564 lines
16 KiB
C++
564 lines
16 KiB
C++
/*************************************************************************/
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/* polygon_path_finder.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "polygon_path_finder.h"
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#include "core/math/geometry_2d.h"
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bool PolygonPathFinder::_is_point_inside(const Vector2 &p_point) const {
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int crosses = 0;
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for (Set<Edge>::Element *E = edges.front(); E; E = E->next()) {
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const Edge &e = E->get();
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Vector2 a = points[e.points[0]].pos;
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Vector2 b = points[e.points[1]].pos;
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if (Geometry2D::segment_intersects_segment(a, b, p_point, outside_point, nullptr)) {
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crosses++;
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}
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}
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return crosses & 1;
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}
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void PolygonPathFinder::setup(const Vector<Vector2> &p_points, const Vector<int> &p_connections) {
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ERR_FAIL_COND(p_connections.size() & 1);
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points.clear();
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edges.clear();
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//insert points
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int point_count = p_points.size();
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points.resize(point_count + 2);
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bounds = Rect2();
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for (int i = 0; i < p_points.size(); i++) {
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points.write[i].pos = p_points[i];
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points.write[i].penalty = 0;
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outside_point.x = i == 0 ? p_points[0].x : (MAX(p_points[i].x, outside_point.x));
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outside_point.y = i == 0 ? p_points[0].y : (MAX(p_points[i].y, outside_point.y));
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if (i == 0) {
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bounds.position = points[i].pos;
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} else {
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bounds.expand_to(points[i].pos);
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}
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}
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outside_point.x += 20.451 + Math::randf() * 10.2039;
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outside_point.y += 21.193 + Math::randf() * 12.5412;
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//insert edges (which are also connections)
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for (int i = 0; i < p_connections.size(); i += 2) {
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Edge e(p_connections[i], p_connections[i + 1]);
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ERR_FAIL_INDEX(e.points[0], point_count);
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ERR_FAIL_INDEX(e.points[1], point_count);
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points.write[p_connections[i]].connections.insert(p_connections[i + 1]);
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points.write[p_connections[i + 1]].connections.insert(p_connections[i]);
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edges.insert(e);
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}
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//fill the remaining connections based on visibility
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for (int i = 0; i < point_count; i++) {
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for (int j = i + 1; j < point_count; j++) {
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if (edges.has(Edge(i, j))) {
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continue; //if in edge ignore
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}
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Vector2 from = points[i].pos;
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Vector2 to = points[j].pos;
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if (!_is_point_inside(from * 0.5 + to * 0.5)) { //connection between points in inside space
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continue;
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}
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bool valid = true;
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for (Set<Edge>::Element *E = edges.front(); E; E = E->next()) {
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const Edge &e = E->get();
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if (e.points[0] == i || e.points[1] == i || e.points[0] == j || e.points[1] == j) {
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continue;
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}
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Vector2 a = points[e.points[0]].pos;
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Vector2 b = points[e.points[1]].pos;
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if (Geometry2D::segment_intersects_segment(a, b, from, to, nullptr)) {
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valid = false;
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break;
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}
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}
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if (valid) {
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points.write[i].connections.insert(j);
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points.write[j].connections.insert(i);
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}
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}
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}
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}
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Vector<Vector2> PolygonPathFinder::find_path(const Vector2 &p_from, const Vector2 &p_to) {
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Vector<Vector2> path;
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Vector2 from = p_from;
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Vector2 to = p_to;
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Edge ignore_from_edge(-1, -1);
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Edge ignore_to_edge(-1, -1);
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if (!_is_point_inside(from)) {
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float closest_dist = 1e20;
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Vector2 closest_point;
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for (Set<Edge>::Element *E = edges.front(); E; E = E->next()) {
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const Edge &e = E->get();
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Vector2 seg[2] = {
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points[e.points[0]].pos,
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points[e.points[1]].pos
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};
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Vector2 closest = Geometry2D::get_closest_point_to_segment(from, seg);
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float d = from.distance_squared_to(closest);
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if (d < closest_dist) {
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ignore_from_edge = E->get();
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closest_dist = d;
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closest_point = closest;
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}
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}
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from = closest_point;
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};
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if (!_is_point_inside(to)) {
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float closest_dist = 1e20;
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Vector2 closest_point;
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for (Set<Edge>::Element *E = edges.front(); E; E = E->next()) {
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const Edge &e = E->get();
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Vector2 seg[2] = {
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points[e.points[0]].pos,
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points[e.points[1]].pos
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};
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Vector2 closest = Geometry2D::get_closest_point_to_segment(to, seg);
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float d = to.distance_squared_to(closest);
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if (d < closest_dist) {
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ignore_to_edge = E->get();
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closest_dist = d;
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closest_point = closest;
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}
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}
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to = closest_point;
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};
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//test direct connection
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{
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bool can_see_eachother = true;
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for (Set<Edge>::Element *E = edges.front(); E; E = E->next()) {
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const Edge &e = E->get();
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if (e.points[0] == ignore_from_edge.points[0] && e.points[1] == ignore_from_edge.points[1]) {
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continue;
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}
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if (e.points[0] == ignore_to_edge.points[0] && e.points[1] == ignore_to_edge.points[1]) {
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continue;
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}
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Vector2 a = points[e.points[0]].pos;
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Vector2 b = points[e.points[1]].pos;
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if (Geometry2D::segment_intersects_segment(a, b, from, to, nullptr)) {
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can_see_eachother = false;
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break;
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}
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}
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if (can_see_eachother) {
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path.push_back(from);
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path.push_back(to);
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return path;
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}
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}
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//add to graph
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int aidx = points.size() - 2;
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int bidx = points.size() - 1;
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points.write[aidx].pos = from;
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points.write[bidx].pos = to;
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points.write[aidx].distance = 0;
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points.write[bidx].distance = 0;
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points.write[aidx].prev = -1;
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points.write[bidx].prev = -1;
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points.write[aidx].penalty = 0;
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points.write[bidx].penalty = 0;
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for (int i = 0; i < points.size() - 2; i++) {
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bool valid_a = true;
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bool valid_b = true;
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points.write[i].prev = -1;
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points.write[i].distance = 0;
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if (!_is_point_inside(from * 0.5 + points[i].pos * 0.5)) {
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valid_a = false;
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}
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if (!_is_point_inside(to * 0.5 + points[i].pos * 0.5)) {
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valid_b = false;
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}
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for (Set<Edge>::Element *E = edges.front(); E; E = E->next()) {
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const Edge &e = E->get();
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if (e.points[0] == i || e.points[1] == i) {
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continue;
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}
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Vector2 a = points[e.points[0]].pos;
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Vector2 b = points[e.points[1]].pos;
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if (valid_a) {
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if (e.points[0] != ignore_from_edge.points[1] &&
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e.points[1] != ignore_from_edge.points[1] &&
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e.points[0] != ignore_from_edge.points[0] &&
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e.points[1] != ignore_from_edge.points[0]) {
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if (Geometry2D::segment_intersects_segment(a, b, from, points[i].pos, nullptr)) {
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valid_a = false;
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}
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}
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}
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if (valid_b) {
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if (e.points[0] != ignore_to_edge.points[1] &&
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e.points[1] != ignore_to_edge.points[1] &&
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e.points[0] != ignore_to_edge.points[0] &&
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e.points[1] != ignore_to_edge.points[0]) {
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if (Geometry2D::segment_intersects_segment(a, b, to, points[i].pos, nullptr)) {
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valid_b = false;
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}
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}
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}
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if (!valid_a && !valid_b) {
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break;
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}
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}
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if (valid_a) {
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points.write[i].connections.insert(aidx);
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points.write[aidx].connections.insert(i);
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}
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if (valid_b) {
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points.write[i].connections.insert(bidx);
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points.write[bidx].connections.insert(i);
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}
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}
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//solve graph
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Set<int> open_list;
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points.write[aidx].distance = 0;
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points.write[aidx].prev = aidx;
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for (Set<int>::Element *E = points[aidx].connections.front(); E; E = E->next()) {
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open_list.insert(E->get());
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points.write[E->get()].distance = from.distance_to(points[E->get()].pos);
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points.write[E->get()].prev = aidx;
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}
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bool found_route = false;
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while (true) {
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if (open_list.size() == 0) {
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printf("open list empty\n");
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break;
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}
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//check open list
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int least_cost_point = -1;
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float least_cost = 1e30;
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//this could be faster (cache previous results)
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for (Set<int>::Element *E = open_list.front(); E; E = E->next()) {
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const Point &p = points[E->get()];
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float cost = p.distance;
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cost += p.pos.distance_to(to);
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cost += p.penalty;
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if (cost < least_cost) {
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least_cost_point = E->get();
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least_cost = cost;
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}
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}
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const Point &np = points[least_cost_point];
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//open the neighbours for search
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for (Set<int>::Element *E = np.connections.front(); E; E = E->next()) {
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Point &p = points.write[E->get()];
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float distance = np.pos.distance_to(p.pos) + np.distance;
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if (p.prev != -1) {
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//oh this was visited already, can we win the cost?
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if (p.distance > distance) {
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p.prev = least_cost_point; //reassign previous
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p.distance = distance;
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}
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} else {
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//add to open neighbours
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p.prev = least_cost_point;
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p.distance = distance;
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open_list.insert(E->get());
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if (E->get() == bidx) {
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//oh my reached end! stop algorithm
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found_route = true;
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break;
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}
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}
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}
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if (found_route) {
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break;
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}
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open_list.erase(least_cost_point);
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}
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if (found_route) {
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int at = bidx;
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path.push_back(points[at].pos);
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do {
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at = points[at].prev;
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path.push_back(points[at].pos);
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} while (at != aidx);
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path.reverse();
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}
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for (int i = 0; i < points.size() - 2; i++) {
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points.write[i].connections.erase(aidx);
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points.write[i].connections.erase(bidx);
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points.write[i].prev = -1;
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points.write[i].distance = 0;
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}
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points.write[aidx].connections.clear();
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points.write[aidx].prev = -1;
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points.write[aidx].distance = 0;
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points.write[bidx].connections.clear();
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points.write[bidx].prev = -1;
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points.write[bidx].distance = 0;
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return path;
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}
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void PolygonPathFinder::_set_data(const Dictionary &p_data) {
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ERR_FAIL_COND(!p_data.has("points"));
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ERR_FAIL_COND(!p_data.has("connections"));
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ERR_FAIL_COND(!p_data.has("segments"));
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ERR_FAIL_COND(!p_data.has("bounds"));
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Vector<Vector2> p = p_data["points"];
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Array c = p_data["connections"];
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ERR_FAIL_COND(c.size() != p.size());
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if (c.size()) {
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return;
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}
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int pc = p.size();
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points.resize(pc + 2);
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const Vector2 *pr = p.ptr();
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for (int i = 0; i < pc; i++) {
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points.write[i].pos = pr[i];
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Vector<int> con = c[i];
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const int *cr = con.ptr();
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int cc = con.size();
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for (int j = 0; j < cc; j++) {
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points.write[i].connections.insert(cr[j]);
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}
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}
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if (p_data.has("penalties")) {
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Vector<real_t> penalties = p_data["penalties"];
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if (penalties.size() == pc) {
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const real_t *pr2 = penalties.ptr();
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for (int i = 0; i < pc; i++) {
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points.write[i].penalty = pr2[i];
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}
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}
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}
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Vector<int> segs = p_data["segments"];
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int sc = segs.size();
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ERR_FAIL_COND(sc & 1);
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const int *sr = segs.ptr();
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for (int i = 0; i < sc; i += 2) {
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Edge e(sr[i], sr[i + 1]);
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edges.insert(e);
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}
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bounds = p_data["bounds"];
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}
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Dictionary PolygonPathFinder::_get_data() const {
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Dictionary d;
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Vector<Vector2> p;
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Vector<int> ind;
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Array connections;
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p.resize(MAX(0, points.size() - 2));
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connections.resize(MAX(0, points.size() - 2));
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ind.resize(edges.size() * 2);
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Vector<real_t> penalties;
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penalties.resize(MAX(0, points.size() - 2));
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{
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Vector2 *wp = p.ptrw();
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real_t *pw = penalties.ptrw();
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for (int i = 0; i < points.size() - 2; i++) {
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wp[i] = points[i].pos;
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pw[i] = points[i].penalty;
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Vector<int> c;
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c.resize(points[i].connections.size());
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{
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int *cw = c.ptrw();
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int idx = 0;
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for (Set<int>::Element *E = points[i].connections.front(); E; E = E->next()) {
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cw[idx++] = E->get();
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}
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}
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connections[i] = c;
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}
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}
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{
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int *iw = ind.ptrw();
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int idx = 0;
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for (Set<Edge>::Element *E = edges.front(); E; E = E->next()) {
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iw[idx++] = E->get().points[0];
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iw[idx++] = E->get().points[1];
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}
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}
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d["bounds"] = bounds;
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d["points"] = p;
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d["penalties"] = penalties;
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d["connections"] = connections;
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d["segments"] = ind;
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return d;
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}
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bool PolygonPathFinder::is_point_inside(const Vector2 &p_point) const {
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return _is_point_inside(p_point);
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}
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Vector2 PolygonPathFinder::get_closest_point(const Vector2 &p_point) const {
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float closest_dist = 1e20;
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Vector2 closest_point;
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for (Set<Edge>::Element *E = edges.front(); E; E = E->next()) {
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const Edge &e = E->get();
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Vector2 seg[2] = {
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points[e.points[0]].pos,
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points[e.points[1]].pos
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};
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Vector2 closest = Geometry2D::get_closest_point_to_segment(p_point, seg);
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float d = p_point.distance_squared_to(closest);
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if (d < closest_dist) {
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closest_dist = d;
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closest_point = closest;
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}
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}
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ERR_FAIL_COND_V(closest_dist == 1e20, Vector2());
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return closest_point;
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}
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Vector<Vector2> PolygonPathFinder::get_intersections(const Vector2 &p_from, const Vector2 &p_to) const {
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Vector<Vector2> inters;
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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 (Geometry2D::segment_intersects_segment(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.write[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() {
|
|
ClassDB::bind_method(D_METHOD("setup", "points", "connections"), &PolygonPathFinder::setup);
|
|
ClassDB::bind_method(D_METHOD("find_path", "from", "to"), &PolygonPathFinder::find_path);
|
|
ClassDB::bind_method(D_METHOD("get_intersections", "from", "to"), &PolygonPathFinder::get_intersections);
|
|
ClassDB::bind_method(D_METHOD("get_closest_point", "point"), &PolygonPathFinder::get_closest_point);
|
|
ClassDB::bind_method(D_METHOD("is_point_inside", "point"), &PolygonPathFinder::is_point_inside);
|
|
ClassDB::bind_method(D_METHOD("set_point_penalty", "idx", "penalty"), &PolygonPathFinder::set_point_penalty);
|
|
ClassDB::bind_method(D_METHOD("get_point_penalty", "idx"), &PolygonPathFinder::get_point_penalty);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_bounds"), &PolygonPathFinder::get_bounds);
|
|
ClassDB::bind_method(D_METHOD("_set_data"), &PolygonPathFinder::_set_data);
|
|
ClassDB::bind_method(D_METHOD("_get_data"), &PolygonPathFinder::_get_data);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::DICTIONARY, "data", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "_set_data", "_get_data");
|
|
}
|
|
|
|
PolygonPathFinder::PolygonPathFinder() {
|
|
}
|