op("a","b").
op("b","c").
op("c","d").
op("d","c").
op("c","g").
op("g","h").
op("d","h").
op("h","n").
op("n","h").
op("h","s").
op("s","f").
op("n","f").
 
xy("a",3,7).
xy("b",4,6).
xy("c",4,5).
xy("d",2,3).
xy("g",5,4).
xy("h",7,2).
xy("n",8,4).
xy("s",7,1).
xy("f",10,2).
 
cmp(A, B, C):-
    xy(A, XA, YA),
    xy(B, XB, YB),
    C is sqrt(((XA-XB)*(XA-XB)) + ((YA-YB)*(YA-YB))).
 
cost(A, AY, C):-
    cmp(A, AY, C).
 
hn(N, HN):-
    theGoal(S),
    xy(S, XS, YS),
    xy(N, XN, YN),
    HN is sqrt(((XN-XS)*(XN-XS)) + ((YN-YS)*(YN-YS))).
 
sear([T|Queue], S):-
    (   goalReached(T)
    ->  S = T
    ;   Extension = [E || toDaughter(T,E)],
        NewQueue = list::append(Queue,Extension),
        BestFirst = list::sortBy(cmp,NewQueue),
        sear(BestFirst, S)
    ).
 
toDaughter(t(_F, G, [r(B, N)|Path]), t(F1, G1, [r(Op, Child), r(B, N)|Path])):- 
    op(N, Child),
    format(atom(Op), "Винни-Пух передвигается из пункта ~w в пункт ~w", [N, Child]),
    not_in_circle(Child, Path),
    G1 is G + cost(N, Child, _),
    hn(Child, HN),
    F1 is G1 + HN.
 
prtSolution(t(_, _, T)):-
    foreach X = getMember_nd(reverse(T)) do
        write("", X),
        nl
    end foreach.
 
solve():-
    ( init(E) ->
        sear([t(hn(E),0,[r("",E)])],S),
        write("\nВинниПух начинает движение из пункта : ",E,"\n");
 
        prtSolution(S);
 
        write("Нет решения")
    ).
run():-
    solve(),
    write("END"),nl.
 
:- main.

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