490 lines
12 KiB
C++
490 lines
12 KiB
C++
/*************************************************************************/
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/* a_star.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "a_star.h"
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#include "geometry.h"
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#include "scene/scene_string_names.h"
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#include "script_language.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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ERR_FAIL_COND(p_weight_scale < 1);
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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_position(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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void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
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ERR_FAIL_COND(!points.has(p_id));
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points[p_id]->pos = p_pos;
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}
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real_t AStar::get_point_weight_scale(int p_id) const {
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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::set_point_weight_scale(int p_id, real_t p_weight_scale) {
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ERR_FAIL_COND(!points.has(p_id));
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ERR_FAIL_COND(p_weight_scale < 1);
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points[p_id]->weight_scale = p_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, bool bidirectional) {
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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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if (bidirectional)
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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::has_point(int p_id) const {
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return points.has(p_id);
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}
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Array AStar::get_points() {
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Array point_list;
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for (const Map<int, Point *>::Element *E = points.front(); E; E = E->next()) {
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point_list.push_back(E->key());
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}
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return point_list;
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}
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PoolVector<int> AStar::get_point_connections(int p_id) {
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ERR_FAIL_COND_V(!points.has(p_id), PoolVector<int>());
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PoolVector<int> point_list;
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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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point_list.push_back(p->neighbours[i]->id);
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}
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return point_list;
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}
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bool AStar::are_points_connected(int p_id, int p_with_id) 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_position_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 = _compute_cost(begin_point->id, n->id) * 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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// No path found
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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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// TODO: 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 += _estimate_cost(p->id, end_point->id);
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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 = _compute_cost(p->id, e->id) * e->weight_scale + p->distance;
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if (e->last_pass == pass) {
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// Already visited, is this cheaper?
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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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// End reached; 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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float AStar::_estimate_cost(int p_from_id, int p_to_id) {
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if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_estimate_cost))
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return get_script_instance()->call(SceneStringNames::get_singleton()->_estimate_cost, p_from_id, p_to_id);
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return points[p_from_id]->pos.distance_to(points[p_to_id]->pos);
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}
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float AStar::_compute_cost(int p_from_id, int p_to_id) {
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if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_compute_cost))
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return get_script_instance()->call(SceneStringNames::get_singleton()->_compute_cost, p_from_id, p_to_id);
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return points[p_from_id]->pos.distance_to(points[p_to_id]->pos);
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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", "position", "weight_scale"), &AStar::add_point, DEFVAL(1.0));
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ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar::get_point_position);
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ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar::set_point_position);
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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("set_point_weight_scale", "id", "weight_scale"), &AStar::set_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("has_point", "id"), &AStar::has_point);
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ClassDB::bind_method(D_METHOD("get_points"), &AStar::get_points);
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ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar::get_point_connections);
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ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true));
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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_position"), &AStar::get_closest_point);
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ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar::get_closest_position_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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BIND_VMETHOD(MethodInfo(Variant::REAL, "_estimate_cost", PropertyInfo(Variant::INT, "from_id"), PropertyInfo(Variant::INT, "to_id")));
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BIND_VMETHOD(MethodInfo(Variant::REAL, "_compute_cost", PropertyInfo(Variant::INT, "from_id"), PropertyInfo(Variant::INT, "to_id")));
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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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clear();
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}
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