0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
869 lines
26 KiB
C++
869 lines
26 KiB
C++
/*************************************************************************/
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/* a_star.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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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 "a_star.h"
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#include "core/math/geometry.h"
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#include "core/script_language.h"
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#include "scene/scene_string_names.h"
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int AStar::get_available_point_id() const {
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if (points.empty()) {
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return 1;
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}
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// calculate our new next available point id if bigger than before or next id already contained in set of points.
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if (points.has(last_free_id)) {
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int cur_new_id = last_free_id;
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while (points.has(cur_new_id)) {
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cur_new_id++;
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}
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int &non_const = const_cast<int &>(last_free_id);
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non_const = cur_new_id;
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}
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return last_free_id;
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}
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void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
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ERR_FAIL_COND(p_id < 0);
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ERR_FAIL_COND(p_weight_scale < 1);
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Point *found_pt;
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bool p_exists = points.lookup(p_id, found_pt);
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if (!p_exists) {
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Point *pt = memnew(Point);
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pt->id = p_id;
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pt->pos = p_pos;
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pt->weight_scale = p_weight_scale;
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pt->prev_point = nullptr;
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pt->open_pass = 0;
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pt->closed_pass = 0;
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pt->enabled = true;
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points.set(p_id, pt);
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} else {
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found_pt->pos = p_pos;
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found_pt->weight_scale = p_weight_scale;
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}
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}
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Vector3 AStar::get_point_position(int p_id) const {
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND_V(!p_exists, Vector3());
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return p->pos;
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}
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void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND(!p_exists);
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p->pos = p_pos;
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}
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real_t AStar::get_point_weight_scale(int p_id) const {
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND_V(!p_exists, 0);
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return p->weight_scale;
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}
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void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND(!p_exists);
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ERR_FAIL_COND(p_weight_scale < 1);
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p->weight_scale = p_weight_scale;
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}
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void AStar::remove_point(int p_id) {
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND(!p_exists);
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for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
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Segment s(p_id, (*it.key));
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segments.erase(s);
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(*it.value)->neighbours.remove(p->id);
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(*it.value)->unlinked_neighbours.remove(p->id);
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}
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for (OAHashMap<int, Point *>::Iterator it = p->unlinked_neighbours.iter(); it.valid; it = p->unlinked_neighbours.next_iter(it)) {
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Segment s(p_id, (*it.key));
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segments.erase(s);
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(*it.value)->neighbours.remove(p->id);
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(*it.value)->unlinked_neighbours.remove(p->id);
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}
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memdelete(p);
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points.remove(p_id);
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last_free_id = p_id;
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}
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void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
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ERR_FAIL_COND(p_id == p_with_id);
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Point *a;
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bool from_exists = points.lookup(p_id, a);
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ERR_FAIL_COND(!from_exists);
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Point *b;
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bool to_exists = points.lookup(p_with_id, b);
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ERR_FAIL_COND(!to_exists);
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a->neighbours.set(b->id, b);
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if (bidirectional) {
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b->neighbours.set(a->id, a);
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} else {
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b->unlinked_neighbours.set(a->id, a);
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}
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Segment s(p_id, p_with_id);
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if (bidirectional)
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s.direction = Segment::BIDIRECTIONAL;
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Set<Segment>::Element *element = segments.find(s);
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if (element != nullptr) {
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s.direction |= element->get().direction;
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if (s.direction == Segment::BIDIRECTIONAL) {
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// Both are neighbours of each other now
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a->unlinked_neighbours.remove(b->id);
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b->unlinked_neighbours.remove(a->id);
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}
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segments.erase(element);
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}
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segments.insert(s);
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}
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void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
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Point *a;
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bool a_exists = points.lookup(p_id, a);
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ERR_FAIL_COND(!a_exists);
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Point *b;
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bool b_exists = points.lookup(p_with_id, b);
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ERR_FAIL_COND(!b_exists);
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Segment s(p_id, p_with_id);
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int remove_direction = bidirectional ? (int)Segment::BIDIRECTIONAL : s.direction;
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Set<Segment>::Element *element = segments.find(s);
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if (element != nullptr) {
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// s is the new segment
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// Erase the directions to be removed
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s.direction = (element->get().direction & ~remove_direction);
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a->neighbours.remove(b->id);
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if (bidirectional) {
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b->neighbours.remove(a->id);
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if (element->get().direction != Segment::BIDIRECTIONAL) {
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a->unlinked_neighbours.remove(b->id);
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b->unlinked_neighbours.remove(a->id);
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}
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} else {
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if (s.direction == Segment::NONE)
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b->unlinked_neighbours.remove(a->id);
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else
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a->unlinked_neighbours.set(b->id, b);
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}
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segments.erase(element);
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if (s.direction != Segment::NONE)
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segments.insert(s);
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}
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}
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bool AStar::has_point(int p_id) const {
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return points.has(p_id);
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}
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Array AStar::get_points() {
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Array point_list;
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for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
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point_list.push_back(*(it.key));
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}
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return point_list;
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}
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Vector<int> AStar::get_point_connections(int p_id) {
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND_V(!p_exists, Vector<int>());
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Vector<int> point_list;
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for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
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point_list.push_back((*it.key));
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}
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return point_list;
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}
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bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
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Segment s(p_id, p_with_id);
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const Set<Segment>::Element *element = segments.find(s);
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return element != nullptr &&
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(bidirectional || (element->get().direction & s.direction) == s.direction);
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}
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void AStar::clear() {
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last_free_id = 0;
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for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
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memdelete(*(it.value));
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}
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segments.clear();
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points.clear();
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}
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int AStar::get_point_count() const {
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return points.get_num_elements();
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}
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int AStar::get_point_capacity() const {
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return points.get_capacity();
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}
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void AStar::reserve_space(int p_num_nodes) {
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ERR_FAIL_COND_MSG(p_num_nodes <= 0, "New capacity must be greater than 0, was: " + itos(p_num_nodes) + ".");
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ERR_FAIL_COND_MSG((uint32_t)p_num_nodes < points.get_capacity(), "New capacity must be greater than current capacity: " + itos(points.get_capacity()) + ", new was: " + itos(p_num_nodes) + ".");
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points.reserve(p_num_nodes);
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}
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int AStar::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
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int closest_id = -1;
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real_t closest_dist = 1e20;
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for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
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if (!p_include_disabled && !(*it.value)->enabled)
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continue; // Disabled points should not be considered.
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real_t d = p_point.distance_squared_to((*it.value)->pos);
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if (closest_id < 0 || d < closest_dist) {
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closest_dist = d;
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closest_id = *(it.key);
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}
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}
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return closest_id;
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}
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Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
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bool found = false;
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real_t closest_dist = 1e20;
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Vector3 closest_point;
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for (const Set<Segment>::Element *E = segments.front(); E; E = E->next()) {
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Point *from_point = nullptr, *to_point = nullptr;
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points.lookup(E->get().u, from_point);
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points.lookup(E->get().v, to_point);
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if (!(from_point->enabled && to_point->enabled)) {
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continue;
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}
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Vector3 segment[2] = {
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from_point->pos,
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to_point->pos,
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};
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Vector3 p = Geometry::get_closest_point_to_segment(p_point, segment);
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real_t d = p_point.distance_squared_to(p);
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if (!found || d < closest_dist) {
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closest_point = p;
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closest_dist = d;
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found = true;
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}
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}
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return closest_point;
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}
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bool AStar::_solve(Point *begin_point, Point *end_point) {
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pass++;
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if (!end_point->enabled)
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return false;
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bool found_route = false;
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Vector<Point *> open_list;
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SortArray<Point *, SortPoints> sorter;
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begin_point->g_score = 0;
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begin_point->f_score = _estimate_cost(begin_point->id, end_point->id);
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open_list.push_back(begin_point);
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while (!open_list.empty()) {
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Point *p = open_list[0]; // The currently processed point
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if (p == end_point) {
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found_route = true;
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break;
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}
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sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list
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open_list.remove(open_list.size() - 1);
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p->closed_pass = pass; // Mark the point as closed
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for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
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Point *e = *(it.value); // The neighbour point
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if (!e->enabled || e->closed_pass == pass) {
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continue;
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}
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real_t tentative_g_score = p->g_score + _compute_cost(p->id, e->id) * e->weight_scale;
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bool new_point = false;
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if (e->open_pass != pass) { // The point wasn't inside the open list.
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e->open_pass = pass;
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open_list.push_back(e);
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new_point = true;
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} else if (tentative_g_score >= e->g_score) { // The new path is worse than the previous.
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continue;
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}
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e->prev_point = p;
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e->g_score = tentative_g_score;
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e->f_score = e->g_score + _estimate_cost(e->id, end_point->id);
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if (new_point) { // The position of the new points is already known.
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sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptrw());
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} else {
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sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptrw());
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}
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}
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}
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return found_route;
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}
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real_t AStar::_estimate_cost(int p_from_id, int p_to_id) {
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if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_estimate_cost))
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return get_script_instance()->call(SceneStringNames::get_singleton()->_estimate_cost, p_from_id, p_to_id);
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Point *from_point;
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bool from_exists = points.lookup(p_from_id, from_point);
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ERR_FAIL_COND_V(!from_exists, 0);
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Point *to_point;
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bool to_exists = points.lookup(p_to_id, to_point);
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ERR_FAIL_COND_V(!to_exists, 0);
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return from_point->pos.distance_to(to_point->pos);
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}
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real_t AStar::_compute_cost(int p_from_id, int p_to_id) {
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if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_compute_cost))
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return get_script_instance()->call(SceneStringNames::get_singleton()->_compute_cost, p_from_id, p_to_id);
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Point *from_point;
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bool from_exists = points.lookup(p_from_id, from_point);
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ERR_FAIL_COND_V(!from_exists, 0);
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Point *to_point;
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bool to_exists = points.lookup(p_to_id, to_point);
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ERR_FAIL_COND_V(!to_exists, 0);
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return from_point->pos.distance_to(to_point->pos);
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}
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Vector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
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Point *a;
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bool from_exists = points.lookup(p_from_id, a);
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ERR_FAIL_COND_V(!from_exists, Vector<Vector3>());
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Point *b;
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bool to_exists = points.lookup(p_to_id, b);
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ERR_FAIL_COND_V(!to_exists, Vector<Vector3>());
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if (a == b) {
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Vector<Vector3> ret;
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ret.push_back(a->pos);
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return ret;
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}
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Point *begin_point = a;
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Point *end_point = b;
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bool found_route = _solve(begin_point, end_point);
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if (!found_route)
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return Vector<Vector3>();
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Point *p = end_point;
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int pc = 1; // Begin point
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while (p != begin_point) {
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pc++;
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p = p->prev_point;
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}
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Vector<Vector3> path;
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path.resize(pc);
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{
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Vector3 *w = path.ptrw();
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Point *p2 = end_point;
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int idx = pc - 1;
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while (p2 != begin_point) {
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w[idx--] = p2->pos;
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p2 = p2->prev_point;
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}
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w[0] = p2->pos; // Assign first
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}
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return path;
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}
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Vector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
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Point *a;
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bool from_exists = points.lookup(p_from_id, a);
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ERR_FAIL_COND_V(!from_exists, Vector<int>());
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Point *b;
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bool to_exists = points.lookup(p_to_id, b);
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ERR_FAIL_COND_V(!to_exists, Vector<int>());
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if (a == b) {
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Vector<int> ret;
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ret.push_back(a->id);
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return ret;
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}
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Point *begin_point = a;
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Point *end_point = b;
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|
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bool found_route = _solve(begin_point, end_point);
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if (!found_route)
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return Vector<int>();
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|
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Point *p = end_point;
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int pc = 1; // Begin point
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while (p != begin_point) {
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pc++;
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p = p->prev_point;
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}
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Vector<int> path;
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path.resize(pc);
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{
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int *w = path.ptrw();
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p = end_point;
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int idx = pc - 1;
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while (p != begin_point) {
|
|
w[idx--] = p->id;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
w[0] = p->id; // Assign first
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
void AStar::set_point_disabled(int p_id, bool p_disabled) {
|
|
Point *p;
|
|
bool p_exists = points.lookup(p_id, p);
|
|
ERR_FAIL_COND(!p_exists);
|
|
|
|
p->enabled = !p_disabled;
|
|
}
|
|
|
|
bool AStar::is_point_disabled(int p_id) const {
|
|
Point *p;
|
|
bool p_exists = points.lookup(p_id, p);
|
|
ERR_FAIL_COND_V(!p_exists, false);
|
|
|
|
return !p->enabled;
|
|
}
|
|
|
|
void AStar::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar::get_available_point_id);
|
|
ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar::add_point, DEFVAL(1.0));
|
|
ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar::get_point_position);
|
|
ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar::set_point_position);
|
|
ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar::get_point_weight_scale);
|
|
ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar::set_point_weight_scale);
|
|
ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar::remove_point);
|
|
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point);
|
|
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar::get_point_connections);
|
|
ClassDB::bind_method(D_METHOD("get_points"), &AStar::get_points);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar::set_point_disabled, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar::is_point_disabled);
|
|
|
|
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar::disconnect_points, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar::are_points_connected, DEFVAL(true));
|
|
|
|
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar::get_point_count);
|
|
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar::get_point_capacity);
|
|
ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar::reserve_space);
|
|
ClassDB::bind_method(D_METHOD("clear"), &AStar::clear);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar::get_closest_point, DEFVAL(false));
|
|
ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar::get_closest_position_in_segment);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar::get_point_path);
|
|
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar::get_id_path);
|
|
|
|
BIND_VMETHOD(MethodInfo(Variant::FLOAT, "_estimate_cost", PropertyInfo(Variant::INT, "from_id"), PropertyInfo(Variant::INT, "to_id")));
|
|
BIND_VMETHOD(MethodInfo(Variant::FLOAT, "_compute_cost", PropertyInfo(Variant::INT, "from_id"), PropertyInfo(Variant::INT, "to_id")));
|
|
}
|
|
|
|
AStar::~AStar() {
|
|
clear();
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////
|
|
|
|
int AStar2D::get_available_point_id() const {
|
|
return astar.get_available_point_id();
|
|
}
|
|
|
|
void AStar2D::add_point(int p_id, const Vector2 &p_pos, real_t p_weight_scale) {
|
|
astar.add_point(p_id, Vector3(p_pos.x, p_pos.y, 0), p_weight_scale);
|
|
}
|
|
|
|
Vector2 AStar2D::get_point_position(int p_id) const {
|
|
Vector3 p = astar.get_point_position(p_id);
|
|
return Vector2(p.x, p.y);
|
|
}
|
|
|
|
void AStar2D::set_point_position(int p_id, const Vector2 &p_pos) {
|
|
astar.set_point_position(p_id, Vector3(p_pos.x, p_pos.y, 0));
|
|
}
|
|
|
|
real_t AStar2D::get_point_weight_scale(int p_id) const {
|
|
return astar.get_point_weight_scale(p_id);
|
|
}
|
|
|
|
void AStar2D::set_point_weight_scale(int p_id, real_t p_weight_scale) {
|
|
astar.set_point_weight_scale(p_id, p_weight_scale);
|
|
}
|
|
|
|
void AStar2D::remove_point(int p_id) {
|
|
astar.remove_point(p_id);
|
|
}
|
|
|
|
bool AStar2D::has_point(int p_id) const {
|
|
return astar.has_point(p_id);
|
|
}
|
|
|
|
Vector<int> AStar2D::get_point_connections(int p_id) {
|
|
return astar.get_point_connections(p_id);
|
|
}
|
|
|
|
Array AStar2D::get_points() {
|
|
return astar.get_points();
|
|
}
|
|
|
|
void AStar2D::set_point_disabled(int p_id, bool p_disabled) {
|
|
astar.set_point_disabled(p_id, p_disabled);
|
|
}
|
|
|
|
bool AStar2D::is_point_disabled(int p_id) const {
|
|
return astar.is_point_disabled(p_id);
|
|
}
|
|
|
|
void AStar2D::connect_points(int p_id, int p_with_id, bool p_bidirectional) {
|
|
astar.connect_points(p_id, p_with_id, p_bidirectional);
|
|
}
|
|
|
|
void AStar2D::disconnect_points(int p_id, int p_with_id) {
|
|
astar.disconnect_points(p_id, p_with_id);
|
|
}
|
|
|
|
bool AStar2D::are_points_connected(int p_id, int p_with_id) const {
|
|
return astar.are_points_connected(p_id, p_with_id);
|
|
}
|
|
|
|
int AStar2D::get_point_count() const {
|
|
return astar.get_point_count();
|
|
}
|
|
|
|
int AStar2D::get_point_capacity() const {
|
|
return astar.get_point_capacity();
|
|
}
|
|
|
|
void AStar2D::clear() {
|
|
astar.clear();
|
|
}
|
|
|
|
void AStar2D::reserve_space(int p_num_nodes) {
|
|
astar.reserve_space(p_num_nodes);
|
|
}
|
|
|
|
int AStar2D::get_closest_point(const Vector2 &p_point, bool p_include_disabled) const {
|
|
return astar.get_closest_point(Vector3(p_point.x, p_point.y, 0), p_include_disabled);
|
|
}
|
|
|
|
Vector2 AStar2D::get_closest_position_in_segment(const Vector2 &p_point) const {
|
|
Vector3 p = astar.get_closest_position_in_segment(Vector3(p_point.x, p_point.y, 0));
|
|
return Vector2(p.x, p.y);
|
|
}
|
|
|
|
real_t AStar2D::_estimate_cost(int p_from_id, int p_to_id) {
|
|
if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_estimate_cost))
|
|
return get_script_instance()->call(SceneStringNames::get_singleton()->_estimate_cost, p_from_id, p_to_id);
|
|
|
|
AStar::Point *from_point;
|
|
bool from_exists = astar.points.lookup(p_from_id, from_point);
|
|
ERR_FAIL_COND_V(!from_exists, 0);
|
|
|
|
AStar::Point *to_point;
|
|
bool to_exists = astar.points.lookup(p_to_id, to_point);
|
|
ERR_FAIL_COND_V(!to_exists, 0);
|
|
|
|
return from_point->pos.distance_to(to_point->pos);
|
|
}
|
|
|
|
real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
|
|
if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_compute_cost))
|
|
return get_script_instance()->call(SceneStringNames::get_singleton()->_compute_cost, p_from_id, p_to_id);
|
|
|
|
AStar::Point *from_point;
|
|
bool from_exists = astar.points.lookup(p_from_id, from_point);
|
|
ERR_FAIL_COND_V(!from_exists, 0);
|
|
|
|
AStar::Point *to_point;
|
|
bool to_exists = astar.points.lookup(p_to_id, to_point);
|
|
ERR_FAIL_COND_V(!to_exists, 0);
|
|
|
|
return from_point->pos.distance_to(to_point->pos);
|
|
}
|
|
|
|
Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
|
|
AStar::Point *a;
|
|
bool from_exists = astar.points.lookup(p_from_id, a);
|
|
ERR_FAIL_COND_V(!from_exists, Vector<Vector2>());
|
|
|
|
AStar::Point *b;
|
|
bool to_exists = astar.points.lookup(p_to_id, b);
|
|
ERR_FAIL_COND_V(!to_exists, Vector<Vector2>());
|
|
|
|
if (a == b) {
|
|
Vector<Vector2> ret;
|
|
ret.push_back(Vector2(a->pos.x, a->pos.y));
|
|
return ret;
|
|
}
|
|
|
|
AStar::Point *begin_point = a;
|
|
AStar::Point *end_point = b;
|
|
|
|
bool found_route = _solve(begin_point, end_point);
|
|
if (!found_route)
|
|
return Vector<Vector2>();
|
|
|
|
AStar::Point *p = end_point;
|
|
int pc = 1; // Begin point
|
|
while (p != begin_point) {
|
|
pc++;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
Vector<Vector2> path;
|
|
path.resize(pc);
|
|
|
|
{
|
|
Vector2 *w = path.ptrw();
|
|
|
|
AStar::Point *p2 = end_point;
|
|
int idx = pc - 1;
|
|
while (p2 != begin_point) {
|
|
w[idx--] = Vector2(p2->pos.x, p2->pos.y);
|
|
p2 = p2->prev_point;
|
|
}
|
|
|
|
w[0] = Vector2(p2->pos.x, p2->pos.y); // Assign first
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
|
|
AStar::Point *a;
|
|
bool from_exists = astar.points.lookup(p_from_id, a);
|
|
ERR_FAIL_COND_V(!from_exists, Vector<int>());
|
|
|
|
AStar::Point *b;
|
|
bool to_exists = astar.points.lookup(p_to_id, b);
|
|
ERR_FAIL_COND_V(!to_exists, Vector<int>());
|
|
|
|
if (a == b) {
|
|
Vector<int> ret;
|
|
ret.push_back(a->id);
|
|
return ret;
|
|
}
|
|
|
|
AStar::Point *begin_point = a;
|
|
AStar::Point *end_point = b;
|
|
|
|
bool found_route = _solve(begin_point, end_point);
|
|
if (!found_route)
|
|
return Vector<int>();
|
|
|
|
AStar::Point *p = end_point;
|
|
int pc = 1; // Begin point
|
|
while (p != begin_point) {
|
|
pc++;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
Vector<int> path;
|
|
path.resize(pc);
|
|
|
|
{
|
|
int *w = path.ptrw();
|
|
|
|
p = end_point;
|
|
int idx = pc - 1;
|
|
while (p != begin_point) {
|
|
w[idx--] = p->id;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
w[0] = p->id; // Assign first
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
|
|
astar.pass++;
|
|
|
|
if (!end_point->enabled)
|
|
return false;
|
|
|
|
bool found_route = false;
|
|
|
|
Vector<AStar::Point *> open_list;
|
|
SortArray<AStar::Point *, AStar::SortPoints> sorter;
|
|
|
|
begin_point->g_score = 0;
|
|
begin_point->f_score = _estimate_cost(begin_point->id, end_point->id);
|
|
open_list.push_back(begin_point);
|
|
|
|
while (!open_list.empty()) {
|
|
AStar::Point *p = open_list[0]; // The currently processed point
|
|
|
|
if (p == end_point) {
|
|
found_route = true;
|
|
break;
|
|
}
|
|
|
|
sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list
|
|
open_list.remove(open_list.size() - 1);
|
|
p->closed_pass = astar.pass; // Mark the point as closed
|
|
|
|
for (OAHashMap<int, AStar::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
|
|
AStar::Point *e = *(it.value); // The neighbour point
|
|
|
|
if (!e->enabled || e->closed_pass == astar.pass) {
|
|
continue;
|
|
}
|
|
|
|
real_t tentative_g_score = p->g_score + _compute_cost(p->id, e->id) * e->weight_scale;
|
|
|
|
bool new_point = false;
|
|
|
|
if (e->open_pass != astar.pass) { // The point wasn't inside the open list.
|
|
e->open_pass = astar.pass;
|
|
open_list.push_back(e);
|
|
new_point = true;
|
|
} else if (tentative_g_score >= e->g_score) { // The new path is worse than the previous.
|
|
continue;
|
|
}
|
|
|
|
e->prev_point = p;
|
|
e->g_score = tentative_g_score;
|
|
e->f_score = e->g_score + _estimate_cost(e->id, end_point->id);
|
|
|
|
if (new_point) { // The position of the new points is already known.
|
|
sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptrw());
|
|
} else {
|
|
sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptrw());
|
|
}
|
|
}
|
|
}
|
|
|
|
return found_route;
|
|
}
|
|
|
|
void AStar2D::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar2D::get_available_point_id);
|
|
ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar2D::add_point, DEFVAL(1.0));
|
|
ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar2D::get_point_position);
|
|
ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar2D::set_point_position);
|
|
ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar2D::get_point_weight_scale);
|
|
ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar2D::set_point_weight_scale);
|
|
ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar2D::remove_point);
|
|
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar2D::has_point);
|
|
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar2D::get_point_connections);
|
|
ClassDB::bind_method(D_METHOD("get_points"), &AStar2D::get_points);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar2D::set_point_disabled, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar2D::is_point_disabled);
|
|
|
|
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar2D::connect_points, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id"), &AStar2D::disconnect_points);
|
|
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id"), &AStar2D::are_points_connected);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar2D::get_point_count);
|
|
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar2D::get_point_capacity);
|
|
ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar2D::reserve_space);
|
|
ClassDB::bind_method(D_METHOD("clear"), &AStar2D::clear);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar2D::get_closest_point, DEFVAL(false));
|
|
ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar2D::get_closest_position_in_segment);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar2D::get_point_path);
|
|
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar2D::get_id_path);
|
|
|
|
BIND_VMETHOD(MethodInfo(Variant::FLOAT, "_estimate_cost", PropertyInfo(Variant::INT, "from_id"), PropertyInfo(Variant::INT, "to_id")));
|
|
BIND_VMETHOD(MethodInfo(Variant::FLOAT, "_compute_cost", PropertyInfo(Variant::INT, "from_id"), PropertyInfo(Variant::INT, "to_id")));
|
|
}
|