606 lines
12 KiB
C++
606 lines
12 KiB
C++
#include "polygon_path_finder.h"
|
|
#include "geometry.h"
|
|
|
|
|
|
bool PolygonPathFinder::_is_point_inside(const Vector2& p_point) const {
|
|
|
|
int crosses=0;
|
|
|
|
|
|
for (Set<Edge>::Element *E=edges.front();E;E=E->next()) {
|
|
|
|
|
|
const Edge& e=E->get();
|
|
|
|
Vector2 a = points[e.points[0]].pos;
|
|
Vector2 b = points[e.points[1]].pos;
|
|
|
|
|
|
if (Geometry::segment_intersects_segment_2d(a,b,p_point,outside_point,NULL)) {
|
|
crosses++;
|
|
}
|
|
}
|
|
|
|
return crosses&1;
|
|
}
|
|
|
|
void PolygonPathFinder::setup(const Vector<Vector2>& p_points, const Vector<int>& p_connections) {
|
|
|
|
|
|
ERR_FAIL_COND(p_connections.size()&1);
|
|
|
|
points.clear();
|
|
edges.clear();
|
|
|
|
//insert points
|
|
|
|
int point_count=p_points.size();
|
|
points.resize(point_count+2);
|
|
bounds=Rect2();
|
|
|
|
for(int i=0;i<p_points.size();i++) {
|
|
|
|
points[i].pos=p_points[i];
|
|
points[i].penalty=0;
|
|
|
|
outside_point.x = i==0?p_points[0].x:(MAX( p_points[i].x, outside_point.x ));
|
|
outside_point.y = i==0?p_points[0].y:(MAX( p_points[i].y, outside_point.y ));
|
|
|
|
if (i==0) {
|
|
bounds.pos=points[i].pos;
|
|
} else {
|
|
bounds.expand_to(points[i].pos);
|
|
}
|
|
}
|
|
|
|
outside_point.x+=20.451+Math::randf()*10.2039;
|
|
outside_point.y+=21.193+Math::randf()*12.5412;
|
|
|
|
//insert edges (which are also connetions)
|
|
|
|
for(int i=0;i<p_connections.size();i+=2) {
|
|
|
|
Edge e(p_connections[i],p_connections[i+1]);
|
|
ERR_FAIL_INDEX(e.points[0],point_count);
|
|
ERR_FAIL_INDEX(e.points[1],point_count);
|
|
points[p_connections[i]].connections.insert(p_connections[i+1]);
|
|
points[p_connections[i+1]].connections.insert(p_connections[i]);
|
|
edges.insert(e);
|
|
}
|
|
|
|
|
|
//fill the remaining connections based on visibility
|
|
|
|
for(int i=0;i<point_count;i++) {
|
|
|
|
for(int j=i+1;j<point_count;j++) {
|
|
|
|
if (edges.has(Edge(i,j)))
|
|
continue; //if in edge ignore
|
|
|
|
Vector2 from=points[i].pos;
|
|
Vector2 to=points[j].pos;
|
|
|
|
if (!_is_point_inside(from*0.5+to*0.5)) //connection between points in inside space
|
|
continue;
|
|
|
|
bool valid=true;
|
|
|
|
for (Set<Edge>::Element *E=edges.front();E;E=E->next()) {
|
|
|
|
const Edge& e=E->get();
|
|
if (e.points[0]==i || e.points[1]==i || e.points[0]==j || e.points[1]==j )
|
|
continue;
|
|
|
|
|
|
Vector2 a = points[e.points[0]].pos;
|
|
Vector2 b = points[e.points[1]].pos;
|
|
|
|
|
|
if (Geometry::segment_intersects_segment_2d(a,b,from,to,NULL)) {
|
|
valid=false;
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
if (valid) {
|
|
points[i].connections.insert(j);
|
|
points[j].connections.insert(i);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
Vector<Vector2> PolygonPathFinder::find_path(const Vector2& p_from, const Vector2& p_to) {
|
|
|
|
Vector<Vector2> path;
|
|
|
|
Vector2 from=p_from;
|
|
Vector2 to=p_to;
|
|
Edge ignore_from_edge(-1,-1);
|
|
Edge ignore_to_edge(-1,-1);
|
|
|
|
if (!_is_point_inside(from)) {
|
|
|
|
float closest_dist=1e20;
|
|
Vector2 closest_point;
|
|
|
|
for (Set<Edge>::Element *E=edges.front();E;E=E->next()) {
|
|
|
|
const Edge& e=E->get();
|
|
Vector2 seg[2]={
|
|
points[e.points[0]].pos,
|
|
points[e.points[1]].pos
|
|
};
|
|
|
|
|
|
Vector2 closest = Geometry::get_closest_point_to_segment_2d(from,seg);
|
|
float d = from.distance_squared_to(closest);
|
|
|
|
if (d<closest_dist) {
|
|
ignore_from_edge=E->get();
|
|
closest_dist=d;
|
|
closest_point=closest;
|
|
}
|
|
}
|
|
|
|
from=closest_point;
|
|
};
|
|
|
|
|
|
if (!_is_point_inside(to)) {
|
|
float closest_dist=1e20;
|
|
Vector2 closest_point;
|
|
|
|
for (Set<Edge>::Element *E=edges.front();E;E=E->next()) {
|
|
|
|
const Edge& e=E->get();
|
|
Vector2 seg[2]={
|
|
points[e.points[0]].pos,
|
|
points[e.points[1]].pos
|
|
};
|
|
|
|
|
|
Vector2 closest = Geometry::get_closest_point_to_segment_2d(to,seg);
|
|
float d = to.distance_squared_to(closest);
|
|
|
|
if (d<closest_dist) {
|
|
ignore_to_edge=E->get();
|
|
closest_dist=d;
|
|
closest_point=closest;
|
|
}
|
|
}
|
|
|
|
to=closest_point;
|
|
};
|
|
|
|
//test direct connection
|
|
{
|
|
|
|
bool can_see_eachother=true;
|
|
|
|
for (Set<Edge>::Element *E=edges.front();E;E=E->next()) {
|
|
|
|
const Edge& e=E->get();
|
|
if (e.points[0]==ignore_from_edge.points[0] && e.points[1]==ignore_from_edge.points[1])
|
|
continue;
|
|
if (e.points[0]==ignore_to_edge.points[0] && e.points[1]==ignore_to_edge.points[1])
|
|
continue;
|
|
|
|
Vector2 a = points[e.points[0]].pos;
|
|
Vector2 b = points[e.points[1]].pos;
|
|
|
|
|
|
if (Geometry::segment_intersects_segment_2d(a,b,from,to,NULL)) {
|
|
can_see_eachother=false;
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
if (can_see_eachother) {
|
|
|
|
path.push_back(from);
|
|
path.push_back(to);
|
|
return path;
|
|
}
|
|
}
|
|
|
|
//add to graph
|
|
|
|
int aidx = points.size()-2;
|
|
int bidx = points.size()-1;
|
|
points[aidx].pos=from;
|
|
points[bidx].pos=to;
|
|
points[aidx].distance=0;
|
|
points[bidx].distance=0;
|
|
points[aidx].prev=-1;
|
|
points[bidx].prev=-1;
|
|
points[aidx].penalty=0;
|
|
points[bidx].penalty=0;
|
|
|
|
|
|
|
|
for(int i=0;i<points.size()-2;i++) {
|
|
|
|
|
|
bool valid_a=true;
|
|
bool valid_b=true;
|
|
points[i].prev=-1;
|
|
points[i].distance=0;
|
|
|
|
if (!_is_point_inside(from*0.5+points[i].pos*0.5)) {
|
|
valid_a=false;
|
|
|
|
}
|
|
|
|
|
|
if (!_is_point_inside(to*0.5+points[i].pos*0.5)) {
|
|
valid_b=false;
|
|
|
|
}
|
|
|
|
|
|
for (Set<Edge>::Element *E=edges.front();E;E=E->next()) {
|
|
|
|
const Edge& e=E->get();
|
|
|
|
if (e.points[0]==i || e.points[1]==i)
|
|
continue;
|
|
|
|
|
|
Vector2 a = points[e.points[0]].pos;
|
|
Vector2 b = points[e.points[1]].pos;
|
|
|
|
if (valid_a) {
|
|
|
|
if (e.points[0]!=ignore_from_edge.points[1] &&
|
|
e.points[1]!=ignore_from_edge.points[1] &&
|
|
e.points[0]!=ignore_from_edge.points[0] &&
|
|
e.points[1]!=ignore_from_edge.points[0]) {
|
|
|
|
|
|
if (Geometry::segment_intersects_segment_2d(a,b,from,points[i].pos,NULL)) {
|
|
valid_a=false;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (valid_b) {
|
|
|
|
if (e.points[0]!=ignore_to_edge.points[1] &&
|
|
e.points[1]!=ignore_to_edge.points[1] &&
|
|
e.points[0]!=ignore_to_edge.points[0] &&
|
|
e.points[1]!=ignore_to_edge.points[0]) {
|
|
|
|
|
|
if (Geometry::segment_intersects_segment_2d(a,b,to,points[i].pos,NULL)) {
|
|
valid_b=false;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!valid_a && !valid_b)
|
|
break;
|
|
|
|
|
|
}
|
|
|
|
|
|
if (valid_a) {
|
|
points[i].connections.insert(aidx);
|
|
points[aidx].connections.insert(i);
|
|
}
|
|
|
|
if (valid_b) {
|
|
points[i].connections.insert(bidx);
|
|
points[bidx].connections.insert(i);
|
|
}
|
|
|
|
}
|
|
//solve graph
|
|
|
|
Set<int> open_list;
|
|
|
|
points[aidx].distance=0;
|
|
points[aidx].prev=aidx;
|
|
for(Set<int>::Element *E=points[aidx].connections.front();E;E=E->next()) {
|
|
|
|
open_list.insert(E->get());
|
|
points[E->get()].distance=from.distance_to(points[E->get()].pos);
|
|
points[E->get()].prev=aidx;
|
|
|
|
}
|
|
|
|
|
|
bool found_route=false;
|
|
|
|
while(true) {
|
|
|
|
if (open_list.size()==0) {
|
|
printf("open list empty\n");
|
|
break;
|
|
}
|
|
//check open list
|
|
|
|
int least_cost_point=-1;
|
|
float least_cost=1e30;
|
|
|
|
//this could be faster (cache previous results)
|
|
for (Set<int>::Element *E=open_list.front();E;E=E->next()) {
|
|
|
|
const Point& p =points[E->get()];
|
|
float cost = p.distance;
|
|
cost+=p.pos.distance_to(to);
|
|
cost+=p.penalty;
|
|
|
|
if (cost<least_cost) {
|
|
|
|
least_cost_point=E->get();
|
|
least_cost=cost;
|
|
}
|
|
}
|
|
|
|
|
|
Point &np = points[least_cost_point];
|
|
//open the neighbours for search
|
|
|
|
for(Set<int>::Element *E=np.connections.front();E;E=E->next()) {
|
|
|
|
Point& p =points[E->get()];
|
|
float distance = np.pos.distance_to(p.pos) + np.distance;
|
|
|
|
if (p.prev!=-1) {
|
|
//oh this was visited already, can we win the cost?
|
|
|
|
if (p.distance>distance) {
|
|
|
|
p.prev=least_cost_point; //reasign previous
|
|
p.distance=distance;
|
|
}
|
|
} else {
|
|
//add to open neighbours
|
|
|
|
p.prev=least_cost_point;
|
|
p.distance=distance;
|
|
open_list.insert(E->get());
|
|
|
|
if (E->get()==bidx) {
|
|
//oh my reached end! stop algorithm
|
|
found_route=true;
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
if (found_route)
|
|
break;
|
|
|
|
open_list.erase(least_cost_point);
|
|
}
|
|
|
|
if (found_route) {
|
|
int at = bidx;
|
|
path.push_back(points[at].pos);
|
|
do {
|
|
at=points[at].prev;
|
|
path.push_back(points[at].pos);
|
|
} while (at!=aidx);
|
|
|
|
path.invert();;
|
|
}
|
|
|
|
for(int i=0;i<points.size()-2;i++) {
|
|
|
|
points[i].connections.erase(aidx);
|
|
points[i].connections.erase(bidx);
|
|
points[i].prev=-1;
|
|
points[i].distance=0;
|
|
}
|
|
|
|
points[aidx].connections.clear();
|
|
points[aidx].prev=-1;
|
|
points[aidx].distance=0;
|
|
points[bidx].connections.clear();
|
|
points[bidx].prev=-1;
|
|
points[bidx].distance=0;
|
|
|
|
return path;
|
|
}
|
|
|
|
void PolygonPathFinder::_set_data(const Dictionary& p_data) {
|
|
|
|
|
|
ERR_FAIL_COND(!p_data.has("points"));
|
|
ERR_FAIL_COND(!p_data.has("connections"));
|
|
ERR_FAIL_COND(!p_data.has("segments"));
|
|
ERR_FAIL_COND(!p_data.has("bounds"));
|
|
|
|
DVector<Vector2> p=p_data["points"];
|
|
Array c=p_data["connections"];
|
|
|
|
ERR_FAIL_COND(c.size()!=p.size());
|
|
if (c.size())
|
|
return;
|
|
|
|
int pc = p.size();
|
|
points.resize(pc+2);
|
|
|
|
DVector<Vector2>::Read pr=p.read();
|
|
for(int i=0;i<pc;i++) {
|
|
points[i].pos=pr[i];
|
|
DVector<int> con=c[i];
|
|
DVector<int>::Read cr=con.read();
|
|
int cc=con.size();
|
|
for(int j=0;j<cc;j++) {
|
|
|
|
points[i].connections.insert(cr[j]);
|
|
}
|
|
|
|
}
|
|
|
|
if (p_data.has("penalties")) {
|
|
|
|
DVector<float> penalties=p_data["penalties"];
|
|
if (penalties.size()==pc) {
|
|
DVector<float>::Read pr = penalties.read();
|
|
for(int i=0;i<pc;i++) {
|
|
points[i].penalty=pr[i];
|
|
}
|
|
}
|
|
}
|
|
|
|
DVector<int> segs=p_data["segments"];
|
|
int sc=segs.size();
|
|
ERR_FAIL_COND(sc&1);
|
|
DVector<int>::Read sr = segs.read();
|
|
for(int i=0;i<sc;i+=2) {
|
|
|
|
Edge e(sr[i],sr[i+1]);
|
|
edges.insert(e);
|
|
}
|
|
bounds=p_data["bounds"];
|
|
|
|
}
|
|
|
|
Dictionary PolygonPathFinder::_get_data() const{
|
|
|
|
Dictionary d;
|
|
DVector<Vector2> p;
|
|
DVector<int> ind;
|
|
Array connections;
|
|
p.resize(points.size()-2);
|
|
connections.resize(points.size()-2);
|
|
ind.resize(edges.size()*2);
|
|
DVector<float> penalties;
|
|
penalties.resize(points.size()-2);
|
|
{
|
|
DVector<Vector2>::Write wp=p.write();
|
|
DVector<float>::Write pw=penalties.write();
|
|
|
|
for(int i=0;i<points.size()-2;i++) {
|
|
wp[i]=points[i].pos;
|
|
pw[i]=points[i].penalty;
|
|
DVector<int> c;
|
|
c.resize(points[i].connections.size());
|
|
{
|
|
DVector<int>::Write cw=c.write();
|
|
int idx=0;
|
|
for (Set<int>::Element *E=points[i].connections.front();E;E=E->next()) {
|
|
cw[idx++]=E->get();
|
|
}
|
|
}
|
|
connections[i]=c;
|
|
}
|
|
}
|
|
{
|
|
|
|
DVector<int>::Write iw=ind.write();
|
|
int idx=0;
|
|
for (Set<Edge>::Element *E=edges.front();E;E=E->next()) {
|
|
iw[idx++]=E->get().points[0];
|
|
iw[idx++]=E->get().points[1];
|
|
}
|
|
|
|
}
|
|
|
|
d["bounds"]=bounds;
|
|
d["points"]=p;
|
|
d["penalties"]=penalties;
|
|
d["connections"]=connections;
|
|
d["segments"]=ind;
|
|
|
|
return d;
|
|
|
|
}
|
|
|
|
bool PolygonPathFinder::is_point_inside(const Vector2& p_point) const {
|
|
|
|
return _is_point_inside(p_point);
|
|
}
|
|
|
|
Vector2 PolygonPathFinder::get_closest_point(const Vector2& p_point) const {
|
|
|
|
int closest_idx=-1;
|
|
float closest_dist=1e20;
|
|
for(int i=0;i<points.size()-2;i++) {
|
|
|
|
float d = p_point.distance_squared_to(points[i].pos);
|
|
if (d<closest_dist) {
|
|
closest_dist=d;
|
|
closest_idx=i;
|
|
}
|
|
|
|
}
|
|
|
|
ERR_FAIL_COND_V(closest_idx==-1,Vector2());
|
|
|
|
return points[closest_idx].pos;
|
|
}
|
|
|
|
|
|
Vector<Vector2> PolygonPathFinder::get_intersections(const Vector2& p_from, const Vector2& p_to) const {
|
|
|
|
Vector<Vector2> inters;
|
|
|
|
for (Set<Edge>::Element *E=edges.front();E;E=E->next()) {
|
|
Vector2 a = points[E->get().points[0]].pos;
|
|
Vector2 b = points[E->get().points[1]].pos;
|
|
|
|
Vector2 res;
|
|
if (Geometry::segment_intersects_segment_2d(a,b,p_from,p_to,&res)) {
|
|
inters.push_back(res);
|
|
}
|
|
}
|
|
|
|
return inters;
|
|
|
|
}
|
|
|
|
Rect2 PolygonPathFinder::get_bounds() const {
|
|
|
|
return bounds;
|
|
}
|
|
|
|
void PolygonPathFinder::set_point_penalty(int p_point,float p_penalty) {
|
|
|
|
ERR_FAIL_INDEX(p_point,points.size()-2);
|
|
points[p_point].penalty=p_penalty;
|
|
}
|
|
|
|
float PolygonPathFinder::get_point_penalty(int p_point) const {
|
|
|
|
ERR_FAIL_INDEX_V(p_point,points.size()-2,0);
|
|
return points[p_point].penalty;
|
|
|
|
}
|
|
|
|
|
|
void PolygonPathFinder::_bind_methods() {
|
|
|
|
ObjectTypeDB::bind_method(_MD("setup","points","connections"),&PolygonPathFinder::setup);
|
|
ObjectTypeDB::bind_method(_MD("find_path","from","to"),&PolygonPathFinder::find_path);
|
|
ObjectTypeDB::bind_method(_MD("get_intersections","from","to"),&PolygonPathFinder::get_intersections);
|
|
ObjectTypeDB::bind_method(_MD("get_closest_point","point"),&PolygonPathFinder::get_closest_point);
|
|
ObjectTypeDB::bind_method(_MD("is_point_inside","point"),&PolygonPathFinder::is_point_inside);
|
|
ObjectTypeDB::bind_method(_MD("set_point_penalty","idx","penalty"),&PolygonPathFinder::set_point_penalty);
|
|
ObjectTypeDB::bind_method(_MD("get_point_penalty","idx"),&PolygonPathFinder::get_point_penalty);
|
|
|
|
ObjectTypeDB::bind_method(_MD("get_bounds"),&PolygonPathFinder::get_bounds);
|
|
ObjectTypeDB::bind_method(_MD("_set_data"),&PolygonPathFinder::_set_data);
|
|
ObjectTypeDB::bind_method(_MD("_get_data"),&PolygonPathFinder::_get_data);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::DICTIONARY,"data",PROPERTY_HINT_NONE,"",PROPERTY_USAGE_NOEDITOR),_SCS("_set_data"),_SCS("_get_data"));
|
|
|
|
}
|
|
|
|
PolygonPathFinder::PolygonPathFinder()
|
|
{
|
|
}
|
|
|
|
|