser
To include PathFinding.js in your page, add a script tag to your page:

```html
<script type="text/javascript" src="path/to/pathfinding-browser.min.js"></script>
```

## Finding a Path
To find a path you need a grid first. Create a 5 by 7 grid:

```javascript
var grid = new PF.Grid(5, 7);
```
This will create a grid which is walkable all over.

![Screenshot](user-guide/images/5x7EmptyGrid.png)

In this grid, the green cell at the top left is [0, 0] and the orange cell at
the bottom right is [4, 6].

Now create an instance of a finder. There are many finders available in
PathFinding.js but use the famous A* for now:

```javascript
var finder = new PF.AStarFinder();
```

Now find the path from the green cell to the orange cell:

```javascript
var path = finder.findPath(0, 0, 4, 6, grid);
```

This will return the following path:

```javascript
[[0, 0], [1, 1], [2, 2], [3, 3], [4, 4], [4, 5], [4, 6]]
```

Which when plotted on the grid looks like:

![Screenshot](user-guide/images/5x7GridWithPath.png)

================================================
FILE: docs/user-guide/installation.md
================================================
# Installation
This section describes how to install PathFinding.js.

## Using Package Managers
PathFinding.js supports installation using npm and bower command line tools.

### For Server
[Node.js](http://nodejs.org/) is an environment for running javascript on the
server. [Download](http://nodejs.org/download/) and install Node.js for your OS
and confirm that it works from the command line:

```bash
node -v
```

If Node.js was installed correctly this should print the installed version of]
Node.js.

Node.js comes with a [Node Package Manager](https://www.npmjs.com/) command line
tool called _npm_. It is used to install packages for Node.js. Check that it
works:

```bash
npm -v
```

This should print the installed version of npm.

npm installs the packages in the current folder by default. Make sure you are
in your project folder before continuing:

```bash
cd <my_new_project>
```

Now you are ready to install PathFinding.js. The npm command to install
PathFinding.js is:

```bash
npm install pathfinding
```

This will create a _node_modules_ folder inside the my_new_project folder.
PathFinding.js is now installed in the _pathfinding_ folder inside the
node_modules folder.

### For Client
[Bower](http://bower.io/) is a front-end package manager. Install it by running
the command:

```bash
npm install -g bower
```

Confirm that you can run the bower command:

```bash
bower -v
```

This should print the installed version of bower.

Navigate to your project folder:

```bash
cd <my_new_project>
```

Install pathfinding:

```bash
bower install pathfinding
```

This will create a _bower_components_ folder inside the my_new_project folder.
PathFinding.js is now installed in the pathfinding folder inside the
bower_components folder.

## Manual Installation
If you want to use the latest development version you will have to install
PathFinding.js manually.

### For Server
[Download](https://github.com/qiao/PathFinding.js/archive/master.zip) the zip
from github and extract the contents into the node_modules folder. Don't forget
to rename the extracted folder from PathFinding.js-master to pathfinding.

### For Client
[Download](https://github.com/qiao/PathFinding.js/archive/master.zip) the zip
from github, extract it in a temporary folder and navigate to this folder:

```bash
cd <temp_folder>
```

Now install all the dependencies of PathFinding.js:

```bash
npm install
```

Now compile the browser builds:

```bash
gulp compile
```

This will create _pathfinding-browser.js_ and _pathfinding-browser.min.js_ files
in the temp_folder/lib folder. You can use these files in your project now.

================================================
FILE: docs/user-guide/introduction.md
================================================
# Introduction

PathFinding.js is a javascript library to find paths on a 2D square grid. It
works in both node.js and browser environments.

```javascript
//Walkability matrix. Zero is walkable, One is not
var matrix = [
    [0, 0, 0, 1, 0],
    [1, 0, 0, 0, 1],
    [0, 0, 1, 0, 0],
];
var grid = new PF.Grid(matrix);
var finder = new PF.AStarFinder();
//Find path from (1, 2) to (4, 2)
var path = finder.findPath(1, 2, 4, 2, grid);
```

## Getting Help

If you stumble upon a bug or don't understand some feature of PathFinding.js,
open an issue in the 
[Issue Tracker](https://github.com/qiao/PathFinding.js/issues).

Browsing the [source](https://github.com/qiao/PathFinding.js) might also help.
A great visualization of the different pathfinding algorithms is available
[here](http://qiao.github.io/PathFinding.js/visual/).

## License

PathFinding.js is released under the 
[MIT License](http://opensource.org/licenses/mit-license.php).

(c) 2011-2012 Xueqiao Xu <xueqiaoxu@gmail.com>

Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
the Software, and to permit persons to whom the Software is furnished to do so,
subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.


================================================
FILE: docs/user-guide/obstacles.md
================================================
# Obstacles
A grid without any obstacles is boring. Let us create a grid with obstacles:

```javascript
var walkabilityMatrix = [[0, 0, 0, 0, 0],
                         [1, 1, 1, 1, 0],
                         [0, 0, 0, 0, 0],
                         [0, 1, 1, 1, 1],
                         [0, 0, 0, 0, 0],
                         [1, 1, 1, 1, 0],
                         [0, 0, 0, 0, 0]];
var grid = new PF.Grid(matrix);
```

The _walkabilityMatrix_ defines which cells are walkable and which have
obstacles. Ones are obstacles and zeroes are walkable. Alternatively, you can
also set the obstacles on the grid by calling the `setWalkableAt` function:

```javascript
var grid = new PF.Grid(5, 7);
grid.setWalkableAt(0, 1, false);
grid.setWalkableAt(1, 1, false);
grid.setWalkableAt(2, 1, false);
...
```

After setting the obstacles the grid should look like this.

![Screenshot](user-guide/images/5x7GridWithObstacles.png)

Let us find a path now.

```javascript
var finder = new PF.AStarFinder();
var path = finder.findPath(0, 0, 4, 6, grid);
```

PathFinding.js will find the following path:

![Screenshot](user-guide/images/5x7GridWithObstaclesAndPath.png)

Notice how the path moves diagonally where it can, thus making it shorter. This
may not be always desirable and you may want to create a path without any
diagonal movement. Read the next section to find out how to achieve that.


================================================
FILE: gulpfile.js
================================================
var gulp = require('gulp'),
    uglify = require('gulp-uglify'),
    rename = require('gulp-rename'),
    browserify = require('gulp-browserify'),
    concat = require('gulp-concat'),
    mocha = require('gulp-mocha'),
    shell = require('shelljs'),
    del = require('del'),
    jshint = require('gulp-jshint'),
    stylish = require('jshint-stylish'),
    semver = require('semver'),
    jsonfile = require('jsonfile'),
    inquirer = require("inquirer"),
    fs = require('fs');

gulp.task('clean', function(cb) {
    del('lib/**/*.*', cb);
});

gulp.task('browserify', ['clean'], function(cb) {
    return gulp.src('./src/PathFinding.js')
    .pipe(browserify({ standalone: 'PF' }))
    .pipe(rename('pathfinding-browserified.js'))
    .pipe(gulp.dest('./lib/'), cb);
});

gulp.task('uglify', ['browserify'], function(cb) {
    return gulp.src('./lib/pathfinding-browserified.js')
    .pipe(uglify())
    .pipe(rename('pathfinding-browser.min.js'))
    .pipe(gulp.dest('./lib/'), cb);
});

gulp.task('scripts', ['clean', 'browserify', 'uglify'], function(cb) {
    return gulp.src(['./src/banner', './lib/pathfinding-browserified.js'])
    .pipe(concat('pathfinding-browser.js'))
    .pipe(gulp.dest('./lib/'), cb);
});

gulp.task('compile', ['scripts'], function() {
    del('./lib/pathfinding-browserified.js');
});

gulp.task('test', function () {
    return gulp.src('./test/**/*.js', {read: false})
        .pipe(mocha({reporter: 'spec', bail: true, globals: { should: require('should') }}));
});

gulp.task('bench', function() {
    shell.exec('node benchmark/benchmark.js');
});

gulp.task('lint', function() {
  return gulp.src('./src/**/*.js')
    .pipe(jshint())
    .pipe(jshint.reporter(stylish))
    .pipe(jshint.reporter('fail'));
});

gulp.task('release', ['compile'], function(cb) {
  inquirer.prompt({
      type: 'list',
      name: 'bumpType',
      message: 'Which version do you want to bump?',
      choices: ['patch', 'minor', 'major'],
      //default is patch
      default: 0
    }, function (result) {
      var f = jsonfile.readFileSync('./package.json');
      f.version = semver.inc(f.version, result.bumpType);
      jsonfile.writeFileSync('./package.json', f);

      shell.exec('git add .');
      shell.exec('git commit -m "Bumping version to ' + f.version + '"');
      shell.exec('git push origin master');
      shell.exec('git tag -a ' + f.version + ' -m "Creating tag for version ' + f.version + '"');
      shell.exec('git push origin ' + f.version);
      shell.exec('npm publish');

      shell.exec('git clone https://github.com/imor/pathfinding-bower.git release');
      process.chdir('release');
      fs.writeFileSync('pathfinding-browser.js', fs.readFileSync('../lib/pathfinding-browser.js'));
      fs.writeFileSync('pathfinding-browser.min.js', fs.readFileSync('../lib/pathfinding-browser.min.js'));

      f = jsonfile.readFileSync('bower.json');
      f.version = semver.inc(f.version, result.bumpType);
      jsonfile.writeFileSync('bower.json', f);

      shell.exec('git add .');
      shell.exec('git commit -m "Bumping version to ' + f.version + '"');
      shell.exec('git push origin master');
      shell.exec('git tag -a ' + f.version + ' -m "Creating tag for version ' + f.version + '"');
      shell.exec('git push origin ' + f.version);

      process.chdir('../');
      del('release');
      del('lib/**/*.*', cb);
    });
});

gulp.task('default', ['lint', 'test', 'compile'], function() {
});


================================================
FILE: index.js
================================================
module.exports = require('./src/PathFinding');


================================================
FILE: mkdocs.yml
================================================
site_name: PathFinding.js
repo_url: https://github.com/qiao/PathFinding.js
site_description: PathFinding.js is a javascript library to find paths on a 2D square grid
site_favicon: favicon.ico
site_author: Raminder Singh

pages:
- [index.md, Home]
- ['user-guide/introduction.md', 'User Guide', 'Introduction']
- ['user-guide/installation.md', 'User Guide', 'Installation']
- ['user-guide/getting-started.md', 'User Guide', 'Getting Started']
- ['user-guide/obstacles.md', 'User Guide', 'Obstacles']
- ['user-guide/diagonal-movement.md', 'User Guide', 'Diagonal Movement']
- ['user-guide/faq.md', 'User Guide', 'FAQ']
- ['contributor-guide/contributing.md', 'Contributor Guide', 'Contributing']
- ['contributor-guide/developing.md', 'Contributor Guide', 'Developing']
- ['contributor-guide/authors.md', 'Contributor Guide', 'Authors']
theme: readthedocs

================================================
FILE: package.json
================================================
{"name":"pathfinding","version":"0.4.18","description":"Comprehensive pathfinding library for grid based games","homepage":"https://github.com/qiao/PathFinding.js","keywords":["pathfinding","astar","dijkstra","game","algorithm","jumppoint","depthfirst","breadthfirst"],"author":"Xueqiao Xu <xueqiaoxu@gmail.com>","main":"./index.js","dependencies":{"heap":"0.2.5"},"devDependencies":{"colors":"^1.0.3","del":"^0.1.3","gulp":"^3.8.10","gulp-browserify":"^0.5.0","gulp-concat":"^2.4.1","gulp-jshint":"^1.9.0","gulp-mocha":"^2.0.0","gulp-rename":"^1.2.0","gulp-uglify":"^1.0.1","inquirer":"^0.8.0","jshint-stylish":"^1.0.0","jsonfile":"^2.0.0","mocha":"2.0.x","semver":"^4.2.0","shelljs":"^0.3.0","should":"4.3.x"},"scripts":{"test":"gulp test"},"repository":{"type":"git","url":"git://github.com/qiao/PathFinding.js.git"},"licenses":[{"type":"MIT","url":"http://opensource.org/licenses/mit-license.php"}]}


================================================
FILE: src/PathFinding.js
================================================
module.exports = {
    'Heap'                      : require('heap'),
    'Node'                      : require('./core/Node'),
    'Grid'                      : require('./core/Grid'),
    'Util'                      : require('./core/Util'),
    'DiagonalMovement'          : require('./core/DiagonalMovement'),
    'Heuristic'                 : require('./core/Heuristic'),
    'AStarFinder'               : require('./finders/AStarFinder'),
    'BestFirstFinder'           : require('./finders/BestFirstFinder'),
    'BreadthFirstFinder'        : require('./finders/BreadthFirstFinder'),
    'DijkstraFinder'            : require('./finders/DijkstraFinder'),
    'BiAStarFinder'             : require('./finders/BiAStarFinder'),
    'BiBestFirstFinder'         : require('./finders/BiBestFirstFinder'),
    'BiBreadthFirstFinder'      : require('./finders/BiBreadthFirstFinder'),
    'BiDijkstraFinder'          : require('./finders/BiDijkstraFinder'),
    'IDAStarFinder'             : require('./finders/IDAStarFinder'),
    'JumpPointFinder'           : require('./finders/JumpPointFinder'),
};


================================================
FILE: src/banner
================================================
/**
 *    ____       _   _     _____ _           _ _                _         
 *   |  _ \ __ _| |_| |__ |  ___(_)_ __   __| (_)_ __   __ _   (_)___     
 *   | |_) / _` | __| '_ \| |_  | | '_ \ / _` | | '_ \ / _` |  | / __|    
 *   |  __/ (_| | |_| | | |  _| | | | | | (_| | | | | | (_| |_ | \__ \    
 *   |_|   \__,_|\__|_| |_|_|   |_|_| |_|\__,_|_|_| |_|\__, (_)/ |___/    
 *                                                     |___/ |__/         
 *   https://github.com/qiao/PathFinding.js
 */


================================================
FILE: src/core/DiagonalMovement.js
================================================
var DiagonalMovement = {
    Always: 1,
    Never: 2,
    IfAtMostOneObstacle: 3,
    OnlyWhenNoObstacles: 4
};

module.exports = DiagonalMovement;

================================================
FILE: src/core/Grid.js
================================================
var Node = require('./Node');
var DiagonalMovement = require('./DiagonalMovement');

/**
 * The Grid class, which serves as the encapsulation of the layout of the nodes.
 * @constructor
 * @param {number|Array<Array<(number|boolean)>>} width_or_matrix Number of columns of the grid, or matrix
 * @param {number} height Number of rows of the grid.
 * @param {Array<Array<(number|boolean)>>} [matrix] - A 0-1 matrix
 *     representing the walkable status of the nodes(0 or false for walkable).
 *     If the matrix is not supplied, all the nodes will be walkable.  */
function Grid(width_or_matrix, height, matrix) {
    var width;

    if (typeof width_or_matrix !== 'object') {
        width = width_or_matrix;
    } else {
        height = width_or_matrix.length;
        width = width_or_matrix[0].length;
        matrix = width_or_matrix;
    }

    /**
     * The number of columns of the grid.
     * @type number
     */
    this.width = width;
    /**
     * The number of rows of the grid.
     * @type number
     */
    this.height = height;

    /**
     * A 2D array of nodes.
     */
    this.nodes = this._buildNodes(width, height, matrix);
}

/**
 * Build and return the nodes.
 * @private
 * @param {number} width
 * @param {number} height
 * @param {Array<Array<number|boolean>>} [matrix] - A 0-1 matrix representing
 *     the walkable status of the nodes.
 * @see Grid
 */
Grid.prototype._buildNodes = function(width, height, matrix) {
    var i, j,
        nodes = new Array(height);

    for (i = 0; i < height; ++i) {
        nodes[i] = new Array(width);
        for (j = 0; j < width; ++j) {
            nodes[i][j] = new Node(j, i);
        }
    }


    if (matrix === undefined) {
        return nodes;
    }

    if (matrix.length !== height || matrix[0].length !== width) {
        throw new Error('Matrix size does not fit');
    }

    for (i = 0; i < height; ++i) {
        for (j = 0; j < width; ++j) {
            if (matrix[i][j]) {
                // 0, false, null will be walkable
                // while others will be un-walkable
                nodes[i][j].walkable = false;
            }
        }
    }

    return nodes;
};


Grid.prototype.getNodeAt = function(x, y) {
    return this.nodes[y][x];
};


/**
 * Determine whether the node at the given position is walkable.
 * (Also returns false if the position is outside the grid.)
 * @param {number} x - The x coordinate of the node.
 * @param {number} y - The y coordinate of the node.
 * @return {boolean} - The walkability of the node.
 */
Grid.prototype.isWalkableAt = function(x, y) {
    return this.isInside(x, y) && this.nodes[y][x].walkable;
};


/**
 * Determine whether the position is inside the grid.
 * XXX: `grid.isInside(x, y)` is wierd to read.
 * It should be `(x, y) is inside grid`, but I failed to find a better
 * name for this method.
 * @param {number} x
 * @param {number} y
 * @return {boolean}
 */
Grid.prototype.isInside = function(x, y) {
    return (x >= 0 && x < this.width) && (y >= 0 && y < this.height);
};


/**
 * Set whether the node on the given position is walkable.
 * NOTE: throws exception if the coordinate is not inside the grid.
 * @param {number} x - The x coordinate of the node.
 * @param {number} y - The y coordinate of the node.
 * @param {boolean} walkable - Whether the position is walkable.
 */
Grid.prototype.setWalkableAt = function(x, y, walkable) {
    this.nodes[y][x].walkable = walkable;
};


/**
 * Get the neighbors of the given node.
 *
 *     offsets      diagonalOffsets:
 *  +---+---+---+    +---+---+---+
 *  |   | 0 |   |    | 0 |   | 1 |
 *  +---+---+---+    +---+---+---+
 *  | 3 |   | 1 |    |   |   |   |
 *  +---+---+---+    +---+---+---+
 *  |   | 2 |   |    | 3 |   | 2 |
 *  +---+---+---+    +---+---+---+
 *
 *  When allowDiagonal is true, if offsets[i] is valid, then
 *  diagonalOffsets[i] and
 *  diagonalOffsets[(i + 1) % 4] is valid.
 * @param {Node} node
 * @param {DiagonalMovement} diagonalMovement
 */
Grid.prototype.getNeighbors = function(node, diagonalMovement) {
    var x = node.x,
        y = node.y,
        neighbors = [],
        s0 = false, d0 = false,
        s1 = false, d1 = false,
        s2 = false, d2 = false,
        s3 = false, d3 = false,
        nodes = this.nodes;

    // ↑
    if (this.isWalkableAt(x, y - 1)) {
        neighbors.push(nodes[y - 1][x]);
        s0 = true;
    }
    // →
    if (this.isWalkableAt(x + 1, y)) {
        neighbors.push(nodes[y][x + 1]);
        s1 = true;
    }
    // ↓
    if (this.isWalkableAt(x, y + 1)) {
        neighbors.push(nodes[y + 1][x]);
        s2 = true;
    }
    // ←
    if (this.isWalkableAt(x - 1, y)) {
        neighbors.push(nodes[y][x - 1]);
        s3 = true;
    }

    if (diagonalMovement === DiagonalMovement.Never) {
        return neighbors;
    }

    if (diagonalMovement === DiagonalMovement.OnlyWhenNoObstacles) {
        d0 = s3 && s0;
        d1 = s0 && s1;
        d2 = s1 && s2;
        d3 = s2 && s3;
    } else if (diagonalMovement === DiagonalMovement.IfAtMostOneObstacle) {
        d0 = s3 || s0;
        d1 = s0 || s1;
        d2 = s1 || s2;
        d3 = s2 || s3;
    } else if (diagonalMovement === DiagonalMovement.Always) {
        d0 = true;
        d1 = true;
        d2 = true;
        d3 = true;
    } else {
        throw new Error('Incorrect value of diagonalMovement');
    }

    // ↖
    if (d0 && this.isWalkableAt(x - 1, y - 1)) {
        neighbors.push(nodes[y - 1][x - 1]);
    }
    // ↗
    if (d1 && this.isWalkableAt(x + 1, y - 1)) {
        neighbors.push(nodes[y - 1][x + 1]);
    }
    // ↘
    if (d2 && this.isWalkableAt(x + 1, y + 1)) {
        neighbors.push(nodes[y + 1][x + 1]);
    }
    // ↙
    if (d3 && this.isWalkableAt(x - 1, y + 1)) {
        neighbors.push(nodes[y + 1][x - 1]);
    }

    return neighbors;
};


/**
 * Get a clone of this grid.
 * @return {Grid} Cloned grid.
 */
Grid.prototype.clone = function() {
    var i, j,

        width = this.width,
        height = this.height,
        thisNodes = this.nodes,

        newGrid = new Grid(width, height),
        newNodes = new Array(height);

    for (i = 0; i < height; ++i) {
        newNodes[i] = new Array(width);
        for (j = 0; j < width; ++j) {
            newNodes[i][j] = new Node(j, i, thisNodes[i][j].walkable);
        }
    }

    newGrid.nodes = newNodes;

    return newGrid;
};

module.exports = Grid;


================================================
FILE: src/core/Heuristic.js
================================================
/**
 * @namespace PF.Heuristic
 * @description A collection of heuristic functions.
 */
module.exports = {

  /**
   * Manhattan distance.
   * @param {number} dx - Difference in x.
   * @param {number} dy - Difference in y.
   * @return {number} dx + dy
   */
  manhattan: function(dx, dy) {
      return dx + dy;
  },

  /**
   * Euclidean distance.
   * @param {number} dx - Difference in x.
   * @param {number} dy - Difference in y.
   * @return {number} sqrt(dx * dx + dy * dy)
   */
  euclidean: function(dx, dy) {
      return Math.sqrt(dx * dx + dy * dy);
  },

  /**
   * Octile distance.
   * @param {number} dx - Difference in x.
   * @param {number} dy - Difference in y.
   * @return {number} sqrt(dx * dx + dy * dy) for grids
   */
  octile: function(dx, dy) {
      var F = Math.SQRT2 - 1;
      return (dx < dy) ? F * dx + dy : F * dy + dx;
  },

  /**
   * Chebyshev distance.
   * @param {number} dx - Difference in x.
   * @param {number} dy - Difference in y.
   * @return {number} max(dx, dy)
   */
  chebyshev: function(dx, dy) {
      return Math.max(dx, dy);
  }

};


================================================
FILE: src/core/Node.js
================================================
/**
 * A node in grid. 
 * This class holds some basic information about a node and custom 
 * attributes may be added, depending on the algorithms' needs.
 * @constructor
 * @param {number} x - The x coordinate of the node on the grid.
 * @param {number} y - The y coordinate of the node on the grid.
 * @param {boolean} [walkable] - Whether this node is walkable.
 */
function Node(x, y, walkable) {
    /**
     * The x coordinate of the node on the grid.
     * @type number
     */
    this.x = x;
    /**
     * The y coordinate of the node on the grid.
     * @type number
     */
    this.y = y;
    /**
     * Whether this node can be walked through.
     * @type boolean
     */
    this.walkable = (walkable === undefined ? true : walkable);
}

module.exports = Node;


================================================
FILE: src/core/Util.js
================================================
/**
 * Backtrace according to the parent records and return the path.
 * (including both start and end nodes)
 * @param {Node} node End node
 * @return {Array<Array<number>>} the path
 */
function backtrace(node) {
    var path = [[node.x, node.y]];
    while (node.parent) {
        node = node.parent;
        path.push([node.x, node.y]);
    }
    return path.reverse();
}
exports.backtrace = backtrace;

/**
 * Backtrace from start and end node, and return the path.
 * (including both start and end nodes)
 * @param {Node}
 * @param {Node}
 */
function biBacktrace(nodeA, nodeB) {
    var pathA = backtrace(nodeA),
        pathB = backtrace(nodeB);
    return pathA.concat(pathB.reverse());
}
exports.biBacktrace = biBacktrace;

/**
 * Compute the length of the path.
 * @param {Array<Array<number>>} path The path
 * @return {number} The length of the path
 */
function pathLength(path) {
    var i, sum = 0, a, b, dx, dy;
    for (i = 1; i < path.length; ++i) {
        a = path[i - 1];
        b = path[i];
        dx = a[0] - b[0];
        dy = a[1] - b[1];
        sum += Math.sqrt(dx * dx + dy * dy);
    }
    return sum;
}
exports.pathLength = pathLength;


/**
 * Given the start and end coordinates, return all the coordinates lying
 * on the line formed by these coordinates, based on Bresenham's algorithm.
 * http://en.wikipedia.org/wiki/Bresenham's_line_algorithm#Simplification
 * @param {number} x0 Start x coordinate
 * @param {number} y0 Start y coordinate
 * @param {number} x1 End x coordinate
 * @param {number} y1 End y coordinate
 * @return {Array<Array<number>>} The coordinates on the line
 */
function interpolate(x0, y0, x1, y1) {
    var abs = Math.abs,
        line = [],
        sx, sy, dx, dy, err, e2;

    dx = abs(x1 - x0);
    dy = abs(y1 - y0);

    sx = (x0 < x1) ? 1 : -1;
    sy = (y0 < y1) ? 1 : -1;

    err = dx - dy;

    while (true) {
        line.push([x0, y0]);

        if (x0 === x1 && y0 === y1) {
            break;
        }
        
        e2 = 2 * err;
        if (e2 > -dy) {
            err = err - dy;
            x0 = x0 + sx;
        }
        if (e2 < dx) {
            err = err + dx;
            y0 = y0 + sy;
        }
    }

    return line;
}
exports.interpolate = interpolate;


/**
 * Given a compressed path, return a new path that has all the segments
 * in it interpolated.
 * @param {Array<Array<number>>} path The path
 * @return {Array<Array<number>>} expanded path
 */
function expandPath(path) {
    var expanded = [],
        len = path.length,
        coord0, coord1,
        interpolated,
        interpolatedLen,
        i, j;

    if (len < 2) {
        return expanded;
    }

    for (i = 0; i < len - 1; ++i) {
        coord0 = path[i];
        coord1 = path[i + 1];

        interpolated = interpolate(coord0[0], coord0[1], coord1[0], coord1[1]);
        interpolatedLen = interpolated.length;
        for (j = 0; j < interpolatedLen - 1; ++j) {
            expanded.push(interpolated[j]);
        }
    }
    expanded.push(path[len - 1]);

    return expanded;
}
exports.expandPath = expandPath;


/**
 * Smoothen the give path.
 * The original path will not be modified; a new path will be returned.
 * @param {PF.Grid} grid
 * @param {Array<Array<number>>} path The path
 */
function smoothenPath(grid, path) {
    var len = path.length,
        x0 = path[0][0],        // path start x
        y0 = path[0][1],        // path start y
        x1 = path[len - 1][0],  // path end x
        y1 = path[len - 1][1],  // path end y
        sx, sy,                 // current start coordinate
        ex, ey,                 // current end coordinate
        newPath,
        i, j, coord, line, testCoord, blocked;

    sx = x0;
    sy = y0;
    newPath = [[sx, sy]];

    for (i = 2; i < len; ++i) {
        coord = path[i];
        ex = coord[0];
        ey = coord[1];
        line = interpolate(sx, sy, ex, ey);

        blocked = false;
        for (j = 1; j < line.length; ++j) {
            testCoord = line[j];

            if (!grid.isWalkableAt(testCoord[0], testCoord[1])) {
                blocked = true;
                break;
            }
        }
        if (blocked) {
            lastValidCoord = path[i - 1];
            newPath.push(lastValidCoord);
            sx = lastValidCoord[0];
            sy = lastValidCoord[1];
        }
    }
    newPath.push([x1, y1]);

    return newPath;
}
exports.smoothenPath = smoothenPath;


/**
 * Compress a path, remove redundant nodes without altering the shape
 * The original path is not modified
 * @param {Array<Array<number>>} path The path
 * @return {Array<Array<number>>} The compressed path
 */
function compressPath(path) {

    // nothing to compress
    if(path.length < 3) {
        return path;
    }

    var compressed = [],
        sx = path[0][0], // start x
        sy = path[0][1], // start y
        px = path[1][0], // second point x
        py = path[1][1], // second point y
        dx = px - sx, // direction between the two points
        dy = py - sy, // direction between the two points
        lx, ly,
        ldx, ldy,
        sq, i;

    // normalize the direction
    sq = Math.sqrt(dx*dx + dy*dy);
    dx /= sq;
    dy /= sq;

    // start the new path
    compressed.push([sx,sy]);

    for(i = 2; i < path.length; i++) {

        // store the last point
        lx = px;
        ly = py;

        // store the last direction
        ldx = dx;
        ldy = dy;

        // next point
        px = path[i][0];
        py = path[i][1];

        // next direction
        dx = px - lx;
        dy = py - ly;

        // normalize
        sq = Math.sqrt(dx*dx + dy*dy);
        dx /= sq;
        dy /= sq;

        // if the direction has changed, store the point
        if ( dx !== ldx || dy !== ldy ) {
            compressed.push([lx,ly]);
        }
    }

    // store the last point
    compressed.push([px,py]);

    return compressed;
}
exports.compressPath = compressPath;


================================================
FILE: src/finders/AStarFinder.js
================================================
var Heap       = require('heap');
var Util       = require('../core/Util');
var Heuristic  = require('../core/Heuristic');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * A* path-finder. Based upon https://github.com/bgrins/javascript-astar
 * @constructor
 * @param {Object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching 
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 * @param {function} opt.heuristic Heuristic function to estimate the distance
 *     (defaults to manhattan).
 * @param {number} opt.weight Weight to apply to the heuristic to allow for
 *     suboptimal paths, in order to speed up the search.
 */
function AStarFinder(opt) {
    opt = opt || {};
    this.allowDiagonal = opt.allowDiagonal;
    this.dontCrossCorners = opt.dontCrossCorners;
    this.heuristic = opt.heuristic || Heuristic.manhattan;
    this.weight = opt.weight || 1;
    this.diagonalMovement = opt.diagonalMovement;

    if (!this.diagonalMovement) {
        if (!this.allowDiagonal) {
            this.diagonalMovement = DiagonalMovement.Never;
        } else {
            if (this.dontCrossCorners) {
                this.diagonalMovement = DiagonalMovement.OnlyWhenNoObstacles;
            } else {
                this.diagonalMovement = DiagonalMovement.IfAtMostOneObstacle;
            }
        }
    }

    // When diagonal movement is allowed the manhattan heuristic is not
    //admissible. It should be octile instead
    if (this.diagonalMovement === DiagonalMovement.Never) {
        this.heuristic = opt.heuristic || Heuristic.manhattan;
    } else {
        this.heuristic = opt.heuristic || Heuristic.octile;
    }
}

/**
 * Find and return the the path.
 * @return {Array<Array<number>>} The path, including both start and
 *     end positions.
 */
AStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) {
    var openList = new Heap(function(nodeA, nodeB) {
            return nodeA.f - nodeB.f;
        }),
        startNode = grid.getNodeAt(startX, startY),
        endNode = grid.getNodeAt(endX, endY),
        heuristic = this.heuristic,
        diagonalMovement = this.diagonalMovement,
        weight = this.weight,
        abs = Math.abs, SQRT2 = Math.SQRT2,
        node, neighbors, neighbor, i, l, x, y, ng;

    // set the `g` and `f` value of the start node to be 0
    startNode.g = 0;
    startNode.f = 0;

    // push the start node into the open list
    openList.push(startNode);
    startNode.opened = true;

    // while the open list is not empty
    while (!openList.empty()) {
        // pop the position of node which has the minimum `f` value.
        node = openList.pop();
        node.closed = true;

        // if reached the end position, construct the path and return it
        if (node === endNode) {
            return Util.backtrace(endNode);
        }

        // get neigbours of the current node
        neighbors = grid.getNeighbors(node, diagonalMovement);
        for (i = 0, l = neighbors.length; i < l; ++i) {
            neighbor = neighbors[i];

            if (neighbor.closed) {
                continue;
            }

            x = neighbor.x;
            y = neighbor.y;

            // get the distance between current node and the neighbor
            // and calculate the next g score
            ng = node.g + ((x - node.x === 0 || y - node.y === 0) ? 1 : SQRT2);

            // check if the neighbor has not been inspected yet, or
            // can be reached with smaller cost from the current node
            if (!neighbor.opened || ng < neighbor.g) {
                neighbor.g = ng;
                neighbor.h = neighbor.h || weight * heuristic(abs(x - endX), abs(y - endY));
                neighbor.f = neighbor.g + neighbor.h;
                neighbor.parent = node;

                if (!neighbor.opened) {
                    openList.push(neighbor);
                    neighbor.opened = true;
                } else {
                    // the neighbor can be reached with smaller cost.
                    // Since its f value has been updated, we have to
                    // update its position in the open list
                    openList.updateItem(neighbor);
                }
            }
        } // end for each neighbor
    } // end while not open list empty

    // fail to find the path
    return [];
};

module.exports = AStarFinder;


================================================
FILE: src/finders/BestFirstFinder.js
================================================
var AStarFinder = require('./AStarFinder');

/**
 * Best-First-Search path-finder.
 * @constructor
 * @extends AStarFinder
 * @param {Object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 * @param {function} opt.heuristic Heuristic function to estimate the distance
 *     (defaults to manhattan).
 */
function BestFirstFinder(opt) {
    AStarFinder.call(this, opt);

    var orig = this.heuristic;
    this.heuristic = function(dx, dy) {
        return orig(dx, dy) * 1000000;
    };
}

BestFirstFinder.prototype = new AStarFinder();
BestFirstFinder.prototype.constructor = BestFirstFinder;

module.exports = BestFirstFinder;


================================================
FILE: src/finders/BiAStarFinder.js
================================================
var Heap       = require('heap');
var Util       = require('../core/Util');
var Heuristic  = require('../core/Heuristic');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * A* path-finder.
 * based upon https://github.com/bgrins/javascript-astar
 * @constructor
 * @param {Object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 * @param {function} opt.heuristic Heuristic function to estimate the distance
 *     (defaults to manhattan).
 * @param {number} opt.weight Weight to apply to the heuristic to allow for
 *     suboptimal paths, in order to speed up the search.
 */
function BiAStarFinder(opt) {
    opt = opt || {};
    this.allowDiagonal = opt.allowDiagonal;
    this.dontCrossCorners = opt.dontCrossCorners;
    this.diagonalMovement = opt.diagonalMovement;
    this.heuristic = opt.heuristic || Heuristic.manhattan;
    this.weight = opt.weight || 1;

    if (!this.diagonalMovement) {
        if (!this.allowDiagonal) {
            this.diagonalMovement = DiagonalMovement.Never;
        } else {
            if (this.dontCrossCorners) {
                this.diagonalMovement = DiagonalMovement.OnlyWhenNoObstacles;
            } else {
                this.diagonalMovement = DiagonalMovement.IfAtMostOneObstacle;
            }
        }
    }

    //When diagonal movement is allowed the manhattan heuristic is not admissible
    //It should be octile instead
    if (this.diagonalMovement === DiagonalMovement.Never) {
        this.heuristic = opt.heuristic || Heuristic.manhattan;
    } else {
        this.heuristic = opt.heuristic || Heuristic.octile;
    }
}

/**
 * Find and return the the path.
 * @return {Array<Array<number>>} The path, including both start and
 *     end positions.
 */
BiAStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) {
    var cmp = function(nodeA, nodeB) {
            return nodeA.f - nodeB.f;
        },
        startOpenList = new Heap(cmp),
        endOpenList = new Heap(cmp),
        startNode = grid.getNodeAt(startX, startY),
        endNode = grid.getNodeAt(endX, endY),
        heuristic = this.heuristic,
        diagonalMovement = this.diagonalMovement,
        weight = this.weight,
        abs = Math.abs, SQRT2 = Math.SQRT2,
        node, neighbors, neighbor, i, l, x, y, ng,
        BY_START = 1, BY_END = 2;

    // set the `g` and `f` value of the start node to be 0
    // and push it into the start open list
    startNode.g = 0;
    startNode.f = 0;
    startOpenList.push(startNode);
    startNode.opened = BY_START;

    // set the `g` and `f` value of the end node to be 0
    // and push it into the open open list
    endNode.g = 0;
    endNode.f = 0;
    endOpenList.push(endNode);
    endNode.opened = BY_END;

    // while both the open lists are not empty
    while (!startOpenList.empty() && !endOpenList.empty()) {

        // pop the position of start node which has the minimum `f` value.
        node = startOpenList.pop();
        node.closed = true;

        // get neigbours of the current node
        neighbors = grid.getNeighbors(node, diagonalMovement);
        for (i = 0, l = neighbors.length; i < l; ++i) {
            neighbor = neighbors[i];

            if (neighbor.closed) {
                continue;
            }
            if (neighbor.opened === BY_END) {
                return Util.biBacktrace(node, neighbor);
            }

            x = neighbor.x;
            y = neighbor.y;

            // get the distance between current node and the neighbor
            // and calculate the next g score
            ng = node.g + ((x - node.x === 0 || y - node.y === 0) ? 1 : SQRT2);

            // check if the neighbor has not been inspected yet, or
            // can be reached with smaller cost from the current node
            if (!neighbor.opened || ng < neighbor.g) {
                neighbor.g = ng;
                neighbor.h = neighbor.h ||
                    weight * heuristic(abs(x - endX), abs(y - endY));
                neighbor.f = neighbor.g + neighbor.h;
                neighbor.parent = node;

                if (!neighbor.opened) {
                    startOpenList.push(neighbor);
                    neighbor.opened = BY_START;
                } else {
                    // the neighbor can be reached with smaller cost.
                    // Since its f value has been updated, we have to
                    // update its position in the open list
                    startOpenList.updateItem(neighbor);
                }
            }
        } // end for each neighbor


        // pop the position of end node which has the minimum `f` value.
        node = endOpenList.pop();
        node.closed = true;

        // get neigbours of the current node
        neighbors = grid.getNeighbors(node, diagonalMovement);
        for (i = 0, l = neighbors.length; i < l; ++i) {
            neighbor = neighbors[i];

            if (neighbor.closed) {
                continue;
            }
            if (neighbor.opened === BY_START) {
                return Util.biBacktrace(neighbor, node);
            }

            x = neighbor.x;
            y = neighbor.y;

            // get the distance between current node and the neighbor
            // and calculate the next g score
            ng = node.g + ((x - node.x === 0 || y - node.y === 0) ? 1 : SQRT2);

            // check if the neighbor has not been inspected yet, or
            // can be reached with smaller cost from the current node
            if (!neighbor.opened || ng < neighbor.g) {
                neighbor.g = ng;
                neighbor.h = neighbor.h ||
                    weight * heuristic(abs(x - startX), abs(y - startY));
                neighbor.f = neighbor.g + neighbor.h;
                neighbor.parent = node;

                if (!neighbor.opened) {
                    endOpenList.push(neighbor);
                    neighbor.opened = BY_END;
                } else {
                    // the neighbor can be reached with smaller cost.
                    // Since its f value has been updated, we have to
                    // update its position in the open list
                    endOpenList.updateItem(neighbor);
                }
            }
        } // end for each neighbor
    } // end while not open list empty

    // fail to find the path
    return [];
};

module.exports = BiAStarFinder;


================================================
FILE: src/finders/BiBestFirstFinder.js
================================================
var BiAStarFinder = require('./BiAStarFinder');

/**
 * Bi-direcitional Best-First-Search path-finder.
 * @constructor
 * @extends BiAStarFinder
 * @param {Object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 * @param {function} opt.heuristic Heuristic function to estimate the distance
 *     (defaults to manhattan).
 */
function BiBestFirstFinder(opt) {
    BiAStarFinder.call(this, opt);

    var orig = this.heuristic;
    this.heuristic = function(dx, dy) {
        return orig(dx, dy) * 1000000;
    };
}

BiBestFirstFinder.prototype = new BiAStarFinder();
BiBestFirstFinder.prototype.constructor = BiBestFirstFinder;

module.exports = BiBestFirstFinder;


================================================
FILE: src/finders/BiBreadthFirstFinder.js
================================================
var Util = require('../core/Util');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Bi-directional Breadth-First-Search path finder.
 * @constructor
 * @param {object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 */
function BiBreadthFirstFinder(opt) {
    opt = opt || {};
    this.allowDiagonal = opt.allowDiagonal;
    this.dontCrossCorners = opt.dontCrossCorners;
    this.diagonalMovement = opt.diagonalMovement;

    if (!this.diagonalMovement) {
        if (!this.allowDiagonal) {
            this.diagonalMovement = DiagonalMovement.Never;
        } else {
            if (this.dontCrossCorners) {
                this.diagonalMovement = DiagonalMovement.OnlyWhenNoObstacles;
            } else {
                this.diagonalMovement = DiagonalMovement.IfAtMostOneObstacle;
            }
        }
    }
}


/**
 * Find and return the the path.
 * @return {Array<Array<number>>} The path, including both start and
 *     end positions.
 */
BiBreadthFirstFinder.prototype.findPath = function(startX, startY, endX, endY, grid) {
    var startNode = grid.getNodeAt(startX, startY),
        endNode = grid.getNodeAt(endX, endY),
        startOpenList = [], endOpenList = [],
        neighbors, neighbor, node,
        diagonalMovement = this.diagonalMovement,
        BY_START = 0, BY_END = 1,
        i, l;

    // push the start and end nodes into the queues
    startOpenList.push(startNode);
    startNode.opened = true;
    startNode.by = BY_START;

    endOpenList.push(endNode);
    endNode.opened = true;
    endNode.by = BY_END;

    // while both the queues are not empty
    while (startOpenList.length && endOpenList.length) {

        // expand start open list

        node = startOpenList.shift();
        node.closed = true;

        neighbors = grid.getNeighbors(node, diagonalMovement);
        for (i = 0, l = neighbors.length; i < l; ++i) {
            neighbor = neighbors[i];

            if (neighbor.closed) {
                continue;
            }
            if (neighbor.opened) {
                // if this node has been inspected by the reversed search,
                // then a path is found.
                if (neighbor.by === BY_END) {
                    return Util.biBacktrace(node, neighbor);
                }
                continue;
            }
            startOpenList.push(neighbor);
            neighbor.parent = node;
            neighbor.opened = true;
            neighbor.by = BY_START;
        }

        // expand end open list

        node = endOpenList.shift();
        node.closed = true;

        neighbors = grid.getNeighbors(node, diagonalMovement);
        for (i = 0, l = neighbors.length; i < l; ++i) {
            neighbor = neighbors[i];

            if (neighbor.closed) {
                continue;
            }
            if (neighbor.opened) {
                if (neighbor.by === BY_START) {
                    return Util.biBacktrace(neighbor, node);
                }
                continue;
            }
            endOpenList.push(neighbor);
            neighbor.parent = node;
            neighbor.opened = true;
            neighbor.by = BY_END;
        }
    }

    // fail to find the path
    return [];
};

module.exports = BiBreadthFirstFinder;


================================================
FILE: src/finders/BiDijkstraFinder.js
================================================
var BiAStarFinder = require('./BiAStarFinder');

/**
 * Bi-directional Dijkstra path-finder.
 * @constructor
 * @extends BiAStarFinder
 * @param {Object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 */
function BiDijkstraFinder(opt) {
    BiAStarFinder.call(this, opt);
    this.heuristic = function(dx, dy) {
        return 0;
    };
}

BiDijkstraFinder.prototype = new BiAStarFinder();
BiDijkstraFinder.prototype.constructor = BiDijkstraFinder;

module.exports = BiDijkstraFinder;


================================================
FILE: src/finders/BreadthFirstFinder.js
================================================
var Util = require('../core/Util');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Breadth-First-Search path finder.
 * @constructor
 * @param {Object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 */
function BreadthFirstFinder(opt) {
    opt = opt || {};
    this.allowDiagonal = opt.allowDiagonal;
    this.dontCrossCorners = opt.dontCrossCorners;
    this.diagonalMovement = opt.diagonalMovement;

    if (!this.diagonalMovement) {
        if (!this.allowDiagonal) {
            this.diagonalMovement = DiagonalMovement.Never;
        } else {
            if (this.dontCrossCorners) {
                this.diagonalMovement = DiagonalMovement.OnlyWhenNoObstacles;
            } else {
                this.diagonalMovement = DiagonalMovement.IfAtMostOneObstacle;
            }
        }
    }
}

/**
 * Find and return the the path.
 * @return {Array<Array<number>>} The path, including both start and
 *     end positions.
 */
BreadthFirstFinder.prototype.findPath = function(startX, startY, endX, endY, grid) {
    var openList = [],
        diagonalMovement = this.diagonalMovement,
        startNode = grid.getNodeAt(startX, startY),
        endNode = grid.getNodeAt(endX, endY),
        neighbors, neighbor, node, i, l;

    // push the start pos into the queue
    openList.push(startNode);
    startNode.opened = true;

    // while the queue is not empty
    while (openList.length) {
        // take the front node from the queue
        node = openList.shift();
        node.closed = true;

        // reached the end position
        if (node === endNode) {
            return Util.backtrace(endNode);
        }

        neighbors = grid.getNeighbors(node, diagonalMovement);
        for (i = 0, l = neighbors.length; i < l; ++i) {
            neighbor = neighbors[i];

            // skip this neighbor if it has been inspected before
            if (neighbor.closed || neighbor.opened) {
                continue;
            }

            openList.push(neighbor);
            neighbor.opened = true;
            neighbor.parent = node;
        }
    }
    
    // fail to find the path
    return [];
};

module.exports = BreadthFirstFinder;


================================================
FILE: src/finders/DijkstraFinder.js
================================================
var AStarFinder = require('./AStarFinder');

/**
 * Dijkstra path-finder.
 * @constructor
 * @extends AStarFinder
 * @param {Object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 */
function DijkstraFinder(opt) {
    AStarFinder.call(this, opt);
    this.heuristic = function(dx, dy) {
        return 0;
    };
}

DijkstraFinder.prototype = new AStarFinder();
DijkstraFinder.prototype.constructor = DijkstraFinder;

module.exports = DijkstraFinder;


================================================
FILE: src/finders/IDAStarFinder.js
================================================
var Util       = require('../core/Util');
var Heuristic  = require('../core/Heuristic');
var Node       = require('../core/Node');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Iterative Deeping A Star (IDA*) path-finder.
 *
 * Recursion based on:
 *   http://www.apl.jhu.edu/~hall/AI-Programming/IDA-Star.html
 *
 * Path retracing based on:
 *  V. Nageshwara Rao, Vipin Kumar and K. Ramesh
 *  "A Parallel Implementation of Iterative-Deeping-A*", January 1987.
 *  ftp://ftp.cs.utexas.edu/.snapshot/hourly.1/pub/AI-Lab/tech-reports/UT-AI-TR-87-46.pdf
 *
 * @author Gerard Meier (www.gerardmeier.com)
 *
 * @constructor
 * @param {Object} opt
 * @param {boolean} opt.allowDiagonal Whether diagonal movement is allowed.
 *     Deprecated, use diagonalMovement instead.
 * @param {boolean} opt.dontCrossCorners Disallow diagonal movement touching
 *     block corners. Deprecated, use diagonalMovement instead.
 * @param {DiagonalMovement} opt.diagonalMovement Allowed diagonal movement.
 * @param {function} opt.heuristic Heuristic function to estimate the distance
 *     (defaults to manhattan).
 * @param {number} opt.weight Weight to apply to the heuristic to allow for
 *     suboptimal paths, in order to speed up the search.
 * @param {boolean} opt.trackRecursion Whether to track recursion for
 *     statistical purposes.
 * @param {number} opt.timeLimit Maximum execution time. Use <= 0 for infinite.
 */
function IDAStarFinder(opt) {
    opt = opt || {};
    this.allowDiagonal = opt.allowDiagonal;
    this.dontCrossCorners = opt.dontCrossCorners;
    this.diagonalMovement = opt.diagonalMovement;
    this.heuristic = opt.heuristic || Heuristic.manhattan;
    this.weight = opt.weight || 1;
    this.trackRecursion = opt.trackRecursion || false;
    this.timeLimit = opt.timeLimit || Infinity; // Default: no time limit.

    if (!this.diagonalMovement) {
        if (!this.allowDiagonal) {
            this.diagonalMovement = DiagonalMovement.Never;
        } else {
            if (this.dontCrossCorners) {
                this.diagonalMovement = DiagonalMovement.OnlyWhenNoObstacles;
            } else {
                this.diagonalMovement = DiagonalMovement.IfAtMostOneObstacle;
            }
        }
    }

    // When diagonal movement is allowed the manhattan heuristic is not
    // admissible, it should be octile instead
    if (this.diagonalMovement === DiagonalMovement.Never) {
        this.heuristic = opt.heuristic || Heuristic.manhattan;
    } else {
        this.heuristic = opt.heuristic || Heuristic.octile;
    }
}

/**
 * Find and return the the path. When an empty array is returned, either
 * no path is possible, or the maximum execution time is reached.
 *
 * @return {Array<Array<number>>} The path, including both start and
 *     end positions.
 */
IDAStarFinder.prototype.findPath = function(startX, startY, endX, endY, grid) {
    // Used for statistics:
    var nodesVisited = 0;

    // Execution time limitation:
    var startTime = new Date().getTime();

    // Heuristic helper:
    var h = function(a, b) {
        return this.heuristic(Math.abs(b.x - a.x), Math.abs(b.y - a.y));
    }.bind(this);

    // Step cost from a to b:
    var cost = function(a, b) {
        return (a.x === b.x || a.y === b.y) ? 1 : Math.SQRT2;
    };

    /**
     * IDA* search implementation.
     *
     * @param {Node} The node currently expanding from.
     * @param {number} Cost to reach the given node.
     * @param {number} Maximum search depth (cut-off value).
     * @param {Array<Array<number>>} The found route.
     * @param {number} Recursion depth.
     *
     * @return {Object} either a number with the new optimal cut-off depth,
     * or a valid node instance, in which case a path was found.
     */
    var search = function(node, g, cutoff, route, depth) {
        nodesVisited++;

        // Enforce timelimit:
        if (this.timeLimit > 0 &&
            new Date().getTime() - startTime > this.timeLimit * 1000) {
            // Enforced as "path-not-found".
            return Infinity;
        }

        var f = g + h(node, end) * this.weight;

        // We've searched too deep for this iteration.
        if (f > cutoff) {
            return f;
        }

        if (node == end) {
            route[depth] = [node.x, node.y];
            return node;
        }

        var min, t, k, neighbour;

        var neighbours = grid.getNeighbors(node, this.diagonalMovement);

        // Sort the neighbours, gives nicer paths. But, this deviates
        // from the original algorithm - so I left it out.
        //neighbours.sort(function(a, b){
        //    return h(a, end) - h(b, end);
        //});

        
        /*jshint -W084 *///Disable warning: Expected a conditional expression and instead saw an assignment
        for (k = 0, min = Infinity; neighbour = neighbours[k]; ++k) {
        /*jshint +W084 *///Enable warning: Expected a conditional expression and instead saw an assignment
            if (this.trackRecursion) {
                // Retain a copy for visualisation. Due to recursion, this
                // node may be part of other paths too.
                neighbour.retainCount = neighbour.retainCount + 1 || 1;

                if(neighbour.tested !== true) {
                    neighbour.tested = true;
                }
            }

            t = search(neighbour, g + cost(node, neighbour), cutoff, route, depth + 1);

            if (t instanceof Node) {
                route[depth] = [node.x, node.y];

                // For a typical A* linked list, this would work:
                // neighbour.parent = node;
                return t;
            }

            // Decrement count, then determine whether it's actually closed.
            if (this.trackRecursion && (--neighbour.retainCount) === 0) {
                neighbour.tested = false;
            }

            if (t < min) {
                min = t;
            }
        }

        return min;

    }.bind(this);

    // Node instance lookups:
    var start = grid.getNodeAt(startX, startY);
    var end   = grid.getNodeAt(endX, endY);

    // Initial search depth, given the typical heuristic contraints,
    // there should be no cheaper route possible.
    var cutOff = h(start, end);

    var j, route, t;

    // With an overflow protection.
    for (j = 0; true; ++j) {

        route = [];

        // Search till cut-off depth:
        t = search(start, 0, cutOff, route, 0);

        // Route not possible, or not found in time limit.
        if (t === Infinity) {
            return [];
        }

        // If t is a node, it's also the end node. Route is now
        // populated with a valid path to the end node.
        if (t instanceof Node) {
            return route;
        }

        // Try again, this time with a deeper cut-off. The t score
        // is the closest we got to the end node.
        cutOff = t;
    }

    // This _should_ never to be reached.
    return [];
};

module.exports = IDAStarFinder;


================================================
FILE: src/finders/JPFAlwaysMoveDiagonally.js
================================================
/**
 * @author imor / https://github.com/imor
 */
var JumpPointFinderBase = require('./JumpPointFinderBase');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Path finder using the Jump Point Search algorithm which always moves
 * diagonally irrespective of the number of obstacles.
 */
function JPFAlwaysMoveDiagonally(opt) {
    JumpPointFinderBase.call(this, opt);
}

JPFAlwaysMoveDiagonally.prototype = new JumpPointFinderBase();
JPFAlwaysMoveDiagonally.prototype.constructor = JPFAlwaysMoveDiagonally;

/**
 * Search recursively in the direction (parent -> child), stopping only when a
 * jump point is found.
 * @protected
 * @return {Array<Array<number>>} The x, y coordinate of the jump point
 *     found, or null if not found
 */
JPFAlwaysMoveDiagonally.prototype._jump = function(x, y, px, py) {
    var grid = this.grid,
        dx = x - px, dy = y - py;

    if (!grid.isWalkableAt(x, y)) {
        return null;
    }

    if(this.trackJumpRecursion === true) {
        grid.getNodeAt(x, y).tested = true;
    }

    if (grid.getNodeAt(x, y) === this.endNode) {
        return [x, y];
    }

    // check for forced neighbors
    // along the diagonal
    if (dx !== 0 && dy !== 0) {
        if ((grid.isWalkableAt(x - dx, y + dy) && !grid.isWalkableAt(x - dx, y)) ||
            (grid.isWalkableAt(x + dx, y - dy) && !grid.isWalkableAt(x, y - dy))) {
            return [x, y];
        }
        // when moving diagonally, must check for vertical/horizontal jump points
        if (this._jump(x + dx, y, x, y) || this._jump(x, y + dy, x, y)) {
            return [x, y];
        }
    }
    // horizontally/vertically
    else {
        if( dx !== 0 ) { // moving along x
            if((grid.isWalkableAt(x + dx, y + 1) && !grid.isWalkableAt(x, y + 1)) ||
               (grid.isWalkableAt(x + dx, y - 1) && !grid.isWalkableAt(x, y - 1))) {
                return [x, y];
            }
        }
        else {
            if((grid.isWalkableAt(x + 1, y + dy) && !grid.isWalkableAt(x + 1, y)) ||
               (grid.isWalkableAt(x - 1, y + dy) && !grid.isWalkableAt(x - 1, y))) {
                return [x, y];
            }
        }
    }

    return this._jump(x + dx, y + dy, x, y);
};

/**
 * Find the neighbors for the given node. If the node has a parent,
 * prune the neighbors based on the jump point search algorithm, otherwise
 * return all available neighbors.
 * @return {Array<Array<number>>} The neighbors found.
 */
JPFAlwaysMoveDiagonally.prototype._findNeighbors = function(node) {
    var parent = node.parent,
        x = node.x, y = node.y,
        grid = this.grid,
        px, py, nx, ny, dx, dy,
        neighbors = [], neighborNodes, neighborNode, i, l;

    // directed pruning: can ignore most neighbors, unless forced.
    if (parent) {
        px = parent.x;
        py = parent.y;
        // get the normalized direction of travel
        dx = (x - px) / Math.max(Math.abs(x - px), 1);
        dy = (y - py) / Math.max(Math.abs(y - py), 1);

        // search diagonally
        if (dx !== 0 && dy !== 0) {
            if (grid.isWalkableAt(x, y + dy)) {
                neighbors.push([x, y + dy]);
            }
            if (grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y]);
            }
            if (grid.isWalkableAt(x + dx, y + dy)) {
                neighbors.push([x + dx, y + dy]);
            }
            if (!grid.isWalkableAt(x - dx, y)) {
                neighbors.push([x - dx, y + dy]);
            }
            if (!grid.isWalkableAt(x, y - dy)) {
                neighbors.push([x + dx, y - dy]);
            }
        }
        // search horizontally/vertically
        else {
            if(dx === 0) {
                if (grid.isWalkableAt(x, y + dy)) {
                    neighbors.push([x, y + dy]);
                }
                if (!grid.isWalkableAt(x + 1, y)) {
                    neighbors.push([x + 1, y + dy]);
                }
                if (!grid.isWalkableAt(x - 1, y)) {
                    neighbors.push([x - 1, y + dy]);
                }
            }
            else {
                if (grid.isWalkableAt(x + dx, y)) {
                    neighbors.push([x + dx, y]);
                }
                if (!grid.isWalkableAt(x, y + 1)) {
                    neighbors.push([x + dx, y + 1]);
                }
                if (!grid.isWalkableAt(x, y - 1)) {
                    neighbors.push([x + dx, y - 1]);
                }
            }
        }
    }
    // return all neighbors
    else {
        neighborNodes = grid.getNeighbors(node, DiagonalMovement.Always);
        for (i = 0, l = neighborNodes.length; i < l; ++i) {
            neighborNode = neighborNodes[i];
            neighbors.push([neighborNode.x, neighborNode.y]);
        }
    }

    return neighbors;
};

module.exports = JPFAlwaysMoveDiagonally;


================================================
FILE: src/finders/JPFMoveDiagonallyIfAtMostOneObstacle.js
================================================
/**
 * @author imor / https://github.com/imor
 */
var JumpPointFinderBase = require('./JumpPointFinderBase');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Path finder using the Jump Point Search algorithm which moves
 * diagonally only when there is at most one obstacle.
 */
function JPFMoveDiagonallyIfAtMostOneObstacle(opt) {
    JumpPointFinderBase.call(this, opt);
}

JPFMoveDiagonallyIfAtMostOneObstacle.prototype = new JumpPointFinderBase();
JPFMoveDiagonallyIfAtMostOneObstacle.prototype.constructor = JPFMoveDiagonallyIfAtMostOneObstacle;

/**
 * Search recursively in the direction (parent -> child), stopping only when a
 * jump point is found.
 * @protected
 * @return {Array<Array<number>>} The x, y coordinate of the jump point
 *     found, or null if not found
 */
JPFMoveDiagonallyIfAtMostOneObstacle.prototype._jump = function(x, y, px, py) {
    var grid = this.grid,
        dx = x - px, dy = y - py;

    if (!grid.isWalkableAt(x, y)) {
        return null;
    }

    if(this.trackJumpRecursion === true) {
        grid.getNodeAt(x, y).tested = true;
    }

    if (grid.getNodeAt(x, y) === this.endNode) {
        return [x, y];
    }

    // check for forced neighbors
    // along the diagonal
    if (dx !== 0 && dy !== 0) {
        if ((grid.isWalkableAt(x - dx, y + dy) && !grid.isWalkableAt(x - dx, y)) ||
            (grid.isWalkableAt(x + dx, y - dy) && !grid.isWalkableAt(x, y - dy))) {
            return [x, y];
        }
        // when moving diagonally, must check for vertical/horizontal jump points
        if (this._jump(x + dx, y, x, y) || this._jump(x, y + dy, x, y)) {
            return [x, y];
        }
    }
    // horizontally/vertically
    else {
        if( dx !== 0 ) { // moving along x
            if((grid.isWalkableAt(x + dx, y + 1) && !grid.isWalkableAt(x, y + 1)) ||
               (grid.isWalkableAt(x + dx, y - 1) && !grid.isWalkableAt(x, y - 1))) {
                return [x, y];
            }
        }
        else {
            if((grid.isWalkableAt(x + 1, y + dy) && !grid.isWalkableAt(x + 1, y)) ||
               (grid.isWalkableAt(x - 1, y + dy) && !grid.isWalkableAt(x - 1, y))) {
                return [x, y];
            }
        }
    }

    // moving diagonally, must make sure one of the vertical/horizontal
    // neighbors is open to allow the path
    if (grid.isWalkableAt(x + dx, y) || grid.isWalkableAt(x, y + dy)) {
        return this._jump(x + dx, y + dy, x, y);
    } else {
        return null;
    }
};

/**
 * Find the neighbors for the given node. If the node has a parent,
 * prune the neighbors based on the jump point search algorithm, otherwise
 * return all available neighbors.
 * @return {Array<Array<number>>} The neighbors found.
 */
JPFMoveDiagonallyIfAtMostOneObstacle.prototype._findNeighbors = function(node) {
    var parent = node.parent,
        x = node.x, y = node.y,
        grid = this.grid,
        px, py, nx, ny, dx, dy,
        neighbors = [], neighborNodes, neighborNode, i, l;

    // directed pruning: can ignore most neighbors, unless forced.
    if (parent) {
        px = parent.x;
        py = parent.y;
        // get the normalized direction of travel
        dx = (x - px) / Math.max(Math.abs(x - px), 1);
        dy = (y - py) / Math.max(Math.abs(y - py), 1);

        // search diagonally
        if (dx !== 0 && dy !== 0) {
            if (grid.isWalkableAt(x, y + dy)) {
                neighbors.push([x, y + dy]);
            }
            if (grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y]);
            }
            if (grid.isWalkableAt(x, y + dy) || grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y + dy]);
            }
            if (!grid.isWalkableAt(x - dx, y) && grid.isWalkableAt(x, y + dy)) {
                neighbors.push([x - dx, y + dy]);
            }
            if (!grid.isWalkableAt(x, y - dy) && grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y - dy]);
            }
        }
        // search horizontally/vertically
        else {
            if(dx === 0) {
                if (grid.isWalkableAt(x, y + dy)) {
                    neighbors.push([x, y + dy]);
                    if (!grid.isWalkableAt(x + 1, y)) {
                        neighbors.push([x + 1, y + dy]);
                    }
                    if (!grid.isWalkableAt(x - 1, y)) {
                        neighbors.push([x - 1, y + dy]);
                    }
                }
            }
            else {
                if (grid.isWalkableAt(x + dx, y)) {
                    neighbors.push([x + dx, y]);
                    if (!grid.isWalkableAt(x, y + 1)) {
                        neighbors.push([x + dx, y + 1]);
                    }
                    if (!grid.isWalkableAt(x, y - 1)) {
                        neighbors.push([x + dx, y - 1]);
                    }
                }
            }
        }
    }
    // return all neighbors
    else {
        neighborNodes = grid.getNeighbors(node, DiagonalMovement.IfAtMostOneObstacle);
        for (i = 0, l = neighborNodes.length; i < l; ++i) {
            neighborNode = neighborNodes[i];
            neighbors.push([neighborNode.x, neighborNode.y]);
        }
    }

    return neighbors;
};

module.exports = JPFMoveDiagonallyIfAtMostOneObstacle;


================================================
FILE: src/finders/JPFMoveDiagonallyIfNoObstacles.js
================================================
/**
 * @author imor / https://github.com/imor
 */
var JumpPointFinderBase = require('./JumpPointFinderBase');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Path finder using the Jump Point Search algorithm which moves
 * diagonally only when there are no obstacles.
 */
function JPFMoveDiagonallyIfNoObstacles(opt) {
    JumpPointFinderBase.call(this, opt);
}

JPFMoveDiagonallyIfNoObstacles.prototype = new JumpPointFinderBase();
JPFMoveDiagonallyIfNoObstacles.prototype.constructor = JPFMoveDiagonallyIfNoObstacles;

/**
 * Search recursively in the direction (parent -> child), stopping only when a
 * jump point is found.
 * @protected
 * @return {Array<Array<number>>} The x, y coordinate of the jump point
 *     found, or null if not found
 */
JPFMoveDiagonallyIfNoObstacles.prototype._jump = function(x, y, px, py) {
    var grid = this.grid,
        dx = x - px, dy = y - py;

    if (!grid.isWalkableAt(x, y)) {
        return null;
    }

    if(this.trackJumpRecursion === true) {
        grid.getNodeAt(x, y).tested = true;
    }

    if (grid.getNodeAt(x, y) === this.endNode) {
        return [x, y];
    }

    // check for forced neighbors
    // along the diagonal
    if (dx !== 0 && dy !== 0) {
        // if ((grid.isWalkableAt(x - dx, y + dy) && !grid.isWalkableAt(x - dx, y)) ||
            // (grid.isWalkableAt(x + dx, y - dy) && !grid.isWalkableAt(x, y - dy))) {
            // return [x, y];
        // }
        // when moving diagonally, must check for vertical/horizontal jump points
        if (this._jump(x + dx, y, x, y) || this._jump(x, y + dy, x, y)) {
            return [x, y];
        }
    }
    // horizontally/vertically
    else {
        if (dx !== 0) {
            if ((grid.isWalkableAt(x, y - 1) && !grid.isWalkableAt(x - dx, y - 1)) ||
                (grid.isWalkableAt(x, y + 1) && !grid.isWalkableAt(x - dx, y + 1))) {
                return [x, y];
            }
        }
        else if (dy !== 0) {
            if ((grid.isWalkableAt(x - 1, y) && !grid.isWalkableAt(x - 1, y - dy)) ||
                (grid.isWalkableAt(x + 1, y) && !grid.isWalkableAt(x + 1, y - dy))) {
                return [x, y];
            }
            // When moving vertically, must check for horizontal jump points
            // if (this._jump(x + 1, y, x, y) || this._jump(x - 1, y, x, y)) {
                // return [x, y];
            // }
        }
    }

    // moving diagonally, must make sure one of the vertical/horizontal
    // neighbors is open to allow the path
    if (grid.isWalkableAt(x + dx, y) && grid.isWalkableAt(x, y + dy)) {
        return this._jump(x + dx, y + dy, x, y);
    } else {
        return null;
    }
};

/**
 * Find the neighbors for the given node. If the node has a parent,
 * prune the neighbors based on the jump point search algorithm, otherwise
 * return all available neighbors.
 * @return {Array<Array<number>>} The neighbors found.
 */
JPFMoveDiagonallyIfNoObstacles.prototype._findNeighbors = function(node) {
    var parent = node.parent,
        x = node.x, y = node.y,
        grid = this.grid,
        px, py, nx, ny, dx, dy,
        neighbors = [], neighborNodes, neighborNode, i, l;

    // directed pruning: can ignore most neighbors, unless forced.
    if (parent) {
        px = parent.x;
        py = parent.y;
        // get the normalized direction of travel
        dx = (x - px) / Math.max(Math.abs(x - px), 1);
        dy = (y - py) / Math.max(Math.abs(y - py), 1);

        // search diagonally
        if (dx !== 0 && dy !== 0) {
            if (grid.isWalkableAt(x, y + dy)) {
                neighbors.push([x, y + dy]);
            }
            if (grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y]);
            }
            if (grid.isWalkableAt(x, y + dy) && grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y + dy]);
            }
        }
        // search horizontally/vertically
        else {
            var isNextWalkable;
            if (dx !== 0) {
                isNextWalkable = grid.isWalkableAt(x + dx, y);
                var isTopWalkable = grid.isWalkableAt(x, y + 1);
                var isBottomWalkable = grid.isWalkableAt(x, y - 1);

                if (isNextWalkable) {
                    neighbors.push([x + dx, y]);
                    if (isTopWalkable) {
                        neighbors.push([x + dx, y + 1]);
                    }
                    if (isBottomWalkable) {
                        neighbors.push([x + dx, y - 1]);
                    }
                }
                if (isTopWalkable) {
                    neighbors.push([x, y + 1]);
                }
                if (isBottomWalkable) {
                    neighbors.push([x, y - 1]);
                }
            }
            else if (dy !== 0) {
                isNextWalkable = grid.isWalkableAt(x, y + dy);
                var isRightWalkable = grid.isWalkableAt(x + 1, y);
                var isLeftWalkable = grid.isWalkableAt(x - 1, y);

                if (isNextWalkable) {
                    neighbors.push([x, y + dy]);
                    if (isRightWalkable) {
                        neighbors.push([x + 1, y + dy]);
                    }
                    if (isLeftWalkable) {
                        neighbors.push([x - 1, y + dy]);
                    }
                }
                if (isRightWalkable) {
                    neighbors.push([x + 1, y]);
                }
                if (isLeftWalkable) {
                    neighbors.push([x - 1, y]);
                }
            }
        }
    }
    // return all neighbors
    else {
        neighborNodes = grid.getNeighbors(node, DiagonalMovement.OnlyWhenNoObstacles);
        for (i = 0, l = neighborNodes.length; i < l; ++i) {
            neighborNode = neighborNodes[i];
            neighbors.push([neighborNode.x, neighborNode.y]);
        }
    }

    return neighbors;
};

module.exports = JPFMoveDiagonallyIfNoObstacles;


================================================
FILE: src/finders/JPFNeverMoveDiagonally.js
================================================
/**
 * @author imor / https://github.com/imor
 */
var JumpPointFinderBase = require('./JumpPointFinderBase');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Path finder using the Jump Point Search algorithm allowing only horizontal
 * or vertical movements.
 */
function JPFNeverMoveDiagonally(opt) {
    JumpPointFinderBase.call(this, opt);
}

JPFNeverMoveDiagonally.prototype = new JumpPointFinderBase();
JPFNeverMoveDiagonally.prototype.constructor = JPFNeverMoveDiagonally;

/**
 * Search recursively in the direction (parent -> child), stopping only when a
 * jump point is found.
 * @protected
 * @return {Array<Array<number>>} The x, y coordinate of the jump point
 *     found, or null if not found
 */
JPFNeverMoveDiagonally.prototype._jump = function(x, y, px, py) {
    var grid = this.grid,
        dx = x - px, dy = y - py;

    if (!grid.isWalkableAt(x, y)) {
        return null;
    }

    if(this.trackJumpRecursion === true) {
        grid.getNodeAt(x, y).tested = true;
    }

    if (grid.getNodeAt(x, y) === this.endNode) {
        return [x, y];
    }

    if (dx !== 0) {
        if ((grid.isWalkableAt(x, y - 1) && !grid.isWalkableAt(x - dx, y - 1)) ||
            (grid.isWalkableAt(x, y + 1) && !grid.isWalkableAt(x - dx, y + 1))) {
            return [x, y];
        }
    }
    else if (dy !== 0) {
        if ((grid.isWalkableAt(x - 1, y) && !grid.isWalkableAt(x - 1, y - dy)) ||
            (grid.isWalkableAt(x + 1, y) && !grid.isWalkableAt(x + 1, y - dy))) {
            return [x, y];
        }
        //When moving vertically, must check for horizontal jump points
        if (this._jump(x + 1, y, x, y) || this._jump(x - 1, y, x, y)) {
            return [x, y];
        }
    }
    else {
        throw new Error("Only horizontal and vertical movements are allowed");
    }

    return this._jump(x + dx, y + dy, x, y);
};

/**
 * Find the neighbors for the given node. If the node has a parent,
 * prune the neighbors based on the jump point search algorithm, otherwise
 * return all available neighbors.
 * @return {Array<Array<number>>} The neighbors found.
 */
JPFNeverMoveDiagonally.prototype._findNeighbors = function(node) {
    var parent = node.parent,
        x = node.x, y = node.y,
        grid = this.grid,
        px, py, nx, ny, dx, dy,
        neighbors = [], neighborNodes, neighborNode, i, l;

    // directed pruning: can ignore most neighbors, unless forced.
    if (parent) {
        px = parent.x;
        py = parent.y;
        // get the normalized direction of travel
        dx = (x - px) / Math.max(Math.abs(x - px), 1);
        dy = (y - py) / Math.max(Math.abs(y - py), 1);

        if (dx !== 0) {
            if (grid.isWalkableAt(x, y - 1)) {
                neighbors.push([x, y - 1]);
            }
            if (grid.isWalkableAt(x, y + 1)) {
                neighbors.push([x, y + 1]);
            }
            if (grid.isWalkableAt(x + dx, y)) {
                neighbors.push([x + dx, y]);
            }
        }
        else if (dy !== 0) {
            if (grid.isWalkableAt(x - 1, y)) {
                neighbors.push([x - 1, y]);
            }
            if (grid.isWalkableAt(x + 1, y)) {
                neighbors.push([x + 1, y]);
            }
            if (grid.isWalkableAt(x, y + dy)) {
                neighbors.push([x, y + dy]);
            }
        }
    }
    // return all neighbors
    else {
        neighborNodes = grid.getNeighbors(node, DiagonalMovement.Never);
        for (i = 0, l = neighborNodes.length; i < l; ++i) {
            neighborNode = neighborNodes[i];
            neighbors.push([neighborNode.x, neighborNode.y]);
        }
    }

    return neighbors;
};

module.exports = JPFNeverMoveDiagonally;


================================================
FILE: src/finders/JumpPointFinder.js
================================================
/**
 * @author aniero / https://github.com/aniero
 */
var DiagonalMovement = require('../core/DiagonalMovement');
var JPFNeverMoveDiagonally = require('./JPFNeverMoveDiagonally');
var JPFAlwaysMoveDiagonally = require('./JPFAlwaysMoveDiagonally');
var JPFMoveDiagonallyIfNoObstacles = require('./JPFMoveDiagonallyIfNoObstacles');
var JPFMoveDiagonallyIfAtMostOneObstacle = require('./JPFMoveDiagonallyIfAtMostOneObstacle');

/**
 * Path finder using the Jump Point Search algorithm
 * @param {Object} opt
 * @param {function} opt.heuristic Heuristic function to estimate the distance
 *     (defaults to manhattan).
 * @param {DiagonalMovement} opt.diagonalMovement Condition under which diagonal
 *      movement will be allowed.
 */
function JumpPointFinder(opt) {
    opt = opt || {};
    if (opt.diagonalMovement === DiagonalMovement.Never) {
        return new JPFNeverMoveDiagonally(opt);
    } else if (opt.diagonalMovement === DiagonalMovement.Always) {
        return new JPFAlwaysMoveDiagonally(opt);
    } else if (opt.diagonalMovement === DiagonalMovement.OnlyWhenNoObstacles) {
        return new JPFMoveDiagonallyIfNoObstacles(opt);
    } else {
        return new JPFMoveDiagonallyIfAtMostOneObstacle(opt);
    }
}

module.exports = JumpPointFinder;


================================================
FILE: src/finders/JumpPointFinderBase.js
================================================
/**
 * @author imor / https://github.com/imor
 */
var Heap       = require('heap');
var Util       = require('../core/Util');
var Heuristic  = require('../core/Heuristic');
var DiagonalMovement = require('../core/DiagonalMovement');

/**
 * Base class for the Jump Point Search algorithm
 * @param {object} opt
 * @param {function} opt.heuristic Heuristic function to estimate the distance
 *     (defaults to manhattan).
 */
function JumpPointFinderBase(opt) {
    opt = opt || {};
    this.heuristic = opt.heuristic || Heuristic.manhattan;
    this.trackJumpRecursion = opt.trackJumpRecursion || false;
}

/**
 * Find and return the path.
 * @return {Array<Array<number>>} The path, including both start and
 *     end positions.
 */
JumpPointFinderBase.prototype.findPath = function(startX, startY, endX, endY, grid) {
    var openList = this.openList = new Heap(function(nodeA, nodeB) {
            return nodeA.f - nodeB.f;
        }),
        startNode = this.startNode = grid.getNodeAt(startX, startY),
        endNode = this.endNode = grid.getNodeAt(endX, endY), node;

    this.grid = grid;


    // set the `g` and `f` value of the start node to be 0
    startNode.g = 0;
    startNode.f = 0;

    // push the start node into the open list
    openList.push(startNode);
    startNode.opened = true;

    // while the open list is not empty
    while (!openList.empty()) {
        // pop the position of node which has the minimum `f` value.
        node = openList.pop();
        node.closed = true;

        if (node === endNode) {
            return Util.expandPath(Util.backtrace(endNode));
        }

        this._identifySuccessors(node);
    }

    // fail to find the path
    return [];
};

/**
 * Identify successors for the given node. Runs a jump point search in the
 * direction of each available neighbor, adding any points found to the open
 * list.
 * @protected
 */
JumpPointFinderBase.prototype._identifySuccessors = function(node) {
    var grid = this.grid,
        heuristic = this.heuristic,
        openList = this.openList,
        endX = this.endNode.x,
        endY = this.endNode.y,
        neighbors, neighbor,
        jumpPoint, i, l,
        x = node.x, y = node.y,
        jx, jy, dx, dy, d, ng, jumpNode,
        abs = Math.abs, max = Math.max;

    neighbors = this._findNeighbors(node);
    for(i = 0, l = neighbors.length; i < l; ++i) {
        neighbor = neighbors[i];
        jumpPoint = this._jump(neighbor[0], neighbor[1], x, y);
        if (jumpPoint) {

            jx = jumpPoint[0];
            jy = jumpPoint[1];
            jumpNode = grid.getNodeAt(jx, jy);

            if (jumpNode.closed) {
                continue;
            }

            // include distance, as parent may not be immediately adjacent:
            d = Heuristic.octile(abs(jx - x), abs(jy - y));
            ng = node.g + d; // next `g` value

            if (!jumpNode.opened || ng < jumpNode.g) {
                jumpNode.g = ng;
                jumpNode.h = jumpNode.h || heuristic(abs(jx - endX), abs(jy - endY));
                jumpNode.f = jumpNode.g + jumpNode.h;
                jumpNode.parent = node;

                if (!jumpNode.opened) {
                    openList.push(jumpNode);
                    jumpNode.opened = true;
                } else {
                    openList.updateItem(jumpNode);
                }
            }
        }
    }
};

module.exports = JumpPointFinderBase;


================================================
FILE: test/Grid.js
================================================
var PF = require('..');
var Grid = PF.Grid;
var DiagonalMovement = PF.DiagonalMovement;

describe('Grid', function() {
    describe('generate without matrix', function() {
        var width, height, grid;

        beforeEach(function() {
            width = 10;
            height = 20;
            grid = new Grid(width, height);
        });

        it('should have correct size', function() {
            grid.width.should.equal(width);
            grid.height.should.equal(height);

            grid.nodes.length.should.equal(height);
            for (var i = 0; i < height; ++i) {
                grid.nodes[i].length.should.equal(width); 
            }
        });

        it('should set all nodes\' walkable attribute', function() {
            for (var i = 0; i < height; ++i) {
                for (var j = 0; j < width; ++j) {
                    grid.isWalkableAt(j, i).should.be.true;
                }
            }
        });
    });

    describe('generate with matrix', function() {
        var matrix, grid, width, height;

        var enumPos = function(f, o) {
            for (var y = 0; y < height; ++y) {
                for (var x = 0; x < width; ++x) {
                    if (o) {
                        f.call(o, x, y, grid);
                    } else {
                        f(x, y, grid);
                    }
                }
            }
        };

        beforeEach(function() {
            matrix = [
                [1, 0, 0, 1],
                [0, 1, 0, 0],
                [0, 1, 0, 0],
                [0, 0, 0, 0],
                [1, 0, 0, 1],
            ];
            height = matrix.length;
            width = matrix[0].length;
            grid = new Grid(width, height, matrix);
        });

        it('should have correct size', function() {
            grid.width.should.equal(width);
            grid.height.should.equal(height);

            grid.nodes.length.should.equal(height);
            for (var i = 0; i < height; ++i) {
                grid.nodes[i].length.should.equal(width); 
            }
        });

        it('should initiate all nodes\' walkable attribute', function() {
            enumPos(function(x, y, g) {
                if (matrix[y][x]) {
                    g.isWalkableAt(x, y).should.be.false;
                } else {
                    g.isWalkableAt(x, y).should.be.true;
                }
            });
        });

        it('should be able to set nodes\' walkable attribute', function() {
            enumPos(function(x, y) {
                grid.setWalkableAt(x, y, false); 
            });
            enumPos(function(x, y) {
                grid.isWalkableAt(x, y).should.be.false;
            })
            enumPos(function(x, y) {
                grid.setWalkableAt(x, y, true); 
            });
            enumPos(function(x, y) {
                grid.isWalkableAt(x, y).should.be.true;
            })
        });

        it('should return correct answer for position validity query', function() {
            var asserts = [
                [0, 0, true],
                [0, height - 1, true],
                [width - 1, 0, true],
                [width - 1, height - 1, true],
                [-1, -1, false],
                [0, -1, false],
                [-1, 0, false],
                [0, height, false],
                [width, 0, false],
                [width, height, false],
            ];

            asserts.forEach(function(v, i, a) {
                grid.isInside(v[0], v[1]).should.equal(v[2]);
            });
        });

        it('should return correct neighbors', function() {
            grid.getNeighbors(grid.nodes[1][0], DiagonalMovement.Never).should.eql([ grid.nodes[2][0] ]);
            var cmp = function(a, b) {
                return a.x * 100 + a.y - b.x * 100 - b.y;
            };
            grid.getNeighbors(grid.nodes[0][2], DiagonalMovement.IfAtMostOneObstacle).sort(cmp).should.eql([
                grid.nodes[0][1], grid.nodes[1][2], grid.nodes[1][3]
            ].sort(cmp))
        });
    });

    describe('generate with matrix and no width or height', function() {
        var matrix, grid;

        beforeEach(function() {
            matrix = [
                [1, 0, 0, 1],
                [0, 1, 0, 0],
                [0, 1, 0, 0],
                [0, 0, 0, 0],
                [1, 0, 0, 1],
            ];

            grid = new Grid(matrix);
        });

        it('should have correct size', function() {
            var height = matrix.length;
            var width = matrix[0].length;

            grid.width.should.equal(width);
            grid.height.should.equal(height);

            grid.nodes.length.should.equal(height);
            for (var i = 0; i < height; ++i) {
                grid.nodes[i].length.should.equal(width);
            }
        });
    });
});


================================================
FILE: test/PathTest.js
================================================
var PF        = require('..')
var scenarios = require('./PathTestScenarios');

/**
 * Path-finding tests for the path-finders.
 * @param {boolean} opt.optimal - Whether the finder is guaranteed to find the shortest path
 */
function pathTest(opt) {
    var name = opt.name,
        finder = opt.finder,
        optimal = opt.optimal;

    describe(name, function() {
        var startX, startY, endX, endY, grid, expectedLength,
            width, height, matrix, path, i, scen;

        var test = (function() {
            var testId = 0;

            return function(startX, startY, endX, endY, grid, expectedLength) {
                it('should solve maze '+ ++testId, function() {
                    path = finder.findPath(startX, startY, endX, endY, grid);
                    if (optimal) {
                        path.length.should.equal(expectedLength);
                    } else {
                        path[0].should.eql([startX, startY]);
                        path[path.length - 1].should.eql([endX, endY]);
                    }
                });
            };
        })();

        // Load all the scenarios and test against the finder.
        for (i = 0; i < scenarios.length; ++i) {
            scen = scenarios[i];

            matrix = scen.matrix;
            height = matrix.length;
            width = matrix[0].length;

            grid = new PF.Grid(width, height, matrix);

            test(
                scen.startX, scen.startY, 
                scen.endX, scen.endY, 
                grid, 
                scen.expectedLength
            );
        }
    });
}

function pathTests(tests) {
    for (i = 0; i < arguments.length; ++i) {
        pathTest(arguments[i]);
    }
}


// finders guaranteed to find the shortest path
pathTests({
    name: 'AStar',
    finder: new PF.AStarFinder(),
    optimal: true
}, {
    name: 'BreadthFirst',
    finder: new PF.BreadthFirstFinder(),
    optimal: true
}, {
    name: 'Dijkstra',
    finder: new PF.DijkstraFinder(),
    optimal: true
}, {
    name: 'BiBreadthFirst',
    finder: new PF.BiBreadthFirstFinder(),
    optimal: true
}, {
    name: 'BiDijkstra',
    finder: new PF.BiDijkstraFinder(),
    optimal: true
});

// finders NOT guaranteed to find the shortest path
pathTests({
    name: 'BiAStar',
    finder: new PF.BiAStarFinder(),
    optimal: false
}, {
    name: 'BestFirst',
    finder: new PF.BestFirstFinder(),
    optimal: false
}, {
    name: 'BiBestFirst',
    finder: new PF.BiBestFirstFinder(),
    optimal: false
}, {
    name: 'IDAStar',
    finder: new PF.IDAStarFinder(),
    optimal: false
}, {
    name: 'JPFMoveDiagonallyIfAtMostOneObstacle',
    finder: new PF.JumpPointFinder({
      diagonalMovement: PF.DiagonalMovement.IfAtMostOneObstacle
    }),
    optimal: false
},  {
    name: 'JPFNeverMoveDiagonally',
    finder: new PF.JumpPointFinder({
      diagonalMovement: PF.DiagonalMovement.Never
    }),
    optimal: false
});


================================================
FILE: test/PathTestScenarios.js
================================================
module.exports = [
    {
        startX: 0,
        startY: 0,
        endX: 1,
        endY: 1,
        matrix: [[0, 0],
                 [1, 0]],
        expectedLength: 3,
    },
    {
        startX: 1,
        startY: 1,
        endX: 4,
        endY: 4,
        matrix: [[0, 0, 0, 0, 0],
                 [1, 0, 1, 1, 0],
                 [1, 0, 1, 0, 0],
                 [0, 1, 0, 0, 0],
                 [1, 0, 1, 1, 0],
                 [0, 0, 1, 0, 0]],
        expectedLength: 9,
    },
    {
        startX: 0,
        startY: 3,
        endX: 3,
        endY: 3,
        matrix: [[0, 0, 0, 0, 0],
                 [0, 0, 1, 1, 0],
                 [0, 0, 1, 0, 0],
                 [0, 0, 1, 0, 0],
                 [1, 0, 1, 1, 0],
                 [0, 0, 0, 0, 0]],
        expectedLength: 10,
    },
    {
        startX: 4,
        startY: 4,
        endX: 19,
        endY: 19,
        matrix: [[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]],
        expectedLength: 31,
    },
];


================================================
FILE: test/Util.js
================================================
var PF = require('..');

describe('Utility functions', function () {
    describe('interpolate', function () {
        it('should return the interpolated path', function () {
            PF.Util.interpolate(0, 1, 0, 4).should.eql([
                [0, 1], [0, 2], [0, 3], [0, 4]
            ]);
        });
    });

    describe('expandPath', function () {
        it('should return an empty array given an empty array', function () {
            PF.Util.expandPath([]).should.eql([]);
        });

        it('should return the expanded path', function () {
            PF.Util.expandPath([
                [0, 1], [0, 4]
            ]).should.eql([
                [0, 1], [0, 2], [0, 3], [0, 4]
            ]);

            PF.Util.expandPath([
                [0, 1], [0, 4], [2, 6]
            ]).should.eql([
                [0, 1], [0, 2], [0, 3], [0, 4], [1, 5], [2, 6]
            ]);
        });
    });

    describe('compressPath', function () {
        it('should return the original path if it is too short to compress', function () {
            PF.Util.compressPath([]).should.eql([]);
        });

        it('should return a compressed path', function () {
            PF.Util.compressPath([
                [0, 1], [0, 2], [0, 3], [0, 4]
            ]).should.eql([
                [0, 1], [0, 4]
            ]);

            PF.Util.compressPath([
                [0, 1], [0, 2], [0, 3], [0, 4], [1, 5], [2, 6]
            ]).should.eql([
                [0, 1], [0, 4], [2, 6]
            ]);
        });
    });

});


================================================
FILE: visual/Makefile
================================================

doc: doc/state-diagram.gv
	dot -Tpng -odoc/state-diagram.png doc/state-diagram.gv

.PHONY: doc


================================================
FILE: visual/css/style.css
================================================
body {
    padding: 0px;
    margin: 0px;
    overflow: hidden;
}

input {
    cursor: pointer;
}

h1, h2, h3, h4, h5, h6 {
    margin: 0px;
    padding: 0px;
    font-weight: normal;
}

.header_title {
    font-size: 120%;
    font-weight: bold;
    padding-bottom: 5px;
    margin-top: -10px;
}


.panel {
    position: fixed;
    padding: 20px;
    background-color: rgba(0, 0, 0, 0.6);
    color: #fff;
    border-radius: 8px;
    box-shadow: 5px 5px 10px rgba(0, 0, 0, 0.5);
    cursor: default;
}

.right_panel {
    width: 250px;
    right: 20px;
}

#algorithm_panel {
    right: 20px;
    top: 20px;
}

#instructions_panel {
    top: 20px;
    left: 20px;
    width: 550px;
}

#hide_instructions {
    position: absolute;
    right: 25px;
    top: 10px;
    font-size: 90%;
    cursor: pointer;
}

#hide_instruction:hover {
    color: #fff;
    text-decoration: underline;
}

.option_header {
    font-size: 80%;
    margin-left: 20px;
}

.option_label {
    cursor: pointer;
}

button {
    border: none;
    background: rgba(255, 255, 255, 0.7);
    border-radius: 5px;
    font-size: 90%;
    cursor: pointer;
    padding: 2px 8px;
    margin: 0 2%;
    width: 28%;
}

button:hover {
    background: rgba(255, 255, 255, 0.9);
}

.finder_section {
    border: solid 1px #ddd;
    border-radius: 5px;
    margin: 5px;
}

.sub_options {
    padding: 2px;
    font-size: 14px;
    margin: 2px 30px 0;
}

#stats {
    position: fixed;
    bottom: 40px;
    left: 35px;
    color: #0a0;
    font-size: 85%;
    padding: 5px;
    background: rgba(255, 255, 255, 0.5);
    border-radius: 5px;
}

a {
    color: #33f;
}

footer {
    color: #333;
    font-size: 70%;
    text-align: center;
    position: fixed;
    width: 200px;
    bottom: 10px;
    left: 50%;
    margin-left: -100px;
    background: rgba(255, 255, 255, 0.5);
    padding: 5px;
    border-radius: 5px;
}

.white {
    color: #fff;
}

.green {
    color: #0d0;
}

.red {
    color: #ff9166;
}

.spinner {
    width: 2em;
}


================================================
FILE: visual/doc/state-description.md
================================================
From [issue 6](https://github.com/qiao/PathFinding.js/issues/6)

#### states and button labels/actions

##### before searching; no colored squares - state B
- **Start Search** - to N
- **Pause Search** - button disabled (grayed out)

##### starting a new search - state N
This state clears any existing search progress and then immediately goes to state S.

##### during searching - state S
- **Restart Search** - to N
- **Pause Search** - to P

when search has finished - to F

##### search is paused - state P
- **Resume Search** - to S
- **Cancel Search** - to B

##### search has finished - state F
- **Restart Search** - to N
- **Clear Path** - to B

selecting a different algorithm or adding or deleting walls - to M

##### after search has finished and user has changed settings - state M
- **Start Search** - to N
- **Clear Path** - to B


================================================
FILE: visual/doc/state-diagram.gv
================================================
digraph controller_states {
	rankdir=LR;
	size="10,8"
	node [shape = circle];
    none       -> before    [ label = "init"    ];
	before     -> starting  [ label = "start"   ];
	starting   -> searching [ label = "search"  ];
	searching  -> starting  [ label = "restart" ];
	searching  -> paused    [ label = "pause"   ];
	searching  -> finished  [ label = "finish"  ];
	paused     -> searching [ label = "resume"  ];
	paused     -> before    [ label = "cancel"  ];
	finished   -> starting  [ label = "restart" ];
	finished   -> before    [ label = "clear"   ];
	finished   -> modified  [ label = "modify"  ];
	modified   -> starting  [ label = "start"   ];
	modified   -> before    [ label = "clear"   ];
}



================================================
FILE: visual/index.html
================================================
<!DOCTYPE HTML>
<html lang="en">
  <head>
    <meta charset="UTF-8">
    <title>PathFinding.js</title>

    <link rel="stylesheet" href="./css/style.css" />
    <link rel="stylesheet" href="./lib/themes/jquery.ui.all.css" />

    <script type="text/javascript" src="./lib/raphael-min.js"></script>
    <script type="text/javascript" src="./lib/es5-shim.min.js"></script>
    <script type="text/javascript" src="./lib/jquery-1.7.2.min.js"></script>
    <script type="text/javascript" src="./lib/state-machine.min.js"></script>
    <script type="text/javascript" src="./lib/async.min.js"></script>

    <script type="text/javascript" src="./lib/ui/jquery.ui.core.min.js"></script>
    <script type="text/javascript" src="./lib/ui/jquery.ui.widget.min.js"></script>
    <script type="text/javascript" src="./lib/ui/jquery.ui.mouse.min.js"></script>
    <script type="text/javascript" src="./lib/ui/jquery.ui.draggable.min.js"></script>
    <script type="text/javascript" src="./lib/ui/jquery.ui.accordion.min.js"></script>
    <script type="text/javascript" src="./lib/ui/jquery.ui.slider.min.js"></script>

    <script type="text/javascript" src="./lib/pathfinding-browser.min.js"></script>

    <script type="text/javascript" src="./js/view.js"></script>
    <script type="text/javascript" src="./js/controller.js"></script>
    <script type="text/javascript" src="./js/panel.js"></script>
    <script type="text/javascript" src="./js/main.js"></script>
  </head>
  <body>
    <div id="draw_area"></div>

    <div id="instructions_panel" class="panel">
      <header>
        <h2 class="header_title">Instructions</h2>
        <span id="hide_instructions">hide</span>
      </header>
      Click within the <span class="white">white</span> grid and drag your mouse to draw obstacles. <br>
      Drag the <span class="green">green</span> node to set the start position. <br>
      Drag the <span class="red">red</span> node to set the end position. <br>
      Choose an algorithm from the right-hand panel. <br>
      Click Start Search in the lower-right corner to start the animation.
    </div>

    <div id="algorithm_panel" class="panel right_panel">
      <header><h2 class="header_title">Select Algorithm</h2></header>

      <div class="accordion">
        <h3 id="astar_header"><a href="#">A*</a></h3>
        <div id="astar_section" class="finder_section">
          <header class="option_header">
            <h3>Heuristic</h3>
          </header>
          <div id="astar_heuristic" class="sub_options">
            <input type="radio" name="astar_heuristic" value="manhattan" checked />
            <label class="option_label">Manhattan</label> <br>
            <input type="radio" name="astar_heuristic" value="euclidean"/>
            <label class="option_label">Euclidean</label> <br>
            <input type="radio" name="astar_heuristic" value="octile"/>
            <label class="option_label">Octile</label> <br>
            <input type="radio" name="astar_heuristic" value="chebyshev"/>
            <label class="option_label">Chebyshev</label> <br>
          </div>

          <header class="option_header">
            <h3>Options</h3>
          </header>
          <div class="optional sub_options">
            <input type="checkbox" class="allow_diagonal" checked>
            <label class="option_label">Allow Diagonal</label> <br>
            <input type="checkbox" class="bi-directional">
            <label class="option_label">Bi-directional</label> <br>
            <input type="checkbox" class="dont_cross_corners">
            <label class="option_label">Don't Cross Corners</label> <br>
            <input class="spinner" name="astar_weight" value="1">
            <label class="option_label">Weight</label> <br>
          </div>
        </div>

        <h3 id="ida_header"><a href="#">IDA*</a></h3>
        <div id="ida_section" class="finder_section">
          <header class="option_header">
            <h3>Heuristic</h3>
          </header>
          <div id="ida_heuristic" class="sub_options">
            <input type="radio" name="ida_heuristic" value="manhattan" checked />
            <label class="option_label">Manhattan</label> <br>
            <input type="radio" name="ida_heuristic" value="euclidean"/>
            <label class="option_label">Euclidean</label> <br>
            <input type="radio" name="ida_heuristic" value="octile"/>
            <label class="option_label">Octile</label> <br>
            <input type="radio" name="ida_heuristic" value="chebyshev"/>
            <label class="option_label">Chebyshev</label> <br>
          </div>
          <header class="option_header">
            <h3>Options</h3>
          </header>
          <div class="optional sub_options">
            <input type="checkbox" class="allow_diagonal" checked>
            <label class="option_label">Allow Diagonal</label> <br>
            <input type="checkbox" class="dont_cross_corners">
            <label class="option_label">Don't Cross Corners</label> <br>
            <input class="spinner" name="astar_weight" value="1">
            <label class="option_label">Weight</label> <br>
            <input class="spinner" name="time_limit" value="10">
            <label class="option_label">Seconds limit</label> <br>
            <input type="checkbox" class="track_recursion" checked />
            <label class="option_label">Visualize recursion</label> <br>
          </div>
        </div>

        <h3 id="breadthfirst_header"><a href="#">Breadth-First-Search</a></h3>
        <div id="breadthfirst_section" class="finder_section">
          <header class="option_header">
            <h3>Options</h3>
          </header>
          <div class="optional sub_options">
            <input type="checkbox" class="allow_diagonal" checked>
            <label class="option_label">Allow Diagonal</label> <br>
            <input type="checkbox" class="bi-directional">
            <label class="option_label">Bi-directional</label> <br>
            <input type="checkbox" class="dont_cross_corners">
            <label class="option_label">Don't Cross Corners</label> <br>
          </div>
        </div>

        <h3 id="bestfirst_header"><a href="#">Best-First-Search</a></h3>
        <div id="bestfirst_section" class="finder_section">
          <header class="option_header">
            <h3>Heuristic</h3>
          </header>
          <div id="bestfirst_heuristic" class="sub_options">
            <input type="radio" name="bestfirst_heuristic" value="manhattan" checked />
            <label class="option_label">Manhattan</label> <br>
            <input type="radio" name="bestfirst_heuristic" value="euclidean"/>
            <label class="option_label">Euclidean</label> <br>
            <input type="radio" name="bestfirst_heuristic" value="octile"/>
            <label class="option_label">Octile</label> <br>
            <input type="radio" name="bestfirst_heuristic" value="chebyshev"/>
            <label class="option_label">Chebyshev</label> <br>
          </div>

          <header class="option_header">
            <h3>Options</h3>
          </header>
          <div class="optional sub_options">
            <input type="checkbox" class="allow_diagonal" checked>
            <label class="option_label">Allow Diagonal</label> <br>
            <input type="checkbox" class="bi-directional">
            <label class="option_label">Bi-directional</label> <br>
            <input type="checkbox" class="dont_cross_corners">
            <label class="option_label">Don't Cross Corners</label> <br>
          </div>
        </div>

        <h3 id="dijkstra_header"><a href="#">Dijkstra</a></h3>
        <div id="dijkstra_section" class="finder_section">
          <header class="option_header">
            <h3>Options</h3>
          </header>
          <div class="optional sub_options">
            <input type="checkbox" class="allow_diagonal" checked>
            <label class="option_label">Allow Diagonal</label> <br>
            <input type="checkbox" class="bi-directional">
            <label class="option_label">Bi-directional</label> <br>
            <input type="checkbox" class="dont_cross_corners">
            <label class="option_label">Don't Cross Corners</label> <br>
          </div>
        </div>

        <h3 id="jump_point_header"><a href="#">Jump Point Search</a></h3>
        <div id="jump_point_section" class="finder_section">
          <header class="option_header">
            <h3>Heuristic</h3>
          </header>
          <div id="jump_point_heuristic" class="sub_options">
            <input type="radio" name="jump_point_heuristic" value="manhattan" checked />
            <label class="option_label">Manhattan</label> <br>
            <input type="radio" name="jump_point_heuristic" value="euclidean"/>
            <label class="option_label">Euclidean</label> <br>
            <input type="radio" name="jump_point_heuristic" value="octile"/>
            <label class="option_label">Octile</label> <br>
            <input type="radio" name="jump_point_heuristic" value="chebyshev"/>
            <label class="option_label">Chebyshev</label> <br>
          </div>
          <header class="option_header">
            <h3>Options</h3>
          </header>
          <div class="optional sub_options">
            <input type="checkbox" class="track_recursion" checked>
            <label class="option_label">Visualize recursion</label> <br>
          </div>
        </div>

	<h3 id="orth_jump_point_header"><a href="#">Orthogonal Jump Point Search</a></h3>
        <div id="orth_jump_point_section" class="finder_section">
          <header class="option_header">
            <h3>Heuristic</h3>
          </header>
          <div id="orth_jump_point_heuristic" class="sub_options">
            <input type="radio" name="orth_jump_point_heuristic" value="manhattan" checked />
            <label class="option_label">Manhattan</label> <br>
            <input type="radio" name="orth_jump_point_heuristic" value="euclidean"/>
            <label class="option_label">Euclidean</label> <br>
            <input type="radio" name="orth_jump_point_heuristic" value="octile"/>
            <label class="option_label">Octile</label> <br>
            <input type="radio" name="orth_jump_point_heuristic" value="chebyshev"/>
            <label class="option_label">Chebyshev</label> <br>
          </div>
          <header class="option_header">
            <h3>Options</h3>
          </header>
          <div class="optional sub_options">
            <input type="checkbox" class="track_recursion" checked>
            <label class="option_label">Visualize recursion</label> <br>
          </div>
        </div>

      </div><!-- .accordion -->
    </div><!-- #algorithm_panel -->

    <div id="play_panel" class="panel right_panel">
      <button id="button1" class="control_button">Start Search</button>
      <button id="button2" class="control_button">Pause Search</button>
      <button id="button3" class="control_button">Clear Walls</button>
    </div>

    <div id="stats"></div>

    <footer>
      Project Hosted on <a href="http://github.com/qiao/PathFinding.js">Github</a>
    </footer>

  </body>
</html>


================================================
FILE: visual/js/controller.js
================================================
/**
 * The visualization controller will works as a state machine.
 * See files under the `doc` folder for transition descriptions.
 * See https://github.com/jakesgordon/javascript-state-machine
 * for the document of the StateMachine module.
 */
var Controller = StateMachine.create({
    initial: 'none',
    events: [
        {
            name: 'init',
            from: 'none',
            to:   'ready'
        },
        {
            name: 'search',
            from: 'starting',
            to:   'searching'
        },
        {
            name: 'pause',
            from: 'searching',
            to:   'paused'
        },
        {
            name: 'finish',
            from: 'searching',
            to:   'finished'
        },
        {
            name: 'resume',
            from: 'paused',
            to:   'searching'
        },
        {
            name: 'cancel',
            from: 'paused',
            to:   'ready'
        },
        {
            name: 'modify',
            from: 'finished',
            to:   'modified'
        },
        {
            name: 'reset',
            from: '*',
            to:   'ready'
        },
        {
            name: 'clear',
            from: ['finished', 'modified'],
            to:   'ready'
        },
        {
            name: 'start',
            from: ['ready', 'modified', 'restarting'],
            to:   'starting'
        },
        {
            name: 'restart',
            from: ['searching', 'finished'],
            to:   'restarting'
        },
        {
            name: 'dragStart',
            from: ['ready', 'finished'],
            to:   'draggingStart'
        },
        {
            name: 'dragEnd',
            from: ['ready', 'finished'],
            to:   'draggingEnd'
        },
        {
            name: 'drawWall',
            from: ['ready', 'finished'],
            to:   'drawingWall'
        },
        {
            name: 'eraseWall',
            from: ['ready', 'finished'],
            to:   'erasingWall'
        },
        {
            name: 'rest',
            from: ['draggingStart', 'draggingEnd', 'drawingWall', 'erasingWall'],
            to  : 'ready'
        },
    ],
});

$.extend(Controller, {
    gridSize: [64, 36], // number of nodes horizontally and vertically
    operationsPerSecond: 300,

    /**
     * Asynchronous transition from `none` state to `ready` state.
     */
    onleavenone: function() {
        var numCols = this.gridSize[0],
            numRows = this.gridSize[1];

        this.grid = new PF.Grid(numCols, numRows);

        View.init({
            numCols: numCols,
            numRows: numRows
        });
        View.generateGrid(function() {
            Controller.setDefaultStartEndPos();
            Controller.bindEvents();
            Controller.transition(); // transit to the next state (ready)
        });

        this.$buttons = $('.control_button');

        this.hookPathFinding();

        return StateMachine.ASYNC;
        // => ready
    },
    ondrawWall: function(event, from, to, gridX, gridY) {
        this.setWalkableAt(gridX, gridY, false);
        // => drawingWall
    },
    oneraseWall: function(event, from, to, gridX, gridY) {
        this.setWalkableAt(gridX, gridY, true);
        // => erasingWall
    },
    onsearch: function(event, from, to) {
        var grid,
            timeStart, timeEnd,
            finder = Panel.getFinder();

        timeStart = window.performance ? performance.now() : Date.now();
        grid = this.grid.clone();
        this.path = finder.findPath(
            this.startX, this.startY, this.endX, this.endY, grid
        );
        this.operationCount = this.operations.length;
        timeEnd = window.performance ? performance.now() : Date.now();
        this.timeSpent = (timeEnd - timeStart).toFixed(4);

        this.loop();
        // => searching
    },
    onrestart: function() {
        // When clearing the colorized nodes, there may be
        // nodes still animating, which is an asynchronous procedure.
        // Therefore, we have to defer the `abort` routine to make sure
        // that all the animations are done by the time we clear the colors.
        // The same reason applies for the `onreset` event handler.
        setTimeout(function() {
            Controller.clearOperations();
            Controller.clearFootprints();
            Controller.start();
        }, View.nodeColorizeEffect.duration * 1.2);
        // => restarting
    },
    onpause: function(event, from, to) {
        // => paused
    },
    onresume: function(event, from, to) {
        this.loop();
        // => searching
    },
    oncancel: function(event, from, to) {
        this.clearOperations();
        this.clearFootprints();
        // => ready
    },
    onfinish: function(event, from, to) {
        View.showStats({
            pathLength: PF.Util.pathLength(this.path),
            timeSpent:  this.timeSpent,
            operationCount: this.operationCount,
        });
        View.drawPath(this.path);
        // => finished
    },
    onclear: function(event, from, to) {
        this.clearOperations();
        this.clearFootprints();
        // => ready
    },
    onmodify: function(event, from, to) {
        // => modified
    },
    onreset: function(event, from, to) {
        setTimeout(function() {
            Controller.clearOperations();
            Controller.clearAll();
            Controller.buildNewGrid();
        }, View.nodeColorizeEffect.duration * 1.2);
        // => ready
    },

    /**
     * The following functions are called on entering states.
     */

    onready: function() {
        console.log('=> ready');
        this.setButtonStates({
            id: 1,
            text: 'Start Search',
            enabled: true,
            callback: $.proxy(this.start, this),
        }, {
            id: 2,
            text: 'Pause Search',
            enabled: false,
        }, {
            id: 3,
            text: 'Clear Walls',
            enabled: true,
            callback: $.proxy(this.reset, this),
        });
        // => [starting, draggingStart, draggingEnd, drawingStart, drawingEnd]
    },
    onstarting: function(event, from, to) {
        console.log('=> starting');
        // Clears any existing search progress
        this.clearFootprints();
        this.setButtonStates({
            id: 2,
            enabled: true,
        });
        this.search();
        // => searching
    },
    onsearching: function() {
        console.log('=> searching');
        this.setButtonStates({
            id: 1,
            text: 'Restart Search',
            enabled: true,
            callback: $.proxy(this.restart, this),
        }, {
            id: 2,
            text: 'Pause Search',
            enabled: true,
            callback: $.proxy(this.pause, this),
        });
        // => [paused, finished]
    },
    onpaused: function() {
        console.log('=> paused');
        this.setButtonStates({
            id: 1,
            text: 'Resume Search',
            enabled: true,
            callback: $.proxy(this.resume, this),
        }, {
            id: 2,
            text: 'Cancel Search',
            enabled: true,
            callback: $.proxy(this.cancel, this),
        });
        // => [searching, ready]
    },
    onfinished: function() {
        console.log('=> finished');
        this.setButtonStates({
            id: 1,
            text: 'Restart Search',
            enabled: true,
            callback: $.proxy(this.restart, this),
        }, {
            id: 2,
            text: 'Clear Path',
            enabled: true,
            callback: $.proxy(this.clear, this),
        });
    },
    onmodified: function() {
        console.log('=> modified');
        this.setButtonStates({
            id: 1,
            text: 'Start Search',
            enabled: true,
            callback: $.proxy(this.start, this),
        }, {
            id: 2,
            text: 'Clear Path',
            enabled: true,
            callback: $.proxy(this.clear, this),
        });
    },

    /**
     * Define setters and getters of PF.Node, then we can get the operations
     * of the pathfinding.
     */
    hookPathFinding: function() {

        PF.Node.prototype = {
            get opened() {
                return this._opened;
            },
            set opened(v) {
                this._opened = v;
                Controller.operations.push({
                    x: this.x,
                    y: this.y,
                    attr: 'opened',
                    value: v
                });
            },
            get closed() {
                return this._closed;
            },
            set closed(v) {
                this._closed = v;
                Controller.operations.push({
                    x: this.x,
                    y: this.y,
                    attr: 'closed',
                    value: v
                });
            },
            get tested() {
                return this._tested;
            },
            set tested(v) {
                this._tested = v;
                Controller.operations.push({
                    x: this.x,
                    y: this.y,
                    attr: 'tested',
                    value: v
                });
            },
        };

        this.operations = [];
    },
    bindEvents: function() {
        $('#draw_area').mousedown($.proxy(this.mousedown, this));
        $(window)
            .mousemove($.proxy(this.mousemove, this))
            .mouseup($.proxy(this.mouseup, this));
    },
    loop: function() {
        var interval = 1000 / this.operationsPerSecond;
        (function loop() {
            if (!Controller.is('searching')) {
                return;
            }
            Controller.step();
            setTimeout(loop, interval);
        })();
    },
    step: function() {
        var operations = this.operations,
            op, isSupported;

        do {
            if (!operations.length) {
                this.finish(); // transit to `finished` state
                return;
            }
            op = operations.shift();
            isSupported = View.supportedOperations.indexOf(op.attr) !== -1;
        } while (!isSupported);

        View.setAttributeAt(op.x, op.y, op.attr, op.value);
    },
    clearOperations: function() {
        this.operations = [];
    },
    clearFootprints: function() {
        View.clearFootprints();
        View.clearPath();
    },
    clearAll: function() {
        this.clearFootprints();
        View.clearBlockedNodes();
    },
    buildNewGrid: function() {
        this.grid = new PF.Grid(this.gridSize[0], this.gridSize[1]);
    },
    mousedown: function (event) {
        var coord = View.toGridCoordinate(event.pageX, event.pageY),
            gridX = coord[0],
            gridY = coord[1],
            grid  = this.grid;

        if (this.can('dragStart') && this.isStartPos(gridX, gridY)) {
            this.dragStart();
            return;
        }
        if (this.can('dragEnd') && this.isEndPos(gridX, gridY)) {
            this.dragEnd();
            return;
        }
        if (this.can('drawWall') && grid.isWalkableAt(gridX, gridY)) {
            this.drawWall(gridX, gridY);
            return;
        }
        if (this.can('eraseWall') && !grid.isWalkableAt(gridX, gridY)) {
            this.eraseWall(gridX, gridY);
        }
    },
    mousemove: function(event) {
        var coord = View.toGridCoordinate(event.pageX, event.pageY),
            grid = this.grid,
            gridX = coord[0],
            gridY = coord[1];

        if (this.isStartOrEndPos(gridX, gridY)) {
            return;
        }

        switch (this.current) {
        case 'draggingStart':
            if (grid.isWalkableAt(gridX, gridY)) {
                this.setStartPos(gridX, gridY);
            }
            break;
        case 'draggingEnd':
            if (grid.isWalkableAt(gridX, gridY)) {
                this.setEndPos(gridX, gridY);
            }
            break;
        case 'drawingWall':
            this.setWalkableAt(gridX, gridY, false);
            break;
        case 'erasingWall':
            this.setWalkableAt(gridX, gridY, true);
            break;
        }
    },
    mouseup: function(event) {
        if (Controller.can('rest')) {
            Controller.rest();
        }
    },
    setButtonStates: function() {
        $.each(arguments, function(i, opt) {
            var $button = Controller.$buttons.eq(opt.id - 1);
            if (opt.text) {
                $button.text(opt.text);
            }
            if (opt.callback) {
                $button
                    .unbind('click')
                    .click(opt.callback);
            }
            if (opt.enabled === undefined) {
                return;
            } else if (opt.enabled) {
                $button.removeAttr('disabled');
            } else {
                $button.attr({ disabled: 'disabled' });
            }
        });
    },
    /**
     * When initializing, this method will be called to set the positions
     * of start node and end node.
     * It will detect user's display size, and compute the best positions.
     */
    setDefaultStartEndPos: function() {
        var width, height,
            marginRight, availWidth,
            centerX, centerY,
            endX, endY,
            nodeSize = View.nodeSize;

        width  = $(window).width();
        height = $(window).height();

        marginRight = $('#algorithm_panel').width();
        availWidth = width - marginRight;

        centerX = Math.ceil(availWidth / 2 / nodeSize);
        centerY = Math.floor(height / 2 / nodeSize);

        this.setStartPos(centerX - 5, centerY);
        this.setEndPos(centerX + 5, centerY);
    },
    setStartPos: function(gridX, gridY) {
        this.startX = gridX;
        this.startY = gridY;
        View.setStartPos(gridX, gridY);
    },
    setEndPos: function(gridX, gridY) {
        this.endX = gridX;
        this.endY = gridY;
        View.setEndPos(gridX, gridY);
    },
    setWalkableAt: function(gridX, gridY, walkable) {
        this.grid.setWalkableAt(gridX, gridY, walkable);
        View.setAttributeAt(gridX, gridY, 'walkable', walkable);
    },
    isStartPos: function(gridX, gridY) {
        return gridX === this.startX && gridY === this.startY;
    },
    isEndPos: function(gridX, gridY) {
        return gridX === this.endX && gridY === this.endY;
    },
    isStartOrEndPos: function(gridX, gridY) {
        return this.isStartPos(gridX, gridY) || this.isEndPos(gridX, gridY);
    },
});


================================================
FILE: visual/js/main.js
================================================
$(document).ready(function() {
    if (!Raphael.svg) {
        window.location = './notsupported.html';
    }

    // suppress select events
    $(window).bind('selectstart', function(event) {
        event.preventDefault();
    });

    // initialize visualization
    Panel.init();
    Controller.init();
});


================================================
FILE: visual/js/panel.js
================================================
/**
 * The control panel.
 */
var Panel = {
    init: function() {
        var $algo = $('#algorithm_panel');

        $('.panel').draggable();
        $('.accordion').accordion({
            collapsible: false,
        });
        $('.option_label').click(function() {
            $(this).prev().click();
        });
        $('#hide_instructions').click(function() {
            $('#instructions_panel').slideUp();
        });
        $('#play_panel').css({
            top: $algo.offset().top + $algo.outerHeight() + 20
        });
        $('#button2').attr('disabled', 'disabled');
    },
    /**
     * Get the user selected path-finder.
     * TODO: clean up this messy code.
     */
    getFinder: function() {
        var finder, selected_header, heuristic, allowDiagonal, biDirectional, dontCrossCorners, weight, trackRecursion, timeLimit;
        
        selected_header = $(
            '#algorithm_panel ' +
            '.ui-accordion-header[aria-selected=true]'
        ).attr('id');
        
        switch (selected_header) {

        case 'astar_header':
            allowDiagonal = typeof $('#astar_section ' +
                                     '.allow_diagonal:checked').val() !== 'undefined';
            biDirectional = typeof $('#astar_section ' +
                                     '.bi-directional:checked').val() !=='undefined';
            dontCrossCorners = typeof $('#astar_section ' +
                                     '.dont_cross_corners:checked').val() !=='undefined';

            /* parseInt returns NaN (which is falsy) if the string can't be parsed */
            weight = parseInt($('#astar_section .spinner').val()) || 1;
            weight = weight >= 1 ? weight : 1; /* if negative or 0, use 1 */

            heuristic = $('input[name=astar_heuristic]:checked').val();
            if (biDirectional) {
                finder = new PF.BiAStarFinder({
                    allowDiagonal: allowDiagonal,
                    dontCrossCorners: dontCrossCorners,
                    heuristic: PF.Heuristic[heuristic],
                    weight: weight
                });
            } else {
                finder = new PF.AStarFinder({
                    allowDiagonal: allowDiagonal,
                    dontCrossCorners: dontCrossCorners,
                    heuristic: PF.Heuristic[heuristic],
                    weight: weight
                });
            }
            break;

        case 'breadthfirst_header':
            allowDiagonal = typeof $('#breadthfirst_section ' +
                                     '.allow_diagonal:checked').val() !== 'undefined';
            biDirectional = typeof $('#breadthfirst_section ' +
                                     '.bi-directional:checked').val() !== 'undefined';
            dontCrossCorners = typeof $('#breadthfirst_section ' +
                                     '.dont_cross_corners:checked').val() !=='undefined';
            if (biDirectional) {
                finder = new PF.BiBreadthFirstFinder({
                    allowDiagonal: allowDiagonal,
                    dontCrossCorners: dontCrossCorners
                });
            } else {
                finder = new PF.BreadthFirstFinder({
                    allowDiagonal: allowDiagonal,
                    dontCrossCorners: dontCrossCorners
                });
            }
            break;

        case 'bestfirst_header':
            allowDiagonal = typeof $('#bestfirst_section ' +
                                     '.allow_diagonal:checked').val() !== 'undefined';
            biDirectional = typeof $('#bestfirst_section ' +
                                     '.bi-directional:checked').val() !== 'undefined';
            dontCrossCorners = typeof $('#bestfirst_section ' +
                                     '.dont_cross_corners:checked').val() !=='undefined';
            heuristic = $('input[name=bestfirst_heuristic]:checked').val();
            if (biDirectional) {
                finder = new PF.BiBestFirstFinder({
                    allowDiagonal: allowDiagonal,
                    dontCrossCorners: dontCrossCorners,
                    heuristic: PF.Heuristic[heuristic]
                });
            } else {
                finder = new PF.BestFirstFinder({
                    allowDiagonal: allowDiagonal,
                    dontCrossCorners: dontCrossCorners,
                    heuristic: PF.Heuristic[heuristic]
                });
            }
            break;

        case 'dijkstra_header':
            allowDiagonal = typeof $('#dijkstra_section ' +
                                     '.allow_diagonal:checked').val() !== 'undefined';
            biDirectional = typeof $('#dijkstra_section ' +
                                     '.bi-directional:checked').val() !=='undefined';
            dontCrossCorners = typeof $('#dijkstra_section ' +
                                     '.dont_cross_corners:checked').val() !=='undefined';
            if (biDirectional) {
                finder = new PF.BiDijkstraFinder({
                    allowDiagonal: allowDiagonal,
                    dontCrossCorners: dontCrossCorners
                });
            } else {
                finder = new PF.DijkstraFinder({
                    allowDiagonal: allowDiagonal,
                    dontCrossCorners: dontCrossCorners
                });
            }
            break;

        case 'jump_point_header':
            trackRecursion = typeof $('#jump_point_section ' +
                                     '.track_recursion:checked').val() !== 'undefined';
            heuristic = $('input[name=jump_point_heuristic]:checked').val();
            
            finder = new PF.JumpPointFinder({
              trackJumpRecursion: trackRecursion,
              heuristic: PF.Heuristic[heuristic],
              diagonalMovement: PF.DiagonalMovement.IfAtMostOneObstacle
            });
            break;
        case 'orth_jump_point_header':
            trackRecursion = typeof $('#orth_jump_point_section ' +
                                     '.track_recursion:checked').val() !== 'undefined';
            heuristic = $('input[name=orth_jump_point_heuristic]:checked').val();

            finder = new PF.JumpPointFinder({
              trackJumpRecursion: trackRecursion,
              heuristic: PF.Heuristic[heuristic],
              diagonalMovement: PF.DiagonalMovement.Never
            });
            break;
        case 'ida_header':
            allowDiagonal = typeof $('#ida_section ' +
                                     '.allow_diagonal:checked').val() !== 'undefined';
            dontCrossCorners = typeof $('#ida_section ' +
                                     '.dont_cross_corners:checked').val() !=='undefined';
            trackRecursion = typeof $('#ida_section ' +
                                     '.track_recursion:checked').val() !== 'undefined';

            heuristic = $('input[name=jump_point_heuristic]:checked').val();

            weight = parseInt($('#ida_section input[name=astar_weight]').val()) || 1;
            weight = weight >= 1 ? weight : 1; /* if negative or 0, use 1 */

            timeLimit = parseInt($('#ida_section input[name=time_limit]').val());

            // Any non-negative integer, indicates "forever".
            timeLimit = (timeLimit <= 0 || isNaN(timeLimit)) ? -1 : timeLimit;

            finder = new PF.IDAStarFinder({
              timeLimit: timeLimit,
              trackRecursion: trackRecursion,
              allowDiagonal: allowDiagonal,
              dontCrossCorners: dontCrossCorners,
              heuristic: PF.Heuristic[heuristic],
              weight: weight
            });

            break;
        }

        return finder;
    }
};


================================================
FILE: visual/js/view.js
================================================
/**
 * The pathfinding visualization.
 * It uses raphael.js to show the grids.
 */
var View = {
    nodeSize: 30, // width and height of a single node, in pixel
    nodeStyle: {
        normal: {
            fill: 'white',
            'stroke-opacity': 0.2, // the border
        },
        blocked: {
            fill: 'grey',
            'stroke-opacity': 0.2,
        },
        start: {
            fill: '#0d0',
            'stroke-opacity': 0.2,
        },
        end: {
            fill: '#e40',
            'stroke-opacity': 0.2,
        },
        opened: {
            fill: '#98fb98',
            'stroke-opacity': 0.2,
        },
        closed: {
            fill: '#afeeee',
            'stroke-opacity': 0.2,
        },
        failed: {
            fill: '#ff8888',
            'stroke-opacity': 0.2,
        },
        tested: {
            fill: '#e5e5e5',
            'stroke-opacity': 0.2,
        },
    },
    nodeColorizeEffect: {
        duration: 50,
    },
    nodeZoomEffect: {
        duration: 200,
        transform: 's1.2', // scale by 1.2x
        transformBack: 's1.0',
    },
    pathStyle: {
        stroke: 'yellow',
        'stroke-width': 3,
    },
    supportedOperations: ['opened', 'closed', 'tested'],
    init: function(opts) {
        this.numCols      = opts.numCols;
        this.numRows      = opts.numRows;
        this.paper        = Raphael('draw_area');
        this.$stats       = $('#stats');
    },
    /**
     * Generate the grid asynchronously.
     * This method will be a very expensive task.
     * Therefore, in order to not to block the rendering of browser ui,
     * I decomposed the task into smaller ones. Each will only generate a row.
     */
    generateGrid: function(callback) {
        var i, j, x, y,
            rect,
            normalStyle, nodeSize,
            createRowTask, sleep, tasks,
            nodeSize    = this.nodeSize,
            normalStyle = this.nodeStyle.normal,
            numCols     = this.numCols,
            numRows     = this.numRows,
            paper       = this.paper,
            rects       = this.rects = [],
            $stats      = this.$stats;

        paper.setSize(numCols * nodeSize, numRows * nodeSize);

        createRowTask = function(rowId) {
            return function(done) {
                rects[rowId] = [];
                for (j = 0; j < numCols; ++j) {
                    x = j * nodeSize;
                    y = rowId * nodeSize;

                    rect = paper.rect(x, y, nodeSize, nodeSize);
                    rect.attr(normalStyle);
                    rects[rowId].push(rect);
                }
                $stats.text(
                    'generating grid ' +
                    Math.round((rowId + 1) / numRows * 100) + '%'
                );
                done(null);
            };
        };

        sleep = function(done) {
            setTimeout(function() {
                done(null);
            }, 0);
        };

        tasks = [];
        for (i = 0; i < numRows; ++i) {
            tasks.push(createRowTask(i));
            tasks.push(sleep);
        }

        async.series(tasks, function() {
            if (callback) {
                callback();
            }
        });
    },
    setStartPos: function(gridX, gridY) {
        var coord = this.toPageCoordinate(gridX, gridY);
        if (!this.startNode) {
            this.startNode = this.paper.rect(
                coord[0],
                coord[1],
                this.nodeSize,
                this.nodeSize
            ).attr(this.nodeStyle.normal)
             .animate(this.nodeStyle.start, 1000);
        } else {
            this.startNode.attr({ x: coord[0], y: coord[1] }).toFront();
        }
    },
    setEndPos: function(gridX, gridY) {
        var coord = this.toPageCoordinate(gridX, gridY);
        if (!this.endNode) {
            this.endNode = this.paper.rect(
                coord[0],
                coord[1],
                this.nodeSize,
                this.nodeSize
            ).attr(this.nodeStyle.normal)
             .animate(this.nodeStyle.end, 1000);
        } else {
            this.endNode.attr({ x: coord[0], y: coord[1] }).toFront();
        }
    },
    /**
     * Set the attribute of the node at the given coordinate.
     */
    setAttributeAt: function(gridX, gridY, attr, value) {
        var color, nodeStyle = this.nodeStyle;
        switch (attr) {
        case 'walkable':
            color = value ? nodeStyle.normal.fill : nodeStyle.blocked.fill;
            this.setWalkableAt(gridX, gridY, value);
            break;
        case 'opened':
            this.colorizeNode(this.rects[gridY][gridX], nodeStyle.opened.fill);
            this.setCoordDirty(gridX, gridY, true);
            break;
        case 'closed':
            this.colorizeNode(this.rects[gridY][gridX], nodeStyle.closed.fill);
            this.setCoordDirty(gridX, gridY, true);
            break;
        case 'tested':
            color = (value === true) ? nodeStyle.tested.fill : nodeStyle.normal.fill;

            this.colorizeNode(this.rects[gridY][gridX], color);
            this.setCoordDirty(gridX, gridY, true);
            break;
        case 'parent':
            // XXX: Maybe draw a line from this node to its parent?
            // This would be expensive.
            break;
        default:
            console.error('unsupported operation: ' + attr + ':' + value);
            return;
        }
    },
    colorizeNode: function(node, color) {
        node.animate({
            fill: color
        }, this.nodeColorizeEffect.duration);
    },
    zoomNode: function(node) {
        node.toFront().attr({
            transform: this.nodeZoomEffect.transform,
        }).animate({
            transform: this.nodeZoomEffect.transformBack,
        }, this.nodeZoomEffect.duration);
    },
    setWalkableAt: function(gridX, gridY, value) {
        var node, i, blockedNodes = this.blockedNodes;
        if (!blockedNodes) {
            blockedNodes = this.blockedNodes = new Array(this.numRows);
            for (i = 0; i < this.numRows; ++i) {
                blockedNodes[i] = [];
            }
        }
        node = blockedNodes[gridY][gridX];
        if (value) {
            // clear blocked node
            if (node) {
                this.colorizeNode(node, this.rects[gridY][gridX].attr('fill'));
                this.zoomNode(node);
                setTimeout(function() {
                    node.remove();
                }, this.nodeZoomEffect.duration);
                blockedNodes[gridY][gridX] = null;
            }
        } else {
            // draw blocked node
            if (node) {
                return;
            }
            node = blockedNodes[gridY][gridX] = this.rects[gridY][gridX].clone();
            this.colorizeNode(node, this.nodeStyle.blocked.fill);
            this.zoomNode(node);
        }
    },
    clearFootprints: function() {
        var i, x, y, coord, coords = this.getDirtyCoords();
        for (i = 0; i < coords.length; ++i) {
            coord = coords[i];
            x = coord[0];
            y = coord[1];
            this.rects[y][x].attr(this.nodeStyle.normal);
            this.setCoordDirty(x, y, false);
        }
    },
    clearBlockedNodes: function() {
        var i, j, blockedNodes = this.blockedNodes;
        if (!blockedNodes) {
            return;
        }
        for (i = 0; i < this.numRows; ++i) {
            for (j = 0 ;j < this.numCols; ++j) {
                if (blockedNodes[i][j]) {
                    blockedNodes[i][j].remove();
                    blockedNodes[i][j] = null;
                }
            }
        }
    },
    drawPath: function(path) {
        if (!path.length) {
            return;
        }
        var svgPath = this.buildSvgPath(path);
        this.path = this.paper.path(svgPath).attr(this.pathStyle);
    },
    /**
     * Given a path, build its SVG represention.
     */
    buildSvgPath: function(path) {
        var i, strs = [], size = this.nodeSize;

        strs.push('M' + (path[0][0] * size + size / 2) + ' ' +
                  (path[0][1] * size + size / 2));
        for (i = 1; i < path.length; ++i) {
            strs.push('L' + (path[i][0] * size + size / 2) + ' ' +
                      (path[i][1] * size + size / 2));
        }

        return strs.join('');
    },
    clearPath: function() {
        if (this.path) {
            this.path.remove();
        }
    },
    /**
     * Helper function to convert the page coordinate to grid coordinate
     */
    toGridCoordinate: function(pageX, pageY) {
        return [
            Math.floor(pageX / this.nodeSize),
            Math.floor(pageY / this.nodeSize)
        ];
    },
    /**
     * helper function to convert the grid coordinate to page coordinate
     */
    toPageCoordinate: function(gridX, gridY) {
        return [
            gridX * this.nodeSize,
            gridY * this.nodeSize
        ];
    },
    showStats: function(opts) {
        var texts = [
            'length: ' + Math.round(opts.pathLength * 100) / 100,
            'time: ' + opts.timeSpent + 'ms',
            'operations: ' + opts.operationCount
        ];
        $('#stats').show().html(texts.join('<br>'));
    },
    setCoordDirty: function(gridX, gridY, isDirty) {
        var x, y,
            numRows = this.numRows,
            numCols = this.numCols,
            coordDirty;

        if (this.coordDirty === undefined) {
            coordDirty = this.coordDirty = [];
            for (y = 0; y < numRows; ++y) {
                coordDirty.push([]);
                for (x = 0; x < numCols; ++x) {
                    coordDirty[y].push(false);
                }
            }
        }

        this.coordDirty[gridY][gridX] = isDirty;
    },
    getDirtyCoords: function() {
        var x, y,
            numRows = this.numRows,
            numCols = this.numCols,
            coordDirty = this.coordDirty,
            coords = [];

        if (coordDirty === undefined) {
            return [];
        }

        for (y = 0; y < numRows; ++y) {
            for (x = 0; x < numCols; ++x) {
                if (coordDirty[y][x]) {
                    coords.push([x, y]);
                }
            }
        }
        return coords;
    },
};


================================================
FILE: visual/lib/raphael-min.js
================================================
// ┌────────────────────────────────────────────────────────────────────┐ \\
// │ Raphaël 2.1.0 - JavaScript Vector Library                          │ \\
// ├────────────────────────────────────────────────────────────────────┤ \\
// │ Copyright © 2008-2012 Dmitry Baranovskiy (http://raphaeljs.com)    │ \\
// │ Copyright © 2008-2012 Sencha Labs (http://sencha.com)              │ \\
// ├────────────────────────────────────────────────────────────────────┤ \\
// │ Licensed under the MIT (http://raphaeljs.com/license.html) license.│ \\
// └────────────────────────────────────────────────────────────────────┘ \\

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b=a.document;b.createStyleSheet().addRule(".rvml","behavior:url(#default#VML)");try{!b.namespaces.rvml&&b.namespaces.add("rvml","urn:schemas-microsoft-com:vml"),F=function(a){return b.createElement("<rvml:"+a+' class="rvml">')}}catch(c){F=function(a){return b.createElement("<"+a+' xmlns="urn:schemas-microsoft.com:vml" class="rvml">')}}},a._engine.initWin(a._g.win),a._engine.create=function(){var b=a._getContainer.apply(0,arguments),c=b.container,d=b.height,e,f=b.width,g=b.x,h=b.y;if(!c)throw new Error("VML container not found.");var i=new a._Paper,j=i.canvas=a._g.doc.createElement("div"),k=j.style;g=g||0,h=h||0,f=f||512,d=d||342,i.width=f,i.height=d,f==+f&&(f+="px"),d==+d&&(d+="px"),i.coordsize=u*1e3+n+u*1e3,i.coordorigin="0 0",i.span=a._g.doc.createElement("span"),i.span.style.cssText="position:absolute;left:-9999em;top:-9999em;padding:0;margin:0;line-height:1;",j.appendChild(i.span),k.cssText=a.format("top:0;left:0;width:{0};height:{1};display:inline-block;position:relative;clip:rect(0 {0} {1} 0);overflow:hidden",f,d),c==1?(a._g.doc.body.appendChild(j),k.left=g+"px",k.top=h+"px",k.position="absolute"):c.firstChild?c.insertBefore(j,c.firstChild):c.appendChild(j),i.renderfix=function(){};return i},a.prototype.clear=function(){a.eve("raphael.clear",this),this.canvas.innerHTML=o,this.span=a._g.doc.createElement("span"),this.span.style.cssText="position:absolute;left:-9999em;top:-9999em;padding:0;margin:0;line-height:1;display:inline;",this.canvas.appendChild(this.span),this.bottom=this.top=null},a.prototype.remove=function(){a.eve("raphael.remove",this),this.canvas.parentNode.removeChild(this.canvas);for(var b in this)this[b]=typeof this[b]=="function"?a._removedFactory(b):null;return!0};var G=a.st;for(var H in E)E[b](H)&&!G[b](H)&&(G[H]=function(a){return function(){var b=arguments;return this.forEach(function(c){c[a].apply(c,b)})}}(H))}(window.Raphael)

================================================
FILE: visual/lib/themes/jquery.ui.accordion.css
================================================
/*
 * jQuery UI Accordion 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Accordion#theming
 */
/* IE/Win - Fix animation bug - #4615 */
.ui-accordion { width: 100%; }
.ui-accordion .ui-accordion-header { cursor: pointer; position: relative; margin-top: 1px; zoom: 1; border: solid 1px #333; background: rgba(0, 0, 0, 0.5); }
.ui-accordion .ui-accordion-li-fix { display: inline; }
.ui-accordion .ui-accordion-header-active { border-bottom: 0 !important; }
.ui-accordion .ui-accordion-header a { display: block; font-size: 1em; padding: 0px; }
.ui-accordion-icons .ui-accordion-header a { padding-left: 2.2em; }
.ui-accordion .ui-accordion-header .ui-icon { position: absolute; left: .5em; top: 50%; margin-top: -8px; }
.ui-accordion .ui-accordion-content { padding: 10px; border-top: 0; margin-top: -2px; position: relative; top: 1px; margin-bottom: 2px; overflow: auto; display: none; zoom: 1; border-radius: 0 0 5px 5px;}
.ui-accordion .ui-accordion-content-active { display: block; }


================================================
FILE: visual/lib/themes/jquery.ui.all.css
================================================
/*
 * jQuery UI CSS Framework 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Theming
 */
@import "jquery.ui.base.css";
@import "jquery.ui.theme.css";


================================================
FILE: visual/lib/themes/jquery.ui.autocomplete.css
================================================
/*
 * jQuery UI Autocomplete 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Autocomplete#theming
 */
.ui-autocomplete { position: absolute; cursor: default; }	

/* workarounds */
* html .ui-autocomplete { width:1px; } /* without this, the menu expands to 100% in IE6 */

/*
 * jQuery UI Menu 1.8.16
 *
 * Copyright 2010, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Menu#theming
 */
.ui-menu {
	list-style:none;
	padding: 2px;
	margin: 0;
	display:block;
	float: left;
}
.ui-menu .ui-menu {
	margin-top: -3px;
}
.ui-menu .ui-menu-item {
	margin:0;
	padding: 0;
	zoom: 1;
	float: left;
	clear: left;
	width: 100%;
}
.ui-menu .ui-menu-item a {
	text-decoration:none;
	display:block;
	padding:.2em .4em;
	line-height:1.5;
	zoom:1;
}
.ui-menu .ui-menu-item a.ui-state-hover,
.ui-menu .ui-menu-item a.ui-state-active {
	font-weight: normal;
	margin: -1px;
}


================================================
FILE: visual/lib/themes/jquery.ui.base.css
================================================
@import url("jquery.ui.core.css");
@import url("jquery.ui.resizable.css");
@import url("jquery.ui.selectable.css");
@import url("jquery.ui.accordion.css");
@import url("jquery.ui.autocomplete.css");
@import url("jquery.ui.button.css");
@import url("jquery.ui.dialog.css");
@import url("jquery.ui.slider.css");
@import url("jquery.ui.tabs.css");
@import url("jquery.ui.datepicker.css");
@import url("jquery.ui.progressbar.css");

================================================
FILE: visual/lib/themes/jquery.ui.button.css
================================================
/*
 * jQuery UI Button 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Button#theming
 */
.ui-button { display: inline-block; position: relative; padding: 0; margin-right: .1em; text-decoration: none !important; cursor: pointer; text-align: center; zoom: 1; overflow: visible; } /* the overflow property removes extra width in IE */
.ui-button-icon-only { width: 2.2em; } /* to make room for the icon, a width needs to be set here */
button.ui-button-icon-only { width: 2.4em; } /* button elements seem to need a little more width */
.ui-button-icons-only { width: 3.4em; } 
button.ui-button-icons-only { width: 3.7em; } 

/*button text element */
.ui-button .ui-button-text { display: block; line-height: 1.4;  }
.ui-button-text-only .ui-button-text { padding: .4em 1em; }
.ui-button-icon-only .ui-button-text, .ui-button-icons-only .ui-button-text { padding: .4em; text-indent: -9999999px; }
.ui-button-text-icon-primary .ui-button-text, .ui-button-text-icons .ui-button-text { padding: .4em 1em .4em 2.1em; }
.ui-button-text-icon-secondary .ui-button-text, .ui-button-text-icons .ui-button-text { padding: .4em 2.1em .4em 1em; }
.ui-button-text-icons .ui-button-text { padding-left: 2.1em; padding-right: 2.1em; }
/* no icon support for input elements, provide padding by default */
input.ui-button { padding: .4em 1em; }

/*button icon element(s) */
.ui-button-icon-only .ui-icon, .ui-button-text-icon-primary .ui-icon, .ui-button-text-icon-secondary .ui-icon, .ui-button-text-icons .ui-icon, .ui-button-icons-only .ui-icon { position: absolute; top: 50%; margin-top: -8px; }
.ui-button-icon-only .ui-icon { left: 50%; margin-left: -8px; }
.ui-button-text-icon-primary .ui-button-icon-primary, .ui-button-text-icons .ui-button-icon-primary, .ui-button-icons-only .ui-button-icon-primary { left: .5em; }
.ui-button-text-icon-secondary .ui-button-icon-secondary, .ui-button-text-icons .ui-button-icon-secondary, .ui-button-icons-only .ui-button-icon-secondary { right: .5em; }
.ui-button-text-icons .ui-button-icon-secondary, .ui-button-icons-only .ui-button-icon-secondary { right: .5em; }

/*button sets*/
.ui-buttonset { margin-right: 7px; }
.ui-buttonset .ui-button { margin-left: 0; margin-right: -.3em; }

/* workarounds */
button.ui-button::-moz-focus-inner { border: 0; padding: 0; } /* reset extra padding in Firefox */


================================================
FILE: visual/lib/themes/jquery.ui.core.css
================================================
/*
 * jQuery UI CSS Framework 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Theming/API
 */

/* Layout helpers
----------------------------------*/
.ui-helper-hidden { display: none; }
.ui-helper-hidden-accessible { position: absolute !important; clip: rect(1px 1px 1px 1px); clip: rect(1px,1px,1px,1px); }
.ui-helper-reset { margin: 0; padding: 0; border: 0; outline: 0; line-height: 1.3; text-decoration: none; font-size: 100%; list-style: none; }
.ui-helper-clearfix:after { content: "."; display: block; height: 0; clear: both; visibility: hidden; }
.ui-helper-clearfix { display: inline-block; }
/* required comment for clearfix to work in Opera \*/
* html .ui-helper-clearfix { height:1%; }
.ui-helper-clearfix { display:block; }
/* end clearfix */
.ui-helper-zfix { width: 100%; height: 100%; top: 0; left: 0; position: absolute; opacity: 0; filter:Alpha(Opacity=0); }


/* Interaction Cues
----------------------------------*/
.ui-state-disabled { cursor: default !important; }


/* Icons
----------------------------------*/

/* states and images */
.ui-icon { display: block; text-indent: -99999px; overflow: hidden; background-repeat: no-repeat; }


/* Misc visuals
----------------------------------*/

/* Overlays */
.ui-widget-overlay { position: absolute; top: 0; left: 0; width: 100%; height: 100%; }


================================================
FILE: visual/lib/themes/jquery.ui.datepicker.css
================================================
/*
 * jQuery UI Datepicker 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Datepicker#theming
 */
.ui-datepicker { width: 17em; padding: .2em .2em 0; display: none; }
.ui-datepicker .ui-datepicker-header { position:relative; padding:.2em 0; }
.ui-datepicker .ui-datepicker-prev, .ui-datepicker .ui-datepicker-next { position:absolute; top: 2px; width: 1.8em; height: 1.8em; }
.ui-datepicker .ui-datepicker-prev-hover, .ui-datepicker .ui-datepicker-next-hover { top: 1px; }
.ui-datepicker .ui-datepicker-prev { left:2px; }
.ui-datepicker .ui-datepicker-next { right:2px; }
.ui-datepicker .ui-datepicker-prev-hover { left:1px; }
.ui-datepicker .ui-datepicker-next-hover { right:1px; }
.ui-datepicker .ui-datepicker-prev span, .ui-datepicker .ui-datepicker-next span { display: block; position: absolute; left: 50%; margin-left: -8px; top: 50%; margin-top: -8px;  }
.ui-datepicker .ui-datepicker-title { margin: 0 2.3em; line-height: 1.8em; text-align: center; }
.ui-datepicker .ui-datepicker-title select { font-size:1em; margin:1px 0; }
.ui-datepicker select.ui-datepicker-month-year {width: 100%;}
.ui-datepicker select.ui-datepicker-month, 
.ui-datepicker select.ui-datepicker-year { width: 49%;}
.ui-datepicker table {width: 100%; font-size: .9em; border-collapse: collapse; margin:0 0 .4em; }
.ui-datepicker th { padding: .7em .3em; text-align: center; font-weight: bold; border: 0;  }
.ui-datepicker td { border: 0; padding: 1px; }
.ui-datepicker td span, .ui-datepicker td a { display: block; padding: .2em; text-align: right; text-decoration: none; }
.ui-datepicker .ui-datepicker-buttonpane { background-image: none; margin: .7em 0 0 0; padding:0 .2em; border-left: 0; border-right: 0; border-bottom: 0; }
.ui-datepicker .ui-datepicker-buttonpane button { float: right; margin: .5em .2em .4em; cursor: pointer; padding: .2em .6em .3em .6em; width:auto; overflow:visible; }
.ui-datepicker .ui-datepicker-buttonpane button.ui-datepicker-current { float:left; }

/* with multiple calendars */
.ui-datepicker.ui-datepicker-multi { width:auto; }
.ui-datepicker-multi .ui-datepicker-group { float:left; }
.ui-datepicker-multi .ui-datepicker-group table { width:95%; margin:0 auto .4em; }
.ui-datepicker-multi-2 .ui-datepicker-group { width:50%; }
.ui-datepicker-multi-3 .ui-datepicker-group { width:33.3%; }
.ui-datepicker-multi-4 .ui-datepicker-group { width:25%; }
.ui-datepicker-multi .ui-datepicker-group-last .ui-datepicker-header { border-left-width:0; }
.ui-datepicker-multi .ui-datepicker-group-middle .ui-datepicker-header { border-left-width:0; }
.ui-datepicker-multi .ui-datepicker-buttonpane { clear:left; }
.ui-datepicker-row-break { clear:both; width:100%; font-size:0em; }

/* RTL support */
.ui-datepicker-rtl { direction: rtl; }
.ui-datepicker-rtl .ui-datepicker-prev { right: 2px; left: auto; }
.ui-datepicker-rtl .ui-datepicker-next { left: 2px; right: auto; }
.ui-datepicker-rtl .ui-datepicker-prev:hover { right: 1px; left: auto; }
.ui-datepicker-rtl .ui-datepicker-next:hover { left: 1px; right: auto; }
.ui-datepicker-rtl .ui-datepicker-buttonpane { clear:right; }
.ui-datepicker-rtl .ui-datepicker-buttonpane button { float: left; }
.ui-datepicker-rtl .ui-datepicker-buttonpane button.ui-datepicker-current { float:right; }
.ui-datepicker-rtl .ui-datepicker-group { float:right; }
.ui-datepicker-rtl .ui-datepicker-group-last .ui-datepicker-header { border-right-width:0; border-left-width:1px; }
.ui-datepicker-rtl .ui-datepicker-group-middle .ui-datepicker-header { border-right-width:0; border-left-width:1px; }

/* IE6 IFRAME FIX (taken from datepicker 1.5.3 */
.ui-datepicker-cover {
    display: none; /*sorry for IE5*/
    display/**/: block; /*sorry for IE5*/
    position: absolute; /*must have*/
    z-index: -1; /*must have*/
    filter: mask(); /*must have*/
    top: -4px; /*must have*/
    left: -4px; /*must have*/
    width: 200px; /*must have*/
    height: 200px; /*must have*/
}

================================================
FILE: visual/lib/themes/jquery.ui.dialog.css
================================================
/*
 * jQuery UI Dialog 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Dialog#theming
 */
.ui-dialog { position: absolute; padding: .2em; width: 300px; overflow: hidden; }
.ui-dialog .ui-dialog-titlebar { padding: .4em 1em; position: relative;  }
.ui-dialog .ui-dialog-title { float: left; margin: .1em 16px .1em 0; } 
.ui-dialog .ui-dialog-titlebar-close { position: absolute; right: .3em; top: 50%; width: 19px; margin: -10px 0 0 0; padding: 1px; height: 18px; }
.ui-dialog .ui-dialog-titlebar-close span { display: block; margin: 1px; }
.ui-dialog .ui-dialog-titlebar-close:hover, .ui-dialog .ui-dialog-titlebar-close:focus { padding: 0; }
.ui-dialog .ui-dialog-content { position: relative; border: 0; padding: .5em 1em; background: none; overflow: auto; zoom: 1; }
.ui-dialog .ui-dialog-buttonpane { text-align: left; border-width: 1px 0 0 0; background-image: none; margin: .5em 0 0 0; padding: .3em 1em .5em .4em; }
.ui-dialog .ui-dialog-buttonpane .ui-dialog-buttonset { float: right; }
.ui-dialog .ui-dialog-buttonpane button { margin: .5em .4em .5em 0; cursor: pointer; }
.ui-dialog .ui-resizable-se { width: 14px; height: 14px; right: 3px; bottom: 3px; }
.ui-draggable .ui-dialog-titlebar { cursor: move; }


================================================
FILE: visual/lib/themes/jquery.ui.progressbar.css
================================================
/*
 * jQuery UI Progressbar 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Progressbar#theming
 */
.ui-progressbar { height:2em; text-align: left; }
.ui-progressbar .ui-progressbar-value {margin: -1px; height:100%; }

================================================
FILE: visual/lib/themes/jquery.ui.resizable.css
================================================
/*
 * jQuery UI Resizable 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Resizable#theming
 */
.ui-resizable { position: relative;}
.ui-resizable-handle { position: absolute;font-size: 0.1px;z-index: 99999; display: block; }
.ui-resizable-disabled .ui-resizable-handle, .ui-resizable-autohide .ui-resizable-handle { display: none; }
.ui-resizable-n { cursor: n-resize; height: 7px; width: 100%; top: -5px; left: 0; }
.ui-resizable-s { cursor: s-resize; height: 7px; width: 100%; bottom: -5px; left: 0; }
.ui-resizable-e { cursor: e-resize; width: 7px; right: -5px; top: 0; height: 100%; }
.ui-resizable-w { cursor: w-resize; width: 7px; left: -5px; top: 0; height: 100%; }
.ui-resizable-se { cursor: se-resize; width: 12px; height: 12px; right: 1px; bottom: 1px; }
.ui-resizable-sw { cursor: sw-resize; width: 9px; height: 9px; left: -5px; bottom: -5px; }
.ui-resizable-nw { cursor: nw-resize; width: 9px; height: 9px; left: -5px; top: -5px; }
.ui-resizable-ne { cursor: ne-resize; width: 9px; height: 9px; right: -5px; top: -5px;}

================================================
FILE: visual/lib/themes/jquery.ui.selectable.css
================================================
/*
 * jQuery UI Selectable 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Selectable#theming
 */
.ui-selectable-helper { position: absolute; z-index: 100; border:1px dotted black; }


================================================
FILE: visual/lib/themes/jquery.ui.slider.css
================================================
/*
 * jQuery UI Slider 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Slider#theming
 */
.ui-slider { position: relative; text-align: left; background: rgba(255, 255, 255, 0.3) !important; border: none !important;}
.ui-slider .ui-slider-handle { position: absolute; z-index: 2; width: 15px; height: 15px; cursor: default;}
.ui-slider .ui-slider-range { position: absolute; z-index: 1; font-size: .7em; display: block; border: 0; background-position: 0 0; }

.ui-slider-horizontal { height: 5px; margin-bottom: 15px;  }
.ui-slider-horizontal .ui-slider-handle { top: -.3em; margin-left: -.6em; }
.ui-slider-horizontal .ui-slider-range { top: 0; height: 100%; }
.ui-slider-horizontal .ui-slider-range-min { left: 0; }
.ui-slider-horizontal .ui-slider-range-max { right: 0; }

.ui-slider-vertical { width: .8em; height: 100px; }
.ui-slider-vertical .ui-slider-handle { left: -.3em; margin-left: 0; margin-bottom: -.6em; }
.ui-slider-vertical .ui-slider-range { left: 0; width: 100%; }
.ui-slider-vertical .ui-slider-range-min { bottom: 0; }
.ui-slider-vertical .ui-slider-range-max { top: 0; }


================================================
FILE: visual/lib/themes/jquery.ui.tabs.css
================================================
/*
 * jQuery UI Tabs 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Tabs#theming
 */
.ui-tabs { position: relative; padding: .2em; zoom: 1; } /* position: relative prevents IE scroll bug (element with position: relative inside container with overflow: auto appear as "fixed") */
.ui-tabs .ui-tabs-nav { margin: 0; padding: .2em .2em 0; }
.ui-tabs .ui-tabs-nav li { list-style: none; float: left; position: relative; top: 1px; margin: 0 .2em 1px 0; border-bottom: 0 !important; padding: 0; white-space: nowrap; }
.ui-tabs .ui-tabs-nav li a { float: left; padding: .5em 1em; text-decoration: none; }
.ui-tabs .ui-tabs-nav li.ui-tabs-selected { margin-bottom: 0; padding-bottom: 1px; }
.ui-tabs .ui-tabs-nav li.ui-tabs-selected a, .ui-tabs .ui-tabs-nav li.ui-state-disabled a, .ui-tabs .ui-tabs-nav li.ui-state-processing a { cursor: text; }
.ui-tabs .ui-tabs-nav li a, .ui-tabs.ui-tabs-collapsible .ui-tabs-nav li.ui-tabs-selected a { cursor: pointer; } /* first selector in group seems obsolete, but required to overcome bug in Opera applying cursor: text overall if defined elsewhere... */
.ui-tabs .ui-tabs-panel { display: block; border-width: 0; padding: 1em 1.4em; background: none; }
.ui-tabs .ui-tabs-hide { display: none !important; }


================================================
FILE: visual/lib/themes/jquery.ui.theme.css
================================================


/*
 * jQuery UI CSS Framework 1.8.16
 *
 * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
 * Dual licensed under the MIT or GPL Version 2 licenses.
 * http://jquery.org/license
 *
 * http://docs.jquery.com/UI/Theming/API
 *
 * To view and modify this theme, visit http://jqueryui.com/themeroller/?tr&ffDefault=Helvetica,%20Arial,%20sans-serif&fwDefault=normal&fsDefault=1.1&fsDefaultUnit=em&cornerRadius=5&cornerRadiusUnit=px&bgColorHeader=888888&bgTextureHeader=04_highlight_hard.png&bgImgOpacityHeader=15&borderColorHeader=404040&fcHeader=ffffff&iconColorHeader=cccccc&bgColorContent=121212&bgTextureContent=12_gloss_wave.png&bgImgOpacityContent=16&borderColorContent=404040&fcContent=eeeeee&iconColorContent=bbbbbb&bgColorDefault=adadad&bgTextureDefault=03_highlight_soft.png&bgImgOpacityDefault=35&borderColorDefault=cccccc&fcDefault=333333&iconColorDefault=666666&bgColorHover=dddddd&bgTextureHover=03_highlight_soft.png&bgImgOpacityHover=60&borderColorHover=dddddd&fcHover=000000&iconColorHover=c98000&bgColorActive=121212&bgTextureActive=05_inset_soft.png&bgImgOpacityActive=15&borderColorActive=000000&fcActive=ffffff&iconColorActive=f29a00&bgColorHighlight=555555&bgTextureHighlight=04_highlight_hard.png&bgImgOpacityHighlight=55&borderColorHighlight=404040&fcHighlight=cccccc&iconColorHighlight=aaaaaa&bgColorError=fef1ec&bgTextureError=02_glass.png&bgImgOpacityError=95&borderColorError=cd0a0a&fcError=cd0a0a&iconColorError=cd0a0a
 */


/* Component containers
----------------------------------*/
.ui-widget { font-family: Helvetica, Arial, sans-serif; font-size: 1.1em; }
.ui-widget .ui-widget { font-size: 1em; }
.ui-widget input, .ui-widget select, .ui-widget textarea, .ui-widget button { font-family: Helvetica, Arial, sans-serif; font-size: 1em; }
.ui-widget-content { border: 1px solid #404040; background: rgba(0, 0, 0, 0.3); color: #eeeeee; }
.ui-widget-content a { color: #eeeeee; }
.ui-widget-header { border: 1px solid #404040; background: #888888; color: #ffffff; font-weight: normal; }
.ui-widget-header a { color: #ffffff; }

/* Interaction states
----------------------------------*/
.ui-state-default, .ui-widget-content .ui-state-default, .ui-widget-header .ui-state-default { border: 1px solid #333; background: rgba(0, 0, 0, 0.5); font-weight: normal; color: #ddd; }
.ui-state-default a, .ui-state-default a:link, .ui-state-default a:visited { color: #ddd; text-decoration: none; }
.ui-state-hover, .ui-widget-content .ui-state-hover, .ui-widget-header .ui-state-hover, .ui-state-focus, .ui-widget-content .ui-state-focus, .ui-widget-header .ui-state-focus { border: 1px solid #333; background: rgba(0, 0, 0, 0.2);  font-weight: normal; color: #ddd; }
.ui-state-hover a, .ui-state-hover a:hover { color: #fff; text-decoration: none; }A
.ui-state-active, .ui-widget-content .ui-state-active, .ui-widget-header .ui-state-active { border: 1px solid #333; background: rgba(0, 0, 0, 0.5); font-weight: normal; color: #ffffff; }
.ui-state-active a, .ui-state-active a:link, .ui-state-active a:visited { color: #ffffff; text-decoration: none; }
.ui-widget :active { outline: none; }

/* Interaction Cues
----------------------------------*/
.ui-state-highlight, .ui-widget-content .ui-state-highlight, .ui-widget-header .ui-state-highlight  {border: 1px solid #404040; background: #555555 url(images/ui-bg_highlight-hard_55_555555_1x100.png) 50% top repeat-x; color: #cccccc; }
.ui-state-highlight a, .ui-widget-content .ui-state-highlight a,.ui-widget-header .ui-state-highlight a { color: #cccccc; }
.ui-state-error, .ui-widget-content .ui-state-error, .ui-widget-header .ui-state-error {border: 1px solid #cd0a0a; background: #fef1ec url(images/ui-bg_glass_95_fef1ec_1x400.png) 50% 50% repeat-x; color: #cd0a0a; }
.ui-state-error a, .ui-widget-content .ui-state-error a, .ui-widget-header .ui-state-error a { color: #cd0a0a; }
.ui-state-error-text, .ui-widget-content .ui-state-error-text, .ui-widget-header .ui-state-error-text { color: #cd0a0a; }
.ui-priority-primary, .ui-widget-content .ui-priority-primary, .ui-widget-header .ui-priority-primary { font-weight: normal; }
.ui-priority-secondary, .ui-widget-content .ui-priority-secondary,  .ui-widget-header .ui-priority-secondary { opacity: .7; filter:Alpha(Opacity=70); font-weight: normal; }
.ui-state-disabled, .ui-widget-content .ui-state-disabled, .ui-widget-header .ui-state-disabled { opacity: .35; filter:Alpha(Opacity=35); background-image: none; }

/* Icons
----------------------------------*/

/* states and images */
.ui-icon { width: 16px; height: 16px; background-image: url(images/ui-icons_bbbbbb_256x240.png); }
.ui-widget-content .ui-icon {background-image: url(images/ui-icons_bbbbbb_256x240.png); }
.ui-widget-header .ui-icon {background-image: url(images/ui-icons_cccccc_256x240.png); }
.ui-state-default .ui-icon { background-image: url(images/ui-icons_666666_256x240.png); }
.ui-state-hover .ui-icon, .ui-state-focus .ui-icon {background-image: url(images/ui-icons_c98000_256x240.png); }
.ui-state-active .ui-icon {background-image: url(images/ui-icons_f29a00_256x240.png); }
.ui-state-highlight .ui-icon {background-image: url(images/ui-icons_aaaaaa_256x240.png); }
.ui-state-error .ui-icon, .ui-state-error-text .ui-icon {background-image: url(images/ui-icons_cd0a0a_256x240.png); }

/* positioning */
.ui-icon-carat-1-n { background-position: 0 0; }
.ui-icon-carat-1-ne { background-position: -16px 0; }
.ui-icon-carat-1-e { background-position: -32px 0; }
.ui-icon-carat-1-se { background-position: -48px 0; }
.ui-icon-carat-1-s { background-position: -64px 0; }
.ui-icon-carat-1-sw { background-position: -80px 0; }
.ui-icon-carat-1-w { background-position: -96px 0; }
.ui-icon-carat-1-nw { background-position: -112px 0; }
.ui-icon-carat-2-n-s { background-position: -128px 0; }
.ui-icon-carat-2-e-w { background-position: -144px 0; }
.ui-icon-triangle-1-n { background-position: 0 -16px; }
.ui-icon-triangle-1-ne { background-position: -16px -16px; }
.ui-icon-triangle-1-e { background-position: -32px -16px; }
.ui-icon-triangle-1-se { background-position: -48px -16px; }
.ui-icon-triangle-1-s { background-position: -64px -16px; }
.ui-icon-triangle-1-sw { background-position: -80px -16px; }
.ui-icon-triangle-1-w { background-position: -96px -16px; }
.ui-icon-triangle-1-nw { background-position: -112px -16px; }
.ui-icon-triangle-2-n-s { background-position: -128px -16px; }
.ui-icon-triangle-2-e-w { background-position: -144px -16px; }
.ui-icon-arrow-1-n { background-position: 0 -32px; }
.ui-icon-arrow-1-ne { background-position: -16px -32px; }
.ui-icon-arrow-1-e { background-position: -32px -32px; }
.ui-icon-arrow-1-se { background-position: -48px -32px; }
.ui-icon-arrow-1-s { background-position: -64px -32px; }
.ui-icon-arrow-1-sw { background-position: -80px -32px; }
.ui-icon-arrow-1-w { background-position: -96px -32px; }
.ui-icon-arrow-1-nw { background-position: -112px -32px; }
.ui-icon-arrow-2-n-s { background-position: -128px -32px; }
.ui-icon-arrow-2-ne-sw { background-position: -144px -32px; }
.ui-icon-arrow-2-e-w { background-position: -160px -32px; }
.ui-icon-arrow-2-se-nw { background-position: -176px -32px; }
.ui-icon-arrowstop-1-n { background-position: -192px -32px; }
.ui-icon-arrowstop-1-e { background-position: -208px -32px; }
.ui-icon-arrowstop-1-s { background-position: -224px -32px; }
.ui-icon-arrowstop-1-w { background-position: -240px -32px; }
.ui-icon-arrowthick-1-n { background-position: 0 -48px; }
.ui-icon-arrowthick-1-ne { background-position: -16px -48px; }
.ui-icon-arrowthick-1-e { background-position: -32px -48px; }
.ui-icon-arrowthick-1-se { background-position: -48px -48px; }
.ui-icon-arrowthick-1-s { background-position: -64px -48px; }
.ui-icon-arrowthick-1-sw { background-position: -80px -48px; }
.ui-icon-arrowthick-1-w { background-position: -96px -48px; }
.ui-icon-arrowthick-1-nw { background-position: -112px -48px; }
.ui-icon-arrowthick-2-n-s { background-position: -128px -48px; }
.ui-icon-arrowthick-2-ne-sw { background-position: -144px -48px; }
.ui-icon-arrowthick-2-e-w { background-position: -160px -48px; }
.ui-icon-arrowthick-2-se-nw { background-position: -176px -48px; }
.ui-icon-arrowthickstop-1-n { background-position: -192px -48px; }
.ui-icon-arrowthickstop-1-e { background-position: -208px -48px; }
.ui-icon-arrowthickstop-1-s { background-position: -224px -48px; }
.ui-icon-arrowthickstop-1-w { background-position: -240px -48px; }
.ui-icon-arrowreturnthick-1-w { background-position: 0 -64px; }
.ui-icon-arrowreturnthick-1-n { background-position: -16px -64px; }
.ui-icon-arrowreturnthick-1-e { background-position: -32px -64px; }
.ui-icon-arrowreturnthick-1-s { background-position: -48px -64px; }
.ui-icon-arrowreturn-1-w { background-position: -64px -64px; }
.ui-icon-arrowreturn-1-n { background-position: -80px -64px; }
.ui-icon-arrowreturn-1-e { background-position: -96px -64px; }
.ui-icon-arrowreturn-1-s { background-position: -112px -64px; }
.ui-icon-arrowrefresh-1-w { background-position: -128px -64px; }
.ui-icon-arrowrefresh-1-n { background-position: -144px -64px; }
.ui-icon-arrowrefresh-1-e { background-position: -160px -64px; }
.ui-icon-arrowrefresh-1-s { background-position: -176px -64px; }
.ui-icon-arrow-4 { background-position: 0 -80px; }
.ui-icon-arrow-4-diag { background-position: -16px -80px; }
.ui-icon-extlink { background-position: -32px -80px; }
.ui-icon-newwin { background-position: -48px -80px; }
.ui-icon-refresh { background-position: -64px -80px; }
.ui-icon-shuffle { background-position: -80px -80px; }
.ui-icon-transfer-e-w { background-position: -96px -80px; }
.ui-icon-transferthick-e-w { background-position: -112px -80px; }
.ui-icon-folder-collapsed { background-position: 0 -96px; }
.ui-icon-folder-open { background-position: -16px -96px; }
.ui-icon-document { background-position: -32px -96px; }
.ui-icon-document-b { background-position: -48px -96px; }
.ui-icon-note { background-position: -64px -96px; }
.ui-icon-mail-closed { background-position: -80px -96px; }
.ui-icon-mail-open { background-position: -96px -96px; }
.ui-icon-suitcase { background-position: -112px -96px; }
.ui-icon-comment { background-position: -128px -96px; }
.ui-icon-person { background-position: -144px -96px; }
.ui-icon-print { background-position: -160px -96px; }
.ui-icon-trash { background-position: -176px -96px; }
.ui-icon-locked { background-position: -192px -96px; }
.ui-icon-unlocked { background-position: -208px -96px; }
.ui-icon-bookmark { background-position: -224px -96px; }
.ui-icon-tag { background-position: -240px -96px; }
.ui-icon-home { background-position: 0 -112px; }
.ui-icon-flag { background-position: -16px -112px; }
.ui-icon-calendar { background-position: -32px -112px; }
.ui-icon-cart { background-position: -48px -112px; }
.ui-icon-pencil { background-position: -64px -112px; }
.ui-icon-clock { background-position: -80px -112px; }
.ui-icon-disk { background-position: -96px -112px; }
.ui-icon-calculator { background-position: -112px -112px; }
.ui-icon-zoomin { background-position: -128px -112px; }
.ui-icon-zoomout { background-position: -144px -112px; }
.ui-icon-search { background-position: -160px -112px; }
.ui-icon-wrench { background-position: -176px -112px; }
.ui-icon-gear { background-position: -192px -112px; }
.ui-icon-heart { background-position: -208px -112px; }
.ui-icon-star { background-position: -224px -112px; }
.ui-icon-link { background-position: -240px -112px; }
.ui-icon-cancel { background-position: 0 -128px; }
.ui-icon-plus { background-position: -16px -128px; }
.ui-icon-plusthick { background-position: -32px -128px; }
.ui-icon-minus { background-position: -48px -128px; }
.ui-icon-minusthick { background-position: -64px -128px; }
.ui-icon-close { background-position: -80px -128px; }
.ui-icon-closethick { background-position: -96px -128px; }
.ui-icon-key { background-position: -112px -128px; }
.ui-icon-lightbulb { background-position: -128px -128px; }
.ui-icon-scissors { background-position: -144px -128px; }
.ui-icon-clipboard { background-position: -160px -128px; }
.ui-icon-copy { background-position: -176px -128px; }
.ui-icon-contact { background-position: -192px -128px; }
.ui-icon-image { background-position: -208px -128px; }
.ui-icon-video { background-position: -224px -128px; }
.ui-icon-script { background-position: -240px -128px; }
.ui-icon-alert { background-position: 0 -144px; }
.ui-icon-info { background-position: -16px -144px; }
.ui-icon-notice { background-position: -32px -144px; }
.ui-icon-help { background-position: -48px -144px; }
.ui-icon-check { background-position: -64px -144px; }
.ui-icon-bullet { background-position: -80px -144px; }
.ui-icon-radio-off { background-position: -96px -144px; }
.ui-icon-radio-on { background-position: -112px -144px; }
.ui-icon-pin-w { background-position: -128px -144px; }
.ui-icon-pin-s { background-position: -144px -144px; }
.ui-icon-play { background-position: 0 -160px; }
.ui-icon-pause { background-position: -16px -160px; }
.ui-icon-seek-next { background-position: -32px -160px; }
.ui-icon-seek-prev { background-position: -48px -160px; }
.ui-icon-seek-end { background-position: -64px -160px; }
.ui-icon-seek-start { background-position: -80px -160px; }
/* ui-icon-seek-first is deprecated, use ui-icon-seek-start instead */
.ui-icon-seek-first { background-position: -80px -160px; }
.ui-icon-stop { background-position: -96px -160px; }
.ui-icon-eject { background-position: -112px -160px; }
.ui-icon-volume-off { background-position: -128px -160px; }
.ui-icon-volume-on { background-position: -144px -160px; }
.ui-icon-power { background-position: 0 -176px; }
.ui-icon-signal-diag { background-position: -16px -176px; }
.ui-icon-signal { background-position: -32px -176px; }
.ui-icon-battery-0 { background-position: -48px -176px; }
.ui-icon-battery-1 { background-position: -64px -176px; }
.ui-icon-battery-2 { background-position: -80px -176px; }
.ui-icon-battery-3 { background-position: -96px -176px; }
.ui-icon-circle-plus { background-position: 0 -192px; }
.ui-icon-circle-minus { background-position: -16px -192px; }
.ui-icon-circle-close { background-position: -32px -192px; }
.ui-icon-circle-triangle-e { background-position: -48px -192px; }
.ui-icon-circle-triangle-s { background-position: -64px -192px; }
.ui-icon-circle-triangle-w { background-position: -80px -192px; }
.ui-icon-circle-triangle-n { background-position: -96px -192px; }
.ui-icon-circle-arrow-e { background-position: -112px -192px; }
.ui-icon-circle-arrow-s { background-position: -128px -192px; }
.ui-icon-circle-arrow-w { background-position: -144px -192px; }
.ui-icon-circle-arrow-n { background-position: -160px -192px; }
.ui-icon-circle-zoomin { background-position: -176px -192px; }
.ui-icon-circle-zoomout { background-position: -192px -192px; }
.ui-icon-circle-check { background-position: -208px -192px; }
.ui-icon-circlesmall-plus { background-position: 0 -208px; }
.ui-icon-circlesmall-minus { background-position: -16px -208px; }
.ui-icon-circlesmall-close { background-position: -32px -208px; }
.ui-icon-squaresmall-plus { background-position: -48px -208px; }
.ui-icon-squaresmall-minus { background-position: -64px -208px; }
.ui-icon-squaresmall-close { background-position: -80px -208px; }
.ui-icon-grip-dotted-vertical { background-position: 0 -224px; }
.ui-icon-grip-dotted-horizontal { background-position: -16px -224px; }
.ui-icon-grip-solid-vertical { background-position: -32px -224px; }
.ui-icon-grip-solid-horizontal { background-position: -48px -224px; }
.ui-icon-gripsmall-diagonal-se { background-position: -64px -224px; }
.ui-icon-grip-diagonal-se { background-position: -80px -224px; }


/* Misc visuals
----------------------------------*/

/* Corner radius */
.ui-corner-all, .ui-corner-top, .ui-corner-left, .ui-corner-tl { -moz-border-radius-topleft: 5px; -webkit-border-top-left-radius: 5px; -khtml-border-top-left-radius: 5px; border-top-left-radius: 5px; }
.ui-corner-all, .ui-corner-top, .ui-corner-right, .ui-corner-tr { -moz-border-radius-topright: 5px; -webkit-border-top-right-radius: 5px; -khtml-border-top-right-radius: 5px; border-top-right-radius: 5px; }
.ui-corner-all, .ui-corner-bottom, .ui-corner-left, .ui-corner-bl { -moz-border-radius-bottomleft: 5px; -webkit-border-bottom-left-radius: 5px; -khtml-border-bottom-left-radius: 5px; border-bottom-left-radius: 5px; }
.ui-corner-all, .ui-corner-bottom, .ui-corner-right, .ui-corner-br { -moz-border-radius-bottomright: 5px; -webkit-border-bottom-right-radius: 5px; -khtml-border-bottom-right-radius: 5px; border-bottom-right-radius: 5px; }

/* Overlays */
.ui-widget-overlay { background: #aaaaaa url(images/ui-bg_flat_0_aaaaaa_40x100.png) 50% 50% repeat-x; opacity: .30;filter:Alpha(Opacity=30); }
.ui-widget-shadow { margin: -8px 0 0 -8px; padding: 8px; background: #aaaaaa url(images/ui-bg_flat_0_aaaaaa_40x100.png) 50% 50% repeat-x; opacity: .30;filter:Alpha(Opacity=30); -moz-border-radius: 8px; -khtml-border-radius: 8px; -webkit-border-radius: 8px; border-radius: 8px; }


================================================
FILE: visual/notsupported.html
================================================
<!DOCTYPE HTML>
<html lang="en">
<head>
    <meta charset="UTF-8">
    <title>PathFinding.js</title>
    <style type="text/css">
        body {
            background: #333;
        }

        #main {
            color: #fff;
            position: absolute;
            left: 50%;
            width: 500px;
            text-align: center;
            margin-left: -250px;
            margin-top: 200px;
            padding: 20px;
        }
    </style>
</head>
<body>
    <div id="main">
        Sorry, your browser is not supported
    </div>
</body>
</html>