642 lines
15 KiB
C++
642 lines
15 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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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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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 "geometry.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 (Geometry::segment_intersects_segment_2d(a,b,p_point,outside_point,NULL)) {
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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[i].pos=p_points[i];
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points[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.pos=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 connetions)
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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[p_connections[i]].connections.insert(p_connections[i+1]);
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points[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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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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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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Vector2 a = points[e.points[0]].pos;
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Vector2 b = points[e.points[1]].pos;
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if (Geometry::segment_intersects_segment_2d(a,b,from,to,NULL)) {
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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[i].connections.insert(j);
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points[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 = Geometry::get_closest_point_to_segment_2d(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 = Geometry::get_closest_point_to_segment_2d(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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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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Vector2 a = points[e.points[0]].pos;
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Vector2 b = points[e.points[1]].pos;
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if (Geometry::segment_intersects_segment_2d(a,b,from,to,NULL)) {
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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[aidx].pos=from;
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points[bidx].pos=to;
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points[aidx].distance=0;
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points[bidx].distance=0;
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points[aidx].prev=-1;
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points[bidx].prev=-1;
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points[aidx].penalty=0;
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points[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[i].prev=-1;
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points[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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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 (Geometry::segment_intersects_segment_2d(a,b,from,points[i].pos,NULL)) {
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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 (Geometry::segment_intersects_segment_2d(a,b,to,points[i].pos,NULL)) {
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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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if (valid_a) {
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points[i].connections.insert(aidx);
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points[aidx].connections.insert(i);
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}
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if (valid_b) {
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points[i].connections.insert(bidx);
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points[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[aidx].distance=0;
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points[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[E->get()].distance=from.distance_to(points[E->get()].pos);
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points[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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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[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; //reasign 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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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.invert();
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}
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for(int i=0;i<points.size()-2;i++) {
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points[i].connections.erase(aidx);
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points[i].connections.erase(bidx);
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points[i].prev=-1;
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points[i].distance=0;
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}
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points[aidx].connections.clear();
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points[aidx].prev=-1;
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points[aidx].distance=0;
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points[bidx].connections.clear();
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points[bidx].prev=-1;
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points[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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PoolVector<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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int pc = p.size();
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points.resize(pc+2);
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PoolVector<Vector2>::Read pr=p.read();
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for(int i=0;i<pc;i++) {
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points[i].pos=pr[i];
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PoolVector<int> con=c[i];
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PoolVector<int>::Read cr=con.read();
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int cc=con.size();
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for(int j=0;j<cc;j++) {
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points[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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PoolVector<float> penalties=p_data["penalties"];
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if (penalties.size()==pc) {
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PoolVector<float>::Read pr = penalties.read();
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for(int i=0;i<pc;i++) {
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points[i].penalty=pr[i];
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}
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}
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}
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PoolVector<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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PoolVector<int>::Read sr = segs.read();
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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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PoolVector<Vector2> p;
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PoolVector<int> ind;
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Array connections;
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p.resize(points.size()-2);
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connections.resize(points.size()-2);
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ind.resize(edges.size()*2);
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PoolVector<float> penalties;
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penalties.resize(points.size()-2);
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{
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PoolVector<Vector2>::Write wp=p.write();
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PoolVector<float>::Write pw=penalties.write();
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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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PoolVector<int> c;
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c.resize(points[i].connections.size());
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{
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PoolVector<int>::Write cw=c.write();
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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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PoolVector<int>::Write iw=ind.write();
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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 = Geometry::get_closest_point_to_segment_2d(p_point,seg);
|
|
float d = p_point.distance_squared_to(closest);
|
|
|
|
if (d<closest_dist) {
|
|
closest_dist=d;
|
|
closest_point=closest;
|
|
}
|
|
}
|
|
|
|
ERR_FAIL_COND_V(closest_dist==1e20,Vector2());
|
|
|
|
return closest_point;
|
|
}
|
|
|
|
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() {
|
|
|
|
ClassDB::bind_method(_MD("setup","points","connections"),&PolygonPathFinder::setup);
|
|
ClassDB::bind_method(_MD("find_path","from","to"),&PolygonPathFinder::find_path);
|
|
ClassDB::bind_method(_MD("get_intersections","from","to"),&PolygonPathFinder::get_intersections);
|
|
ClassDB::bind_method(_MD("get_closest_point","point"),&PolygonPathFinder::get_closest_point);
|
|
ClassDB::bind_method(_MD("is_point_inside","point"),&PolygonPathFinder::is_point_inside);
|
|
ClassDB::bind_method(_MD("set_point_penalty","idx","penalty"),&PolygonPathFinder::set_point_penalty);
|
|
ClassDB::bind_method(_MD("get_point_penalty","idx"),&PolygonPathFinder::get_point_penalty);
|
|
|
|
ClassDB::bind_method(_MD("get_bounds"),&PolygonPathFinder::get_bounds);
|
|
ClassDB::bind_method(_MD("_set_data"),&PolygonPathFinder::_set_data);
|
|
ClassDB::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()
|
|
{
|
|
}
|
|
|
|
|