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".
188 lines
6.3 KiB
C++
188 lines
6.3 KiB
C++
/**************************************************************************/
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/* a_star_grid_2d.h */
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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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#ifndef A_STAR_GRID_2D_H
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#define A_STAR_GRID_2D_H
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#include "core/object/gdvirtual.gen.inc"
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#include "core/object/ref_counted.h"
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#include "core/object/script_language.h"
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#include "core/templates/list.h"
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#include "core/templates/local_vector.h"
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class AStarGrid2D : public RefCounted {
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GDCLASS(AStarGrid2D, RefCounted);
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public:
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enum DiagonalMode {
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DIAGONAL_MODE_ALWAYS,
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DIAGONAL_MODE_NEVER,
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DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE,
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DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES,
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DIAGONAL_MODE_MAX,
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};
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enum Heuristic {
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HEURISTIC_EUCLIDEAN,
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HEURISTIC_MANHATTAN,
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HEURISTIC_OCTILE,
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HEURISTIC_CHEBYSHEV,
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HEURISTIC_MAX,
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};
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private:
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Size2i size;
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Vector2 offset;
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Size2 cell_size = Size2(1, 1);
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bool dirty = false;
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bool jumping_enabled = false;
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DiagonalMode diagonal_mode = DIAGONAL_MODE_ALWAYS;
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Heuristic default_compute_heuristic = HEURISTIC_EUCLIDEAN;
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Heuristic default_estimate_heuristic = HEURISTIC_EUCLIDEAN;
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struct Point {
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Vector2i id;
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bool solid = false;
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Vector2 pos;
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real_t weight_scale = 1.0;
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// Used for pathfinding.
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Point *prev_point = nullptr;
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real_t g_score = 0;
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real_t f_score = 0;
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uint64_t open_pass = 0;
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uint64_t closed_pass = 0;
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Point() {}
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Point(const Vector2i &p_id, const Vector2 &p_pos) :
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id(p_id), pos(p_pos) {}
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};
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struct SortPoints {
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_FORCE_INLINE_ bool operator()(const Point *A, const Point *B) const { // Returns true when the Point A is worse than Point B.
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if (A->f_score > B->f_score) {
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return true;
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} else if (A->f_score < B->f_score) {
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return false;
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} else {
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return A->g_score < B->g_score; // If the f_costs are the same then prioritize the points that are further away from the start.
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}
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}
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};
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LocalVector<LocalVector<Point>> points;
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Point *end = nullptr;
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uint64_t pass = 1;
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private: // Internal routines.
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_FORCE_INLINE_ bool _is_walkable(int64_t p_x, int64_t p_y) const {
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if (p_x >= 0 && p_y >= 0 && p_x < size.width && p_y < size.height) {
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return !points[p_y][p_x].solid;
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}
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return false;
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}
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_FORCE_INLINE_ Point *_get_point(int64_t p_x, int64_t p_y) {
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if (p_x >= 0 && p_y >= 0 && p_x < size.width && p_y < size.height) {
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return &points[p_y][p_x];
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}
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return nullptr;
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}
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_FORCE_INLINE_ Point *_get_point_unchecked(int64_t p_x, int64_t p_y) {
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return &points[p_y][p_x];
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}
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void _get_nbors(Point *p_point, List<Point *> &r_nbors);
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Point *_jump(Point *p_from, Point *p_to);
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bool _solve(Point *p_begin_point, Point *p_end_point);
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protected:
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static void _bind_methods();
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virtual real_t _estimate_cost(const Vector2i &p_from_id, const Vector2i &p_to_id);
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virtual real_t _compute_cost(const Vector2i &p_from_id, const Vector2i &p_to_id);
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GDVIRTUAL2RC(real_t, _estimate_cost, Vector2i, Vector2i)
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GDVIRTUAL2RC(real_t, _compute_cost, Vector2i, Vector2i)
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public:
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void set_size(const Size2i &p_size);
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Size2i get_size() const;
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void set_offset(const Vector2 &p_offset);
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Vector2 get_offset() const;
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void set_cell_size(const Size2 &p_cell_size);
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Size2 get_cell_size() const;
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void update();
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int get_width() const;
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int get_height() const;
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bool is_in_bounds(int p_x, int p_y) const;
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bool is_in_boundsv(const Vector2i &p_id) const;
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bool is_dirty() const;
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void set_jumping_enabled(bool p_enabled);
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bool is_jumping_enabled() const;
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void set_diagonal_mode(DiagonalMode p_diagonal_mode);
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DiagonalMode get_diagonal_mode() const;
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void set_default_compute_heuristic(Heuristic p_heuristic);
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Heuristic get_default_compute_heuristic() const;
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void set_default_estimate_heuristic(Heuristic p_heuristic);
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Heuristic get_default_estimate_heuristic() const;
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void set_point_solid(const Vector2i &p_id, bool p_solid = true);
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bool is_point_solid(const Vector2i &p_id) const;
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void set_point_weight_scale(const Vector2i &p_id, real_t p_weight_scale);
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real_t get_point_weight_scale(const Vector2i &p_id) const;
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void clear();
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Vector2 get_point_position(const Vector2i &p_id) const;
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Vector<Vector2> get_point_path(const Vector2i &p_from, const Vector2i &p_to);
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TypedArray<Vector2i> get_id_path(const Vector2i &p_from, const Vector2i &p_to);
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};
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VARIANT_ENUM_CAST(AStarGrid2D::DiagonalMode);
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VARIANT_ENUM_CAST(AStarGrid2D::Heuristic);
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#endif // A_STAR_GRID_2D_H
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