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HTML

              
                <div>

<canvas id="mrcanvas">

</canvas>

</div>
              
            
!

CSS

              
                #mrcanvas {
	width: 700px;;
	height: 500px;
}

              
            
!

JS

              
                
Array.prototype.remove = function(val) {
    for (var i = 0; i < this.length; i++) {
        if (this[i] === val) {
            this.splice(i, 1);
            return this;
        }
    }
    return this;
}

Math.hypot = Math.hypot || function(x, y) {
  return Math.sqrt(x*x + y*y);
};

//magic constants
var TOPLEFT = { x: 0, y: 0 };
var TOPRIGHT = { x: 700, y: 0 };
var BOTTOMLEFT = { x: 0, y: 500 };
var BOTTOMRIGHT = { x: 700, y: 500 };

//variable names no longer refer to color within
var LIGHTLIGHTBLUE = '#87CEEB';
var LIGHTBLUE = '#169D5B';
var DARKBLUE = '#513317';
var LIGHTYELLOW = '#FFF176';
var LIGHTRED = '#F01A24';
var LIGHTORANGE = '#F15A23';
var BLACK = '#181B19';

var c=document.getElementById("mrcanvas");
c.width = TOPRIGHT.x;
c.height = BOTTOMLEFT.y;
c.oncontextmenu = function (e) {
    e.preventDefault();
};

var PathVertices = [ 
{
	x: TOPLEFT.x + 40,
	y: TOPRIGHT.y + 40
}, 
{
	x: BOTTOMRIGHT.x - 80,
	y: BOTTOMRIGHT.y - 80
}
];

var DraggingPathNode = null;

var MouseDown = function(e) {
	var x = e.pageX;
	var y = e.pageY;
	var vertex = { x: x - c.offsetLeft, y: y - c.offsetTop};
	
	//toggle triangle pathability
	if(e.shiftKey || e.ctrlKey) {
		TogglePathability(vertex);		
		return;
	}
	
	//left click
	if(e.button === 0) {
		var pathNode = GetPathNodeSelection(vertex);
		//check if grabbing a pathnode
		if(pathNode != null) {
			DraggingPathNode = pathNode;
		} else {
			SelectTriangle(vertex);
		}
	}
	
	//right click
	if(e.button === 2) {
		AddVertex(vertex);
		DrawTriangles();
	}
}

var MouseUp = function(e) {
	if(DraggingPathNode != null) {
		DraggingPathNode = null;
		DrawTriangles();
		FindPath(PathVertices[0], PathVertices[1]);
		FindGridPath(PathVertices[0], PathVertices[1]);
	}
}

var MouseMove = function(e) {
	var x = e.pageX;
	var y = e.pageY;
	var vertex = { x: x - c.offsetLeft, y: y - c.offsetTop};
	
	if(DraggingPathNode != null) {
		DraggingPathNode.x = vertex.x;
		DraggingPathNode.y = vertex.y;
		DrawTriangles();
	}
}

var MouseLeave = function(e) {
	DraggingPathNode = null;
}

c.addEventListener("mousedown", MouseDown, false);
c.addEventListener("mousemove", MouseMove, false);
c.addEventListener("mouseup", MouseUp, false);
c.addEventListener("mouseleave", MouseLeave, false);
var Ctx=c.getContext("2d");
Ctx.lineWidth = 2;

var DrawVertices = function(triangle, colour) {
	Ctx.strokeStyle = colour;
	Ctx.fillStyle = colour;
	for(var i = 0; i < 3; i++) {
		Ctx.beginPath();
		Ctx.arc(triangle.vertices[i].x, triangle.vertices[i].y, 5, 0, 2 * Math.PI, false);
		Ctx.stroke();
		Ctx.fill();
		Ctx.closePath();
	}
}

var DrawTriangle = function(triangle, highlight, ispathnode) {
	Ctx.strokeStyle = DARKBLUE;
		
	if(highlight) {
		DrawVertices(triangle, LIGHTRED);
		
		Ctx.strokeStyle= LIGHTRED;
		var circle = triangle.GetCircumcircle();
		Ctx.beginPath();
		Ctx.arc(circle.x, circle.y, circle.r, 0, 2 * Math.PI, false);
		Ctx.stroke();
		Ctx.closePath();
	}
	
	Ctx.beginPath();
	for (var i = 0; i < 3; i++) {
		var j = (i + 1) % 3;
		var x1 = triangle.vertices[i].x;
		var y1 = triangle.vertices[i].y;
		var x2 = triangle.vertices[j].x;
		var y2 = triangle.vertices[j].y;
		if(i === 0) {
			Ctx.moveTo(x1, y1);
		}
		Ctx.lineTo(x2, y2);
	}
	Ctx.closePath();
	if(!triangle.pathNode.pathable) {
		Ctx.fillStyle = LIGHTBLUE;
		Ctx.fill();
	}
	if(ispathnode) {
		Ctx.fillStyle = LIGHTYELLOW;
		Ctx.fill();
	}
	Ctx.stroke();
}

var DrawTriangles = function() { 
	Ctx.clearRect(0, 0, c.width, c.height);
	for(var i = 0; i < Triangles.length; i++) {
		DrawTriangle(Triangles[i]);
	}
	DrawPathNodes();
}

var DrawGridSpace = function(space, colour) {
	Ctx.strokeStyle = colour;
	Ctx.fillStyle = colour;

	Ctx.beginPath();
	Ctx.arc(space.vertex.x, space.vertex.y, 2, 0, 2 * Math.PI, false);
	Ctx.stroke();
	Ctx.fill();
	Ctx.closePath();
	
	if(space.pathNode.parent != null) {
		DrawLines([space.GetMiddle(), space.pathNode.parent.triangle.GetMiddle()], colour);
	}
}

var SelectTriangle = function(vertex) {
	DrawTriangles();
	var triangle = GetTriangle(vertex);
	DrawTriangle(triangle, true);
}

var DrawLines = function(path, color) {
	Ctx.strokeStyle = LIGHTORANGE;
	if(color) {
		Ctx.strokeStyle = color;
	}
	Ctx.beginPath();
	Ctx.moveTo(path[0].x, path[0].y);
	for(var i = 1; i < path.length; i++) {
		Ctx.lineTo(path[i].x, path[i].y);
	}
	Ctx.stroke();
	Ctx.closePath();
}

var DrawPathNodes = function() {
	for(var i = 0; i < 2; i++) {
		Ctx.beginPath();
		Ctx.strokeStyle = BLACK;
		Ctx.fillStyle = DARKBLUE;
		Ctx.arc(PathVertices[i].x, PathVertices[i].y, 10, 0, 2 * Math.PI, false);
		Ctx.stroke();
		Ctx.fill();
		Ctx.closePath();
	}
}

var DrawPath = function(path) {
	if(path.length > 1) {
		var triangles = path.map(function(pn) { return pn.triangle });
		for(var i = 0; i < triangles.length; i++) {
			DrawTriangle(triangles[i], false, true);
		}
	}
	DrawLines(triangles.map(function(t) { return t.GetMiddle(); }));
	DrawPathNodes();
}

var DrawGridPath = function(path) {
	var grids = path.map(function(pn) { return pn.triangle });
	DrawLines(grids.map(function(t) { return t.GetMiddle(); }), LIGHTRED);
	DrawPathNodes();
}

var DrawText = function(text, y) {
	var x = 30;
	Ctx.font = "bold 20px Arial";
	Ctx.strokeStyle = 'black';
	Ctx.lineWidth = 3;
	Ctx.strokeText(text, x, y);
	Ctx.fillStyle = 'white';
	Ctx.fillText(text, x, y);
}

var GetPathNodeSelection = function(vertex) {
	for(var i = 0; i < 2; i++) {
		if(Math.hypot(PathVertices[i].x - vertex.x, PathVertices[i].y - vertex.y) < 11) {
			return PathVertices[i];
		}
	}
}

//triangle array
var Triangles = [];

//triangle object 
var Triangle = function(v1, v2, v3) {
	this.vertices = [ v1, v2, v3 ];
	this.adjacent = [];
	this.dead = false;
	this.pathNode = new PathNode(this);
}
//v for vertexxa
Triangle.prototype.IsVertexInside = function(v) {

	var a = this.vertices[0];
	var b = this.vertices[1];
	var c = this.vertices[2];
	
	var av_x = v.x - a.x;
	var av_y = v.y - a.y;

	var v_ab = (b.x - a.x) * av_y - (b.y - a.y) * av_x > 0;

	if((c.x - a.x) * av_y - (c.y - a.y) * av_x > 0 == v_ab) return false;

	if((c.x - b.x) * (v.y - b.y) - (c.y - b.y) * (v.x - b.x) > 0 != v_ab) return false;

	return true;
}
//v for vertex, r for radius
Triangle.prototype.HasPointInCircle = function(triangle) {
	var p = triangle.UniqueVertex(this);

	var one = this.vertices[0];
	var two = this.vertices[1];
	var three = this.vertices[2];
	
	//arange points counter clockwise because reasons
	if(!IsLeft([ three, one ], two)) {
		var temp = one;
		one = two;
		two = temp;
	}
	
	var a = one.x - p.x;
	var b = one.y - p.y;
	var c = (one.x * one.x - p.x * p.x) + (one.y * one.y - p.y * p.y);
	var d = two.x - p.x;
	var e = two.y - p.y;
	var f = (two.x * two.x - p.x * p.x) + (two.y * two.y - p.y * p.y);
	var g = three.x - p.x;
	var h = three.y - p.y;
	var i = (three.x * three.x - p.x * p.x) + (three.y * three.y - p.y * p.y);
	
	var det = (a * (e * i - f * h)) - (b * (d * i - f * g)) + (c * (d * h - e * g));
	
	return det > 0;
}
//returns the unique vertex of the current triangle given the passed triangle
Triangle.prototype.UniqueVertex = function(triangle) {
	for(var i = 0; i < 3; i++) {
		var equal = false;
		for(var j = 0; j < 3; j++) {
			if(this.vertices[i].x == triangle.vertices[j].x && this.vertices[i].y == triangle.vertices[j].y) {
				equal = true;
			}
		}
		if(!equal) {
			return this.vertices[i];
		}
	}
	return null;
}
//returns if the triangles share two vertices
Triangle.prototype.ShareTwoPoints = function(other) {
	var count = 0;
	for(var i = 0; i < 3; i++) {
		for(var j = 0; j < 3; j++) {
			if(this.vertices[i].x == other.vertices[j].x && this.vertices[i].y == other.vertices[j].y) {
				count++;
			}
		}
	}
	return 2 == count;
}
//Adds a vertex to the current triangle. this kills the current triangle
Triangle.prototype.AddVertex = function(vertex) {
	var triangle = GetTriangle(vertex);

	var t1 = new Triangle(this.vertices[0], this.vertices[1], vertex);
	var t2 = new Triangle(this.vertices[1], this.vertices[2], vertex);
	var t3 = new Triangle(this.vertices[0], this.vertices[2], vertex);

	for(var i = 0; i < this.adjacent.length; i++) {
		var t = this.adjacent[i];
		t.adjacent.remove(this);
		if(t1.ShareTwoPoints(t)) {
			t.adjacent.push(t1);
			t1.adjacent.push(t);
		}
		if(t2.ShareTwoPoints(t)) {
			t.adjacent.push(t2);
			t2.adjacent.push(t);
		}
		if(t3.ShareTwoPoints(t)) {
			t.adjacent.push(t3);
			t3.adjacent.push(t);
		}
	}
	
	t1.adjacent.push(t2);
	t1.adjacent.push(t3);
	
	t2.adjacent.push(t1);
	t2.adjacent.push(t3);
	
	t3.adjacent.push(t1);
	t3.adjacent.push(t2);
	
	Triangles.push(t1);
	Triangles.push(t2);
	Triangles.push(t3);
	
	Triangles.remove(this);
	
	return [ t1, t2, t3 ];
}
//Gets the vertices shared between the two triangles
Triangle.prototype.SharedVertices = function(other) {
	var shared = [];
	var numfound = 0;
	for(var i = 0; i < 3; i++) {
		for(var j = 0; j < 3; j++) {
			if(this.vertices[i].x == other.vertices[j].x && this.vertices[i].y == other.vertices[j].y) {
				shared[numfound++] = this.vertices[i];
			}
		}
	}
	return shared;
}
//Get circle centre and radius
Triangle.prototype.GetCircumcircle = function() {
	var ax = this.vertices[0].x;
	var ax2 = ax * ax;
	var ay = this.vertices[0].y;
	var ay2 = ay * ay;
	var bx = this.vertices[1].x;
	var bx2 = bx * bx;
	var by = this.vertices[1].y;
	var by2 = by * by;
	var cx = this.vertices[2].x;
	var cx2 = cx * cx;
	var cy = this.vertices[2].y;
	var cy2 = cy * cy;

	var d = 2 * (ax * (by - cy) + bx * (cy - ay) + cx * (ay - by));

	var ux = ((ax2+ay2)*(by-cy)+(bx2+by2)*(cy-ay)+(cx2+cy2)*(ay-by)) / d;
	var uy = ((ax2+ay2)*(cx-bx)+(bx2+by2)*(ax-cx)+(cx2+cy2)*(bx-ax)) / d;

	var ur = Math.hypot(ux - ax, uy - ay);

	return {
		x: ux,
		y: uy,
		r: ur
	};
}
//Get triangle midpoint
Triangle.prototype.GetMiddle = function() {
	var ax = this.vertices[0].x + this.vertices[1].x + this.vertices[2].x;
	var ay = this.vertices[0].y + this.vertices[1].y + this.vertices[2].y;
	
	return { x: ax / 3, y: ay / 3 };
}

var GridStep = 10;
var GridMax = 1000;

var CoordinateToIndex = function(x, y) {
	return ((x / (GridStep/2)) * GridMax) + (y / (GridStep/2));
}

var GridSpace = function(vertex) {
	this.vertex = vertex;
	this.adjacent = [];
	this.pathNode = new PathNode(this);
}
GridSpace.prototype.GetMiddle = function() {
	return this.vertex;
}

var PathNode = function(tri) {
	this.triangle = tri;
	this.pathable = true;
	this.parent = null;
	this.visited = false;
	this.heuristic = 0;
	this.pathlength = 0;
	this.value = 0;
}
PathNode.prototype.TogglePathable = function() {
	this.pathable = !this.pathable;
}
PathNode.prototype.GetAdjacent = function() {
	return this.triangle.adjacent.map(function (tri) {
		return tri.pathNode;
	});
}
PathNode.prototype.GetDistance = function(other) {
	var center = this.triangle.GetMiddle();
	var targetcenter = other.triangle.GetMiddle();
	return Math.hypot(center.x - targetcenter.x, center.y - targetcenter.y);
}
PathNode.prototype.Visit = function(parent, target) {
	this.parent = parent;
	this.visited = true;
	this.pathlength = this.GetDistance(parent) + parent.pathlength;
	this.heuristic = this.GetDistance(target);
	this.value = this.pathlength + this.heuristic;
}

var GridSpaces = [];

var BuildGrid = function() {
	GridSpaces = [];

	var startx = TOPLEFT.x + (GridStep/2);
	var endx = TOPRIGHT.x - (GridStep/2);
	var starty = TOPLEFT.y + (GridStep/2);
	var endy = BOTTOMLEFT.y - (GridStep/2);
	
	for(var x = startx; x <= endx; x += GridStep) {
		for(var y = starty; y <= endy; y += GridStep) {
			var vertex = { x: x, y: y };
			var newSpace = new GridSpace(vertex);
			var triangle = GetTriangle(vertex);
			if(triangle == null) {
				triangle = GetNearestTriangle(vertex);
			}
			newSpace.pathNode.pathable = triangle.pathNode.pathable;
			GridSpaces[CoordinateToIndex(x, y)] = newSpace;
		}
	}
	
	for(var x = startx; x <= endx; x += GridStep) {
		for(var y = starty; y <= endy; y+= GridStep) {
			var space = GridSpaces[CoordinateToIndex(x, y)]
			var adj = [];
			for(var xx = -1; xx < 2; xx++) {
				for(var yy = -1; yy < 2; yy++) {
					if(xx == 0 && yy == 0) continue;
					var gridSpace = GridSpaces[CoordinateToIndex(x + (xx * GridStep), y + (yy * GridStep))];
					if(gridSpace) {
						adj.push(gridSpace);
					}
				}
			}
			space.adjacent = adj;
		}
	}
}

var FindGridPath = function(startVertex, endVertex) {
	BuildGrid();

	var GridPath = [];

	var startNode = GetGridSpace(startVertex).pathNode;
	var endNode = GetGridSpace(endVertex).pathNode;
		
	if(startNode.pathable == false || endNode.pathable == false) {
		//return if either start or end are not pathable
		return;
	}

	var openSet = [];
	
	var visited = 0;
	var polled = 0;
	
	startNode.pathlength = 0;
	startNode.heuristic = startNode.GetDistance(endNode);
	startNode.value = startNode.heuristic;
	startNode.visited = true;
	
	openSet.push(startNode);
	
	while(openSet.length != 0) {
		
		openSet.sort(function(a, b) { return b.value - a.value; });
		
		var nominated = openSet.pop();
		
		polled++;
		
		if(nominated === endNode) {
			break;
		}
	
		var adjacent = nominated.GetAdjacent();
		
		for(var i = 0; i < adjacent.length; i++) {
			var current = adjacent[i];
			
			if(current.pathable) {
				if(!current.visited) {
					visited++;
					current.Visit(nominated, endNode);
					openSet.push(current);
				} else {
					var newPathLength = nominated.pathlength + nominated.GetDistance(current);
					if(newPathLength < current.pathlength) {
						current.Visit(nominated, endNode);
					}
				}
			}
		}
	}
	
	//end node either has parent == null: no path, or parent == something: path exists
	var currentNode = endNode;
	while(currentNode != null) {
		GridPath.push(currentNode);
		//DrawGridSpace(currentNode.triangle, LIGHTRED);
		currentNode = currentNode.parent;
	}
		
	DrawGridPath(GridPath);
	DrawText("Grid - discovered: " + visited + ", polled: " + polled, 20);
}

var FindPath = function(startVertex, endVertex) {
	
	var Path = [];
	
	for(var i = 0; i < Triangles.length; i++) {
		Triangles[i].pathNode.parent = null;
		Triangles[i].pathNode.visited = false;
		Triangles[i].pathNode.heuristic = 0;
		Triangles[i].pathNode.pathlength = 0;
		Triangles[i].pathNode.value = 0;
	}
	
	var startNode = GetTriangle(startVertex).pathNode;
	var endNode = GetTriangle(endVertex).pathNode;
	
	if(startNode.pathable == false || endNode.pathable == false) {
		//return if either start or end are not pathable
		return;
	}

	var openSet = [];
	
	var visited = 0;
	var polled = 0;
	
	startNode.pathlength = 0;
	startNode.heuristic = startNode.GetDistance(endNode);
	startNode.value = startNode.heuristic;
	startNode.visited = true;
	
	openSet.push(startNode);
	
	while(openSet.length != 0) {
		
		openSet.sort(function(a, b) { return b.value - a.value; });
		
		var nominated = openSet.pop();
		
		polled++;
		
		if(nominated === endNode) {
			break;
		}
	
		var adjacent = nominated.GetAdjacent();

		for(var i = 0; i < adjacent.length; i++) {
			var current = adjacent[i];
			
			if(current.pathable) {
				if(!current.visited) {
					visited++;
					current.Visit(nominated, endNode);
					openSet.push(current);
				} else {
					
					var newPathLength = nominated.pathlength + current.GetDistance(nominated);
					
					if(newPathLength < current.pathlength) {
						current.Visit(nominated, endNode);
					}
				}
			}
		}
	}
	
	//end node either has parent == null: no path, or parent == something: path exists
	var currentNode = endNode;
	while(currentNode != null) {
		Path.push(currentNode);
		currentNode = currentNode.parent;
	}
	
	DrawPath(Path);
	DrawText("Triangle - discovered: " + visited + ", polled: " + polled, 50);
}

//fun static methods because organisation is for scrubs

//determines if candidate is to the left of line where line is vertex a -> b
var IsLeft = function(line, candidate) {
	return ((line[1].x - line[0].x)*(candidate.y - line[0].y) - (line[1].y - line[0].y)*(candidate.x - line[0].x)) >= 0;
}

var GetTriangle = function(vertex) {
	for(var i = 0; i < Triangles.length; i++) {
		if(Triangles[i].IsVertexInside(vertex)) {
			return Triangles[i];
		}
	}
	return null;
}

var GetNearestTriangle = function(vertex) {
	var nearest = null;
	var nearestDistance = 9999999999;
	for(var i = 0; i < Triangles.length; i++) {
		var trianglecentre = Triangles[i].GetMiddle();
		var distance = Math.hypot(trianglecentre.x - vertex.x, trianglecentre.y - vertex.y);
		if(distance < nearestDistance) {
			nearest = Triangles[i];
			nearestDistance = distance;
		}
	}
	return nearest;
}

var GetGridSpace = function(vertex) {
	var x = (Math.floor(vertex.x / GridStep) * GridStep) + (GridStep/2);
	var y = (Math.floor(vertex.y / GridStep) * GridStep) + (GridStep/2);
	var index = CoordinateToIndex(x, y);
	
	return GridSpaces[index];
}

var Flip = function(t1, t2) {
	var common = t1.SharedVertices(t2);
	
	var uncommon = [];
	uncommon[0] = t1.UniqueVertex(t2);
	uncommon[1] = t2.UniqueVertex(t1);
	
	//make new triangles
	var t1n = new Triangle(uncommon[0], uncommon[1], common[0]);
	var t2n = new Triangle(uncommon[0], uncommon[1], common[1]);
	
	var adjacents = [];
	
	for(var i = 0; i < t1.adjacent.length; i++) {
		adjacents.push(t1.adjacent[i]);
	}
	for(var i = 0; i < t2.adjacent.length; i++) {
		adjacents.push(t2.adjacent[i]);
	}
	adjacents.remove(t1);
	adjacents.remove(t2);
	
	//remove old triangles from their neighbours adjacent lists
	for(var i = 0; i < t1.adjacent.length; i++) {
		var t = t1.adjacent[i];
		t.adjacent.remove(t1);
	}
	
	for(var i = 0; i < t2.adjacent.length; i++) {
		var t = t2.adjacent[i];
		t.adjacent.remove(t2);
	}
	
	for(var i = 0; i < adjacents.length; i++) {
		var t = adjacents[i];
		if(t1n.ShareTwoPoints(t)) {
			t.adjacent.push(t1n);
			t1n.adjacent.push(t);
		}
		
		if(t2n.ShareTwoPoints(t)) {
			t.adjacent.push(t2n);
			t2n.adjacent.push(t);
		}	
	}
	
	t1n.adjacent.push(t2n);
	t2n.adjacent.push(t1n);
		
	Triangles.remove(t1);
	t1.dead = true;
	Triangles.remove(t2);
	t2.dead = true;
	Triangles.push(t1n);
	Triangles.push(t2n);
			
	return [ t1n, t2n ];
}

var AddVertex = function(vertex) {
	var inside = null;
	var edge = null;

	for(var i = 0; i < Triangles.length; i++) {
		var t = Triangles[i];
		if(t.IsVertexInside(vertex)) {
			inside = t;
		}
		if(edge != null || inside != null) {
			break;
		}
	}
	if(inside != null) {
		var newTriangles = inside.AddVertex(vertex);
		for(var i = 0; i < newTriangles.length; i++) {
			if(!newTriangles[i].dead) {
				CheckAndFlip(newTriangles[i]);
			}
		}
	}
}

var CheckAndFlip = function(t) {
			
	for(var i = 0; i < t.adjacent.length; i++) {
		var tt = t.adjacent[i];
					
		if(t.HasPointInCircle(tt)) {
			var newTriangles = Flip(t, tt);
			CheckAndFlip(newTriangles[0]);
			if(!newTriangles[1].dead) {
				CheckAndFlip(newTriangles[1]);
			}
			return;
		}
	}
}

var TogglePathability = function(vertex) {
	var triangle = GetTriangle(vertex);
	if(triangle !== null) {		
		triangle.pathNode.TogglePathable();
		DrawTriangles();
	}
}

var Initialize = function() {

Triangles = [];

var t1 = new Triangle(TOPLEFT, TOPRIGHT, BOTTOMLEFT);
var t2 = new Triangle(BOTTOMRIGHT, TOPRIGHT, BOTTOMLEFT);
t1.adjacent.push(t2);
t2.adjacent.push(t1);
Triangles.push(t1);
Triangles.push(t2);

DrawTriangles();

}

window.onload = function() {
	Initialize();
}
              
            
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Console