d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
883 lines
28 KiB
C++
883 lines
28 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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 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 "a_star.h"
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#include "core/math/geometry_3d.h"
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#include "core/object/script_language.h"
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int64_t AStar3D::get_available_point_id() const {
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if (points.has(last_free_id)) {
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int64_t cur_new_id = last_free_id + 1;
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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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const_cast<int64_t &>(last_free_id) = cur_new_id;
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}
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return last_free_id;
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}
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void AStar3D::add_point(int64_t p_id, const Vector3 &p_pos, real_t p_weight_scale) {
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ERR_FAIL_COND_MSG(p_id < 0, vformat("Can't add a point with negative id: %d.", p_id));
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ERR_FAIL_COND_MSG(p_weight_scale < 0.0, vformat("Can't add a point with weight scale less than 0.0: %f.", p_weight_scale));
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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 AStar3D::get_point_position(int64_t 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_MSG(!p_exists, Vector3(), vformat("Can't get point's position. Point with id: %d doesn't exist.", p_id));
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return p->pos;
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}
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void AStar3D::set_point_position(int64_t 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_MSG(!p_exists, vformat("Can't set point's position. Point with id: %d doesn't exist.", p_id));
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p->pos = p_pos;
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}
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real_t AStar3D::get_point_weight_scale(int64_t 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_MSG(!p_exists, 0, vformat("Can't get point's weight scale. Point with id: %d doesn't exist.", p_id));
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return p->weight_scale;
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}
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void AStar3D::set_point_weight_scale(int64_t 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_MSG(!p_exists, vformat("Can't set point's weight scale. Point with id: %d doesn't exist.", p_id));
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ERR_FAIL_COND_MSG(p_weight_scale < 0.0, vformat("Can't set point's weight scale less than 0.0: %f.", p_weight_scale));
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p->weight_scale = p_weight_scale;
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}
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void AStar3D::remove_point(int64_t 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_MSG(!p_exists, vformat("Can't remove point. Point with id: %d doesn't exist.", p_id));
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for (OAHashMap<int64_t, 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<int64_t, 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 AStar3D::connect_points(int64_t p_id, int64_t p_with_id, bool bidirectional) {
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ERR_FAIL_COND_MSG(p_id == p_with_id, vformat("Can't connect point with id: %d to itself.", p_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_MSG(!from_exists, vformat("Can't connect points. Point with id: %d doesn't exist.", p_id));
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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_MSG(!to_exists, vformat("Can't connect points. Point with id: %d doesn't exist.", p_with_id));
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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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}
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HashSet<Segment, Segment>::Iterator element = segments.find(s);
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if (element) {
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s.direction |= element->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.remove(element);
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}
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segments.insert(s);
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}
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void AStar3D::disconnect_points(int64_t p_id, int64_t 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_MSG(!a_exists, vformat("Can't disconnect points. Point with id: %d doesn't exist.", p_id));
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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_MSG(!b_exists, vformat("Can't disconnect points. Point with id: %d doesn't exist.", p_with_id));
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Segment s(p_id, p_with_id);
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int remove_direction = bidirectional ? (int)Segment::BIDIRECTIONAL : (int)s.direction;
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HashSet<Segment, Segment>::Iterator element = segments.find(s);
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if (element) {
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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->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->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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}
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segments.remove(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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}
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bool AStar3D::has_point(int64_t p_id) const {
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return points.has(p_id);
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}
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PackedInt64Array AStar3D::get_point_ids() {
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PackedInt64Array point_list;
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for (OAHashMap<int64_t, 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<int64_t> AStar3D::get_point_connections(int64_t 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_MSG(!p_exists, Vector<int64_t>(), vformat("Can't get point's connections. Point with id: %d doesn't exist.", p_id));
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Vector<int64_t> point_list;
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for (OAHashMap<int64_t, 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 AStar3D::are_points_connected(int64_t p_id, int64_t p_with_id, bool bidirectional) const {
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Segment s(p_id, p_with_id);
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const HashSet<Segment, Segment>::Iterator element = segments.find(s);
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return element &&
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(bidirectional || (element->direction & s.direction) == s.direction);
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}
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void AStar3D::clear() {
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last_free_id = 0;
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for (OAHashMap<int64_t, 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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int64_t AStar3D::get_point_count() const {
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return points.get_num_elements();
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}
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int64_t AStar3D::get_point_capacity() const {
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return points.get_capacity();
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}
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void AStar3D::reserve_space(int64_t p_num_nodes) {
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ERR_FAIL_COND_MSG(p_num_nodes <= 0, vformat("New capacity must be greater than 0, new was: %d.", p_num_nodes));
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ERR_FAIL_COND_MSG((uint32_t)p_num_nodes < points.get_capacity(), vformat("New capacity must be greater than current capacity: %d, new was: %d.", points.get_capacity(), p_num_nodes));
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points.reserve(p_num_nodes);
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}
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int64_t AStar3D::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
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int64_t closest_id = -1;
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real_t closest_dist = 1e20;
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for (OAHashMap<int64_t, 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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}
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// Keep the closest point's ID, and in case of multiple closest IDs,
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// the smallest one (makes it deterministic).
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real_t d = p_point.distance_squared_to((*it.value)->pos);
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int64_t id = *(it.key);
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if (d <= closest_dist) {
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if (d == closest_dist && id > closest_id) { // Keep lowest ID.
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continue;
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}
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closest_dist = d;
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closest_id = id;
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}
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}
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return closest_id;
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}
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Vector3 AStar3D::get_closest_position_in_segment(const Vector3 &p_point) const {
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real_t closest_dist = 1e20;
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Vector3 closest_point;
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for (const Segment &E : segments) {
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Point *from_point = nullptr, *to_point = nullptr;
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points.lookup(E.key.first, from_point);
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points.lookup(E.key.second, 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 = Geometry3D::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 (d < closest_dist) {
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closest_point = p;
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closest_dist = d;
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}
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}
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return closest_point;
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}
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bool AStar3D::_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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}
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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.is_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_at(open_list.size() - 1);
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p->closed_pass = pass; // Mark the point as closed
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for (OAHashMap<int64_t, 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 AStar3D::_estimate_cost(int64_t p_from_id, int64_t p_to_id) {
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real_t scost;
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if (GDVIRTUAL_CALL(_estimate_cost, p_from_id, p_to_id, scost)) {
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return scost;
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}
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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_MSG(!from_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_from_id));
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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_MSG(!to_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_to_id));
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return from_point->pos.distance_to(to_point->pos);
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}
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real_t AStar3D::_compute_cost(int64_t p_from_id, int64_t p_to_id) {
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real_t scost;
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if (GDVIRTUAL_CALL(_compute_cost, p_from_id, p_to_id, scost)) {
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return scost;
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}
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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_MSG(!from_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_from_id));
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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_MSG(!to_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_to_id));
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return from_point->pos.distance_to(to_point->pos);
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}
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Vector<Vector3> AStar3D::get_point_path(int64_t p_from_id, int64_t 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_MSG(!from_exists, Vector<Vector3>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
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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_MSG(!to_exists, Vector<Vector3>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_to_id));
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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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}
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Point *p = end_point;
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int64_t 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();
|
|
|
|
Point *p2 = end_point;
|
|
int64_t idx = pc - 1;
|
|
while (p2 != begin_point) {
|
|
w[idx--] = p2->pos;
|
|
p2 = p2->prev_point;
|
|
}
|
|
|
|
w[0] = p2->pos; // Assign first
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
Vector<int64_t> AStar3D::get_id_path(int64_t p_from_id, int64_t p_to_id) {
|
|
Point *a;
|
|
bool from_exists = points.lookup(p_from_id, a);
|
|
ERR_FAIL_COND_V_MSG(!from_exists, Vector<int64_t>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
|
|
|
|
Point *b;
|
|
bool to_exists = points.lookup(p_to_id, b);
|
|
ERR_FAIL_COND_V_MSG(!to_exists, Vector<int64_t>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id));
|
|
|
|
if (a == b) {
|
|
Vector<int64_t> ret;
|
|
ret.push_back(a->id);
|
|
return ret;
|
|
}
|
|
|
|
Point *begin_point = a;
|
|
Point *end_point = b;
|
|
|
|
bool found_route = _solve(begin_point, end_point);
|
|
if (!found_route) {
|
|
return Vector<int64_t>();
|
|
}
|
|
|
|
Point *p = end_point;
|
|
int64_t pc = 1; // Begin point
|
|
while (p != begin_point) {
|
|
pc++;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
Vector<int64_t> path;
|
|
path.resize(pc);
|
|
|
|
{
|
|
int64_t *w = path.ptrw();
|
|
|
|
p = end_point;
|
|
int64_t idx = pc - 1;
|
|
while (p != begin_point) {
|
|
w[idx--] = p->id;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
w[0] = p->id; // Assign first
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
void AStar3D::set_point_disabled(int64_t p_id, bool p_disabled) {
|
|
Point *p;
|
|
bool p_exists = points.lookup(p_id, p);
|
|
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set if point is disabled. Point with id: %d doesn't exist.", p_id));
|
|
|
|
p->enabled = !p_disabled;
|
|
}
|
|
|
|
bool AStar3D::is_point_disabled(int64_t p_id) const {
|
|
Point *p;
|
|
bool p_exists = points.lookup(p_id, p);
|
|
ERR_FAIL_COND_V_MSG(!p_exists, false, vformat("Can't get if point is disabled. Point with id: %d doesn't exist.", p_id));
|
|
|
|
return !p->enabled;
|
|
}
|
|
|
|
void AStar3D::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar3D::get_available_point_id);
|
|
ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar3D::add_point, DEFVAL(1.0));
|
|
ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar3D::get_point_position);
|
|
ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar3D::set_point_position);
|
|
ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar3D::get_point_weight_scale);
|
|
ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar3D::set_point_weight_scale);
|
|
ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar3D::remove_point);
|
|
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar3D::has_point);
|
|
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar3D::get_point_connections);
|
|
ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar3D::get_point_ids);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar3D::set_point_disabled, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar3D::is_point_disabled);
|
|
|
|
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar3D::connect_points, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar3D::disconnect_points, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar3D::are_points_connected, DEFVAL(true));
|
|
|
|
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar3D::get_point_count);
|
|
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar3D::get_point_capacity);
|
|
ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar3D::reserve_space);
|
|
ClassDB::bind_method(D_METHOD("clear"), &AStar3D::clear);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar3D::get_closest_point, DEFVAL(false));
|
|
ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar3D::get_closest_position_in_segment);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar3D::get_point_path);
|
|
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar3D::get_id_path);
|
|
|
|
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
|
|
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")
|
|
}
|
|
|
|
AStar3D::~AStar3D() {
|
|
clear();
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////
|
|
|
|
int64_t AStar2D::get_available_point_id() const {
|
|
return astar.get_available_point_id();
|
|
}
|
|
|
|
void AStar2D::add_point(int64_t 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(int64_t p_id) const {
|
|
Vector3 p = astar.get_point_position(p_id);
|
|
return Vector2(p.x, p.y);
|
|
}
|
|
|
|
void AStar2D::set_point_position(int64_t 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(int64_t p_id) const {
|
|
return astar.get_point_weight_scale(p_id);
|
|
}
|
|
|
|
void AStar2D::set_point_weight_scale(int64_t p_id, real_t p_weight_scale) {
|
|
astar.set_point_weight_scale(p_id, p_weight_scale);
|
|
}
|
|
|
|
void AStar2D::remove_point(int64_t p_id) {
|
|
astar.remove_point(p_id);
|
|
}
|
|
|
|
bool AStar2D::has_point(int64_t p_id) const {
|
|
return astar.has_point(p_id);
|
|
}
|
|
|
|
Vector<int64_t> AStar2D::get_point_connections(int64_t p_id) {
|
|
return astar.get_point_connections(p_id);
|
|
}
|
|
|
|
PackedInt64Array AStar2D::get_point_ids() {
|
|
return astar.get_point_ids();
|
|
}
|
|
|
|
void AStar2D::set_point_disabled(int64_t p_id, bool p_disabled) {
|
|
astar.set_point_disabled(p_id, p_disabled);
|
|
}
|
|
|
|
bool AStar2D::is_point_disabled(int64_t p_id) const {
|
|
return astar.is_point_disabled(p_id);
|
|
}
|
|
|
|
void AStar2D::connect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional) {
|
|
astar.connect_points(p_id, p_with_id, p_bidirectional);
|
|
}
|
|
|
|
void AStar2D::disconnect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional) {
|
|
astar.disconnect_points(p_id, p_with_id, p_bidirectional);
|
|
}
|
|
|
|
bool AStar2D::are_points_connected(int64_t p_id, int64_t p_with_id, bool p_bidirectional) const {
|
|
return astar.are_points_connected(p_id, p_with_id, p_bidirectional);
|
|
}
|
|
|
|
int64_t AStar2D::get_point_count() const {
|
|
return astar.get_point_count();
|
|
}
|
|
|
|
int64_t AStar2D::get_point_capacity() const {
|
|
return astar.get_point_capacity();
|
|
}
|
|
|
|
void AStar2D::clear() {
|
|
astar.clear();
|
|
}
|
|
|
|
void AStar2D::reserve_space(int64_t p_num_nodes) {
|
|
astar.reserve_space(p_num_nodes);
|
|
}
|
|
|
|
int64_t 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(int64_t p_from_id, int64_t p_to_id) {
|
|
real_t scost;
|
|
if (GDVIRTUAL_CALL(_estimate_cost, p_from_id, p_to_id, scost)) {
|
|
return scost;
|
|
}
|
|
|
|
AStar3D::Point *from_point;
|
|
bool from_exists = astar.points.lookup(p_from_id, from_point);
|
|
ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_from_id));
|
|
|
|
AStar3D::Point *to_point;
|
|
bool to_exists = astar.points.lookup(p_to_id, to_point);
|
|
ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_to_id));
|
|
|
|
return from_point->pos.distance_to(to_point->pos);
|
|
}
|
|
|
|
real_t AStar2D::_compute_cost(int64_t p_from_id, int64_t p_to_id) {
|
|
real_t scost;
|
|
if (GDVIRTUAL_CALL(_compute_cost, p_from_id, p_to_id, scost)) {
|
|
return scost;
|
|
}
|
|
|
|
AStar3D::Point *from_point;
|
|
bool from_exists = astar.points.lookup(p_from_id, from_point);
|
|
ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_from_id));
|
|
|
|
AStar3D::Point *to_point;
|
|
bool to_exists = astar.points.lookup(p_to_id, to_point);
|
|
ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_to_id));
|
|
|
|
return from_point->pos.distance_to(to_point->pos);
|
|
}
|
|
|
|
Vector<Vector2> AStar2D::get_point_path(int64_t p_from_id, int64_t p_to_id) {
|
|
AStar3D::Point *a;
|
|
bool from_exists = astar.points.lookup(p_from_id, a);
|
|
ERR_FAIL_COND_V_MSG(!from_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
|
|
|
|
AStar3D::Point *b;
|
|
bool to_exists = astar.points.lookup(p_to_id, b);
|
|
ERR_FAIL_COND_V_MSG(!to_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_to_id));
|
|
|
|
if (a == b) {
|
|
Vector<Vector2> ret = { Vector2(a->pos.x, a->pos.y) };
|
|
return ret;
|
|
}
|
|
|
|
AStar3D::Point *begin_point = a;
|
|
AStar3D::Point *end_point = b;
|
|
|
|
bool found_route = _solve(begin_point, end_point);
|
|
if (!found_route) {
|
|
return Vector<Vector2>();
|
|
}
|
|
|
|
AStar3D::Point *p = end_point;
|
|
int64_t pc = 1; // Begin point
|
|
while (p != begin_point) {
|
|
pc++;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
Vector<Vector2> path;
|
|
path.resize(pc);
|
|
|
|
{
|
|
Vector2 *w = path.ptrw();
|
|
|
|
AStar3D::Point *p2 = end_point;
|
|
int64_t 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<int64_t> AStar2D::get_id_path(int64_t p_from_id, int64_t p_to_id) {
|
|
AStar3D::Point *a;
|
|
bool from_exists = astar.points.lookup(p_from_id, a);
|
|
ERR_FAIL_COND_V_MSG(!from_exists, Vector<int64_t>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
|
|
|
|
AStar3D::Point *b;
|
|
bool to_exists = astar.points.lookup(p_to_id, b);
|
|
ERR_FAIL_COND_V_MSG(!to_exists, Vector<int64_t>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id));
|
|
|
|
if (a == b) {
|
|
Vector<int64_t> ret;
|
|
ret.push_back(a->id);
|
|
return ret;
|
|
}
|
|
|
|
AStar3D::Point *begin_point = a;
|
|
AStar3D::Point *end_point = b;
|
|
|
|
bool found_route = _solve(begin_point, end_point);
|
|
if (!found_route) {
|
|
return Vector<int64_t>();
|
|
}
|
|
|
|
AStar3D::Point *p = end_point;
|
|
int64_t pc = 1; // Begin point
|
|
while (p != begin_point) {
|
|
pc++;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
Vector<int64_t> path;
|
|
path.resize(pc);
|
|
|
|
{
|
|
int64_t *w = path.ptrw();
|
|
|
|
p = end_point;
|
|
int64_t 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(AStar3D::Point *begin_point, AStar3D::Point *end_point) {
|
|
astar.pass++;
|
|
|
|
if (!end_point->enabled) {
|
|
return false;
|
|
}
|
|
|
|
bool found_route = false;
|
|
|
|
Vector<AStar3D::Point *> open_list;
|
|
SortArray<AStar3D::Point *, AStar3D::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.is_empty()) {
|
|
AStar3D::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_at(open_list.size() - 1);
|
|
p->closed_pass = astar.pass; // Mark the point as closed
|
|
|
|
for (OAHashMap<int64_t, AStar3D::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
|
|
AStar3D::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_point_ids"), &AStar2D::get_point_ids);
|
|
|
|
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", "bidirectional"), &AStar2D::disconnect_points, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar2D::are_points_connected, DEFVAL(true));
|
|
|
|
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar2D::get_point_count);
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ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar2D::get_point_capacity);
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ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar2D::reserve_space);
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ClassDB::bind_method(D_METHOD("clear"), &AStar2D::clear);
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ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar2D::get_closest_point, DEFVAL(false));
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ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar2D::get_closest_position_in_segment);
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ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar2D::get_point_path);
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ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar2D::get_id_path);
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GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
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GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")
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}
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