441 lines
9.7 KiB
C++
441 lines
9.7 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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/* 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 "a_star.h"
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#include "geometry.h"
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int AStar::get_available_point_id() const {
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if (points.empty()) {
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return 1;
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}
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return points.back()->key()+1;
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}
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void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
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ERR_FAIL_COND(p_id<0);
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if (!points.has(p_id)) {
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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=NULL;
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pt->last_pass=0;
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points[p_id]=pt;
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} else {
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points[p_id]->pos=p_pos;
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points[p_id]->weight_scale=p_weight_scale;
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}
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}
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Vector3 AStar::get_point_pos(int p_id) const{
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ERR_FAIL_COND_V(!points.has(p_id),Vector3());
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return points[p_id]->pos;
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}
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real_t AStar::get_point_weight_scale(int p_id) const{
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ERR_FAIL_COND_V(!points.has(p_id),0);
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return points[p_id]->weight_scale;
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}
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void AStar::remove_point(int p_id){
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ERR_FAIL_COND(!points.has(p_id));
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Point* p = points[p_id];
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for(int i=0;i<p->neighbours.size();i++) {
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Segment s(p_id,p->neighbours[i]->id);
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segments.erase(s);
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p->neighbours[i]->neighbours.erase(p);
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}
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memdelete(p);
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points.erase(p_id);
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}
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void AStar::connect_points(int p_id,int p_with_id){
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ERR_FAIL_COND(!points.has(p_id));
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ERR_FAIL_COND(!points.has(p_with_id));
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ERR_FAIL_COND(p_id==p_with_id);
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Point* a = points[p_id];
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Point* b = points[p_with_id];
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a->neighbours.push_back(b);
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b->neighbours.push_back(a);
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Segment s(p_id,p_with_id);
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if (s.from==p_id) {
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s.from_point=a;
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s.to_point=b;
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} else {
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s.from_point=b;
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s.to_point=a;
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}
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segments.insert(s);
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}
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void AStar::disconnect_points(int p_id,int p_with_id){
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Segment s(p_id,p_with_id);
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ERR_FAIL_COND(!segments.has(s));
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segments.erase(s);
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Point *a = points[p_id];
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Point *b = points[p_with_id];
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a->neighbours.erase(b);
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b->neighbours.erase(a);
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}
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bool AStar::are_points_connected(int p_id,int p_with_id) const{
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Segment s(p_id,p_with_id);
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return segments.has(s);
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}
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void AStar::clear(){
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for (const Map<int,Point*>::Element *E=points.front();E;E=E->next()) {
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memdelete(E->get());
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}
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segments.clear();
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points.clear();
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}
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int AStar::get_closest_point(const Vector3& p_point) const{
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int closest_id=-1;
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real_t closest_dist=1e20;
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for (const Map<int,Point*>::Element *E=points.front();E;E=E->next()) {
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real_t d = p_point.distance_squared_to(E->get()->pos);
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if (closest_id<0 || d<closest_dist) {
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closest_dist=d;
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closest_id=E->key();
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}
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}
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return closest_id;
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}
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Vector3 AStar::get_closest_pos_in_segment(const Vector3& p_point) const {
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real_t closest_dist = 1e20;
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bool found=false;
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Vector3 closest_point;
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for (const Set<Segment>::Element *E=segments.front();E;E=E->next()) {
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Vector3 segment[2]={
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E->get().from_point->pos,
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E->get().to_point->pos,
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};
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Vector3 p = Geometry::get_closest_point_to_segment(p_point,segment);
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real_t d = p_point.distance_squared_to(p);
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if (!found || d<closest_dist) {
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closest_point=p;
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closest_dist=d;
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found=true;
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}
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}
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return closest_point;
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}
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bool AStar::_solve(Point* begin_point, Point* end_point) {
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pass++;
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SelfList<Point>::List open_list;
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bool found_route=false;
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for(int i=0;i<begin_point->neighbours.size();i++) {
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Point *n = begin_point->neighbours[i];
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n->prev_point=begin_point;
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n->distance=n->pos.distance_to(begin_point->pos);
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n->distance*=n->weight_scale;
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n->last_pass=pass;
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open_list.add(&n->list);
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if (end_point==n) {
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found_route=true;
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break;
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}
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}
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while(!found_route) {
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if (open_list.first()==NULL) {
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//could not find path sadly
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break;
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}
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//check open list
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SelfList<Point> *least_cost_point=NULL;
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real_t least_cost=1e30;
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//this could be faster (cache previous results)
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for (SelfList<Point> *E=open_list.first();E;E=E->next()) {
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Point *p=E->self();
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real_t cost=p->distance;
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cost+=p->pos.distance_to(end_point->pos);
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cost*=p->weight_scale;
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if (cost<least_cost) {
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least_cost_point=E;
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least_cost=cost;
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}
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}
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Point *p=least_cost_point->self();
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//open the neighbours for search
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int es = p->neighbours.size();
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for(int i=0;i<es;i++) {
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Point* e=p->neighbours[i];
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real_t distance = p->pos.distance_to(e->pos) + p->distance;
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distance*=e->weight_scale;
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if (e->last_pass==pass) {
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//oh this was visited already, can we win the cost?
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if (e->distance>distance) {
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e->prev_point=p;
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e->distance=distance;
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}
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} else {
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//add to open neighbours
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e->prev_point=p;
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e->distance=distance;
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e->last_pass=pass; //mark as used
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open_list.add(&e->list);
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if (e==end_point) {
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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.remove(least_cost_point);
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}
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//clear the openf list
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while(open_list.first()) {
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open_list.remove( open_list.first() );
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}
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return found_route;
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}
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PoolVector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
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ERR_FAIL_COND_V(!points.has(p_from_id),PoolVector<Vector3>());
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ERR_FAIL_COND_V(!points.has(p_to_id),PoolVector<Vector3>());
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pass++;
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Point* a = points[p_from_id];
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Point* b = points[p_to_id];
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if (a==b) {
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PoolVector<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 PoolVector<Vector3>();
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//midpoints
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Point *p=end_point;
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int pc=1; //begin point
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while(p!=begin_point) {
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pc++;
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p=p->prev_point;
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}
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PoolVector<Vector3> path;
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path.resize(pc);
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{
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PoolVector<Vector3>::Write w = path.write();
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Point *p=end_point;
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int idx=pc-1;
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while(p!=begin_point) {
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w[idx--]=p->pos;
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p=p->prev_point;
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}
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w[0]=p->pos; //assign first
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}
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return path;
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}
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PoolVector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
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ERR_FAIL_COND_V(!points.has(p_from_id),PoolVector<int>());
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ERR_FAIL_COND_V(!points.has(p_to_id),PoolVector<int>());
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pass++;
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Point* a = points[p_from_id];
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Point* b = points[p_to_id];
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if (a==b) {
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PoolVector<int> ret;
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ret.push_back(a->id);
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return ret;
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}
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Point *begin_point=a;
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Point *end_point=b;
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bool found_route=_solve(begin_point,end_point);
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if (!found_route)
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return PoolVector<int>();
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//midpoints
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Point *p=end_point;
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int pc=1; //begin point
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while(p!=begin_point) {
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pc++;
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p=p->prev_point;
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}
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PoolVector<int> path;
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path.resize(pc);
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{
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PoolVector<int>::Write w = path.write();
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p=end_point;
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int idx=pc-1;
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while(p!=begin_point) {
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w[idx--]=p->id;
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p=p->prev_point;
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}
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w[0]=p->id; //assign first
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}
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return path;
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}
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void AStar::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_available_point_id"),&AStar::get_available_point_id);
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ClassDB::bind_method(D_METHOD("add_point","id","pos","weight_scale"),&AStar::add_point,DEFVAL(1.0));
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ClassDB::bind_method(D_METHOD("get_point_pos","id"),&AStar::get_point_pos);
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ClassDB::bind_method(D_METHOD("get_point_weight_scale","id"),&AStar::get_point_weight_scale);
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ClassDB::bind_method(D_METHOD("remove_point","id"),&AStar::remove_point);
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ClassDB::bind_method(D_METHOD("connect_points","id","to_id"),&AStar::connect_points);
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ClassDB::bind_method(D_METHOD("disconnect_points","id","to_id"),&AStar::disconnect_points);
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ClassDB::bind_method(D_METHOD("are_points_connected","id","to_id"),&AStar::are_points_connected);
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ClassDB::bind_method(D_METHOD("clear"),&AStar::clear);
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ClassDB::bind_method(D_METHOD("get_closest_point","to_pos"),&AStar::get_closest_point);
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ClassDB::bind_method(D_METHOD("get_closest_pos_in_segment","to_pos"),&AStar::get_closest_pos_in_segment);
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ClassDB::bind_method(D_METHOD("get_point_path","from_id","to_id"),&AStar::get_point_path);
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ClassDB::bind_method(D_METHOD("get_id_path","from_id","to_id"),&AStar::get_id_path);
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}
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AStar::AStar() {
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pass=1;
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}
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AStar::~AStar() {
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pass=1;
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}
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