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Make AStar to use 64-bit logic

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This commit is contained in:
Yuri Rubinsky 2022-06-16 11:56:12 +03:00
parent 1ad6fade00
commit 7da2a21425
5 changed files with 146 additions and 151 deletions
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162
core/math/a_star.cpp
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@ -33,19 +33,19 @@
#include "core/math/geometry_3d.h"
#include "core/object/script_language.h"
int AStar3D::get_available_point_id() const {
int64_t AStar3D::get_available_point_id() const {
if (points.has(last_free_id)) {
int cur_new_id = last_free_id + 1;
int64_t cur_new_id = last_free_id + 1;
while (points.has(cur_new_id)) {
cur_new_id++;
}
const_cast<int &>(last_free_id) = cur_new_id;
const_cast<int64_t &>(last_free_id) = cur_new_id;
}
return last_free_id;
}
void AStar3D::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
void AStar3D::add_point(int64_t p_id, const Vector3 &p_pos, real_t p_weight_scale) {
ERR_FAIL_COND_MSG(p_id < 0, vformat("Can't add a point with negative id: %d.", p_id));
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));
@ -68,7 +68,7 @@ void AStar3D::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
}
}
Vector3 AStar3D::get_point_position(int p_id) const {
Vector3 AStar3D::get_point_position(int64_t p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, Vector3(), vformat("Can't get point's position. Point with id: %d doesn't exist.", p_id));
@ -76,7 +76,7 @@ Vector3 AStar3D::get_point_position(int p_id) const {
return p->pos;
}
void AStar3D::set_point_position(int p_id, const Vector3 &p_pos) {
void AStar3D::set_point_position(int64_t p_id, const Vector3 &p_pos) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set point's position. Point with id: %d doesn't exist.", p_id));
@ -84,7 +84,7 @@ void AStar3D::set_point_position(int p_id, const Vector3 &p_pos) {
p->pos = p_pos;
}
real_t AStar3D::get_point_weight_scale(int p_id) const {
real_t AStar3D::get_point_weight_scale(int64_t p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
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));
@ -92,7 +92,7 @@ real_t AStar3D::get_point_weight_scale(int p_id) const {
return p->weight_scale;
}
void AStar3D::set_point_weight_scale(int p_id, real_t p_weight_scale) {
void AStar3D::set_point_weight_scale(int64_t p_id, real_t p_weight_scale) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set point's weight scale. Point with id: %d doesn't exist.", p_id));
@ -101,12 +101,12 @@ void AStar3D::set_point_weight_scale(int p_id, real_t p_weight_scale) {
p->weight_scale = p_weight_scale;
}
void AStar3D::remove_point(int p_id) {
void AStar3D::remove_point(int64_t p_id) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't remove point. Point with id: %d doesn't exist.", p_id));
for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
for (OAHashMap<int64_t, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
Segment s(p_id, (*it.key));
segments.erase(s);
@ -114,7 +114,7 @@ void AStar3D::remove_point(int p_id) {
(*it.value)->unlinked_neighbours.remove(p->id);
}
for (OAHashMap<int, Point *>::Iterator it = p->unlinked_neighbours.iter(); it.valid; it = p->unlinked_neighbours.next_iter(it)) {
for (OAHashMap<int64_t, Point *>::Iterator it = p->unlinked_neighbours.iter(); it.valid; it = p->unlinked_neighbours.next_iter(it)) {
Segment s(p_id, (*it.key));
segments.erase(s);
@ -127,7 +127,7 @@ void AStar3D::remove_point(int p_id) {
last_free_id = p_id;
}
void AStar3D::connect_points(int p_id, int p_with_id, bool bidirectional) {
void AStar3D::connect_points(int64_t p_id, int64_t p_with_id, bool bidirectional) {
ERR_FAIL_COND_MSG(p_id == p_with_id, vformat("Can't connect point with id: %d to itself.", p_id));
Point *a;
@ -165,7 +165,7 @@ void AStar3D::connect_points(int p_id, int p_with_id, bool bidirectional) {
segments.insert(s);
}
void AStar3D::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
void AStar3D::disconnect_points(int64_t p_id, int64_t p_with_id, bool bidirectional) {
Point *a;
bool a_exists = points.lookup(p_id, a);
ERR_FAIL_COND_MSG(!a_exists, vformat("Can't disconnect points. Point with id: %d doesn't exist.", p_id));
@ -175,7 +175,7 @@ void AStar3D::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
ERR_FAIL_COND_MSG(!b_exists, vformat("Can't disconnect points. Point with id: %d doesn't exist.", p_with_id));
Segment s(p_id, p_with_id);
int remove_direction = bidirectional ? (int)Segment::BIDIRECTIONAL : s.direction;
int remove_direction = bidirectional ? (int)Segment::BIDIRECTIONAL : (int)s.direction;
HashSet<Segment, Segment>::Iterator element = segments.find(s);
if (element) {
@ -205,35 +205,35 @@ void AStar3D::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
}
}
bool AStar3D::has_point(int p_id) const {
bool AStar3D::has_point(int64_t p_id) const {
return points.has(p_id);
}
Array AStar3D::get_point_ids() {
Array point_list;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
for (OAHashMap<int64_t, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
point_list.push_back(*(it.key));
}
return point_list;
}
Vector<int> AStar3D::get_point_connections(int p_id) {
Vector<int64_t> AStar3D::get_point_connections(int64_t p_id) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, Vector<int>(), vformat("Can't get point's connections. Point with id: %d doesn't exist.", p_id));
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));
Vector<int> point_list;
Vector<int64_t> point_list;
for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
for (OAHashMap<int64_t, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
point_list.push_back((*it.key));
}
return point_list;
}
bool AStar3D::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
bool AStar3D::are_points_connected(int64_t p_id, int64_t p_with_id, bool bidirectional) const {
Segment s(p_id, p_with_id);
const HashSet<Segment, Segment>::Iterator element = segments.find(s);
@ -243,32 +243,32 @@ bool AStar3D::are_points_connected(int p_id, int p_with_id, bool bidirectional)
void AStar3D::clear() {
last_free_id = 0;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
for (OAHashMap<int64_t, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
memdelete(*(it.value));
}
segments.clear();
points.clear();
}
int AStar3D::get_point_count() const {
int64_t AStar3D::get_point_count() const {
return points.get_num_elements();
}
int AStar3D::get_point_capacity() const {
int64_t AStar3D::get_point_capacity() const {
return points.get_capacity();
}
void AStar3D::reserve_space(int p_num_nodes) {
void AStar3D::reserve_space(int64_t p_num_nodes) {
ERR_FAIL_COND_MSG(p_num_nodes <= 0, vformat("New capacity must be greater than 0, new was: %d.", p_num_nodes));
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));
points.reserve(p_num_nodes);
}
int AStar3D::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
int closest_id = -1;
int64_t AStar3D::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
int64_t closest_id = -1;
real_t closest_dist = 1e20;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
for (OAHashMap<int64_t, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
if (!p_include_disabled && !(*it.value)->enabled) {
continue; // Disabled points should not be considered.
}
@ -276,7 +276,7 @@ int AStar3D::get_closest_point(const Vector3 &p_point, bool p_include_disabled)
// Keep the closest point's ID, and in case of multiple closest IDs,
// the smallest one (makes it deterministic).
real_t d = p_point.distance_squared_to((*it.value)->pos);
int id = *(it.key);
int64_t id = *(it.key);
if (d <= closest_dist) {
if (d == closest_dist && id > closest_id) { // Keep lowest ID.
continue;
@ -295,8 +295,8 @@ Vector3 AStar3D::get_closest_position_in_segment(const Vector3 &p_point) const {
for (const Segment &E : segments) {
Point *from_point = nullptr, *to_point = nullptr;
points.lookup(E.u, from_point);
points.lookup(E.v, to_point);
points.lookup(E.key.first, from_point);
points.lookup(E.key.second, to_point);
if (!(from_point->enabled && to_point->enabled)) {
continue;
@ -346,7 +346,7 @@ bool AStar3D::_solve(Point *begin_point, Point *end_point) {
open_list.remove_at(open_list.size() - 1);
p->closed_pass = pass; // Mark the point as closed
for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
for (OAHashMap<int64_t, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
Point *e = *(it.value); // The neighbour point
if (!e->enabled || e->closed_pass == pass) {
@ -380,7 +380,7 @@ bool AStar3D::_solve(Point *begin_point, Point *end_point) {
return found_route;
}
real_t AStar3D::_estimate_cost(int p_from_id, int p_to_id) {
real_t AStar3D::_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;
@ -397,7 +397,7 @@ real_t AStar3D::_estimate_cost(int p_from_id, int p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
real_t AStar3D::_compute_cost(int p_from_id, int p_to_id) {
real_t AStar3D::_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;
@ -414,7 +414,7 @@ real_t AStar3D::_compute_cost(int p_from_id, int p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
Vector<Vector3> AStar3D::get_point_path(int p_from_id, int p_to_id) {
Vector<Vector3> AStar3D::get_point_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<Vector3>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
@ -438,7 +438,7 @@ Vector<Vector3> AStar3D::get_point_path(int p_from_id, int p_to_id) {
}
Point *p = end_point;
int pc = 1; // Begin point
int64_t pc = 1; // Begin point
while (p != begin_point) {
pc++;
p = p->prev_point;
@ -451,7 +451,7 @@ Vector<Vector3> AStar3D::get_point_path(int p_from_id, int p_to_id) {
Vector3 *w = path.ptrw();
Point *p2 = end_point;
int idx = pc - 1;
int64_t idx = pc - 1;
while (p2 != begin_point) {
w[idx--] = p2->pos;
p2 = p2->prev_point;
@ -463,17 +463,17 @@ Vector<Vector3> AStar3D::get_point_path(int p_from_id, int p_to_id) {
return path;
}
Vector<int> AStar3D::get_id_path(int p_from_id, int p_to_id) {
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<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
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<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id));
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<int> ret;
Vector<int64_t> ret;
ret.push_back(a->id);
return ret;
}
@ -483,24 +483,24 @@ Vector<int> AStar3D::get_id_path(int p_from_id, int p_to_id) {
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<int>();
return Vector<int64_t>();
}
Point *p = end_point;
int pc = 1; // Begin point
int64_t pc = 1; // Begin point
while (p != begin_point) {
pc++;
p = p->prev_point;
}
Vector<int> path;
Vector<int64_t> path;
path.resize(pc);
{
int *w = path.ptrw();
int64_t *w = path.ptrw();
p = end_point;
int idx = pc - 1;
int64_t idx = pc - 1;
while (p != begin_point) {
w[idx--] = p->id;
p = p->prev_point;
@ -512,7 +512,7 @@ Vector<int> AStar3D::get_id_path(int p_from_id, int p_to_id) {
return path;
}
void AStar3D::set_point_disabled(int p_id, bool p_disabled) {
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));
@ -520,7 +520,7 @@ void AStar3D::set_point_disabled(int p_id, bool p_disabled) {
p->enabled = !p_disabled;
}
bool AStar3D::is_point_disabled(int p_id) const {
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));
@ -568,40 +568,40 @@ AStar3D::~AStar3D() {
/////////////////////////////////////////////////////////////
int AStar2D::get_available_point_id() const {
int64_t AStar2D::get_available_point_id() const {
return astar.get_available_point_id();
}
void AStar2D::add_point(int p_id, const Vector2 &p_pos, real_t p_weight_scale) {
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(int p_id) const {
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(int p_id, const Vector2 &p_pos) {
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(int p_id) const {
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(int p_id, real_t p_weight_scale) {
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(int p_id) {
void AStar2D::remove_point(int64_t p_id) {
astar.remove_point(p_id);
}
bool AStar2D::has_point(int p_id) const {
bool AStar2D::has_point(int64_t p_id) const {
return astar.has_point(p_id);
}
Vector<int> AStar2D::get_point_connections(int p_id) {
Vector<int64_t> AStar2D::get_point_connections(int64_t p_id) {
return astar.get_point_connections(p_id);
}
@ -609,31 +609,31 @@ Array AStar2D::get_point_ids() {
return astar.get_point_ids();
}
void AStar2D::set_point_disabled(int p_id, bool p_disabled) {
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(int p_id) const {
bool AStar2D::is_point_disabled(int64_t p_id) const {
return astar.is_point_disabled(p_id);
}
void AStar2D::connect_points(int p_id, int p_with_id, bool p_bidirectional) {
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(int p_id, int p_with_id, bool 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(int p_id, int p_with_id, bool p_bidirectional) const {
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);
}
int AStar2D::get_point_count() const {
int64_t AStar2D::get_point_count() const {
return astar.get_point_count();
}
int AStar2D::get_point_capacity() const {
int64_t AStar2D::get_point_capacity() const {
return astar.get_point_capacity();
}
@ -641,11 +641,11 @@ void AStar2D::clear() {
astar.clear();
}
void AStar2D::reserve_space(int p_num_nodes) {
void AStar2D::reserve_space(int64_t p_num_nodes) {
astar.reserve_space(p_num_nodes);
}
int AStar2D::get_closest_point(const Vector2 &p_point, bool p_include_disabled) const {
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);
}
@ -654,7 +654,7 @@ Vector2 AStar2D::get_closest_position_in_segment(const Vector2 &p_point) const {
return Vector2(p.x, p.y);
}
real_t AStar2D::_estimate_cost(int p_from_id, int p_to_id) {
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;
@ -671,7 +671,7 @@ real_t AStar2D::_estimate_cost(int p_from_id, int p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
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;
@ -688,7 +688,7 @@ real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
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));
@ -711,7 +711,7 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
}
AStar3D::Point *p = end_point;
int pc = 1; // Begin point
int64_t pc = 1; // Begin point
while (p != begin_point) {
pc++;
p = p->prev_point;
@ -724,7 +724,7 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
Vector2 *w = path.ptrw();
AStar3D::Point *p2 = end_point;
int idx = pc - 1;
int64_t idx = pc - 1;
while (p2 != begin_point) {
w[idx--] = Vector2(p2->pos.x, p2->pos.y);
p2 = p2->prev_point;
@ -736,17 +736,17 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
return path;
}
Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
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<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
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<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id));
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<int> ret;
Vector<int64_t> ret;
ret.push_back(a->id);
return ret;
}
@ -756,24 +756,24 @@ Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<int>();
return Vector<int64_t>();
}
AStar3D::Point *p = end_point;
int pc = 1; // Begin point
int64_t pc = 1; // Begin point
while (p != begin_point) {
pc++;
p = p->prev_point;
}
Vector<int> path;
Vector<int64_t> path;
path.resize(pc);
{
int *w = path.ptrw();
int64_t *w = path.ptrw();
p = end_point;
int idx = pc - 1;
int64_t idx = pc - 1;
while (p != begin_point) {
w[idx--] = p->id;
p = p->prev_point;
@ -813,7 +813,7 @@ bool AStar2D::_solve(AStar3D::Point *begin_point, AStar3D::Point *end_point) {
open_list.remove_at(open_list.size() - 1);
p->closed_pass = astar.pass; // Mark the point as closed
for (OAHashMap<int, AStar3D::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
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) {

119
core/math/a_star.h
View file

@ -35,6 +35,7 @@
#include "core/object/ref_counted.h"
#include "core/object/script_language.h"
#include "core/templates/oa_hash_map.h"
#include "core/templates/pair.h"
/**
A* pathfinding algorithm.
@ -47,13 +48,13 @@ class AStar3D : public RefCounted {
struct Point {
Point() {}
int id = 0;
int64_t id = 0;
Vector3 pos;
real_t weight_scale = 0;
bool enabled = false;
OAHashMap<int, Point *> neighbours = 4u;
OAHashMap<int, Point *> unlinked_neighbours = 4u;
OAHashMap<int64_t, Point *> neighbours = 4u;
OAHashMap<int64_t, Point *> unlinked_neighbours = 4u;
// Used for pathfinding.
Point *prev_point = nullptr;
@ -76,13 +77,7 @@ class AStar3D : public RefCounted {
};
struct Segment {
union {
struct {
int32_t u;
int32_t v;
};
uint64_t key = 0;
};
Pair<int64_t, int64_t> key;
enum {
NONE = 0,
@ -93,28 +88,28 @@ class AStar3D : public RefCounted {
unsigned char direction = NONE;
static uint32_t hash(const Segment &p_seg) {
return hash_one_uint64(p_seg.key);
return PairHash<int64_t, int64_t>().hash(p_seg.key);
}
bool operator==(const Segment &p_s) const { return key == p_s.key; }
Segment() {}
Segment(int p_from, int p_to) {
Segment(int64_t p_from, int64_t p_to) {
if (p_from < p_to) {
u = p_from;
v = p_to;
key.first = p_from;
key.second = p_to;
direction = FORWARD;
} else {
u = p_to;
v = p_from;
key.first = p_to;
key.second = p_from;
direction = BACKWARD;
}
}
};
int last_free_id = 0;
int64_t last_free_id = 0;
uint64_t pass = 1;
OAHashMap<int, Point *> points;
OAHashMap<int64_t, Point *> points;
HashSet<Segment, Segment> segments;
bool _solve(Point *begin_point, Point *end_point);
@ -122,42 +117,42 @@ class AStar3D : public RefCounted {
protected:
static void _bind_methods();
virtual real_t _estimate_cost(int p_from_id, int p_to_id);
virtual real_t _compute_cost(int p_from_id, int p_to_id);
virtual real_t _estimate_cost(int64_t p_from_id, int64_t p_to_id);
virtual real_t _compute_cost(int64_t p_from_id, int64_t p_to_id);
GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
public:
int get_available_point_id() const;
int64_t get_available_point_id() const;
void add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale = 1);
Vector3 get_point_position(int p_id) const;
void set_point_position(int p_id, const Vector3 &p_pos);
real_t get_point_weight_scale(int p_id) const;
void set_point_weight_scale(int p_id, real_t p_weight_scale);
void remove_point(int p_id);
bool has_point(int p_id) const;
Vector<int> get_point_connections(int p_id);
void add_point(int64_t p_id, const Vector3 &p_pos, real_t p_weight_scale = 1);
Vector3 get_point_position(int64_t p_id) const;
void set_point_position(int64_t p_id, const Vector3 &p_pos);
real_t get_point_weight_scale(int64_t p_id) const;
void set_point_weight_scale(int64_t p_id, real_t p_weight_scale);
void remove_point(int64_t p_id);
bool has_point(int64_t p_id) const;
Vector<int64_t> get_point_connections(int64_t p_id);
Array get_point_ids();
void set_point_disabled(int p_id, bool p_disabled = true);
bool is_point_disabled(int p_id) const;
void set_point_disabled(int64_t p_id, bool p_disabled = true);
bool is_point_disabled(int64_t p_id) const;
void connect_points(int p_id, int p_with_id, bool bidirectional = true);
void disconnect_points(int p_id, int p_with_id, bool bidirectional = true);
bool are_points_connected(int p_id, int p_with_id, bool bidirectional = true) const;
void connect_points(int64_t p_id, int64_t p_with_id, bool bidirectional = true);
void disconnect_points(int64_t p_id, int64_t p_with_id, bool bidirectional = true);
bool are_points_connected(int64_t p_id, int64_t p_with_id, bool bidirectional = true) const;
int get_point_count() const;
int get_point_capacity() const;
void reserve_space(int p_num_nodes);
int64_t get_point_count() const;
int64_t get_point_capacity() const;
void reserve_space(int64_t p_num_nodes);
void clear();
int get_closest_point(const Vector3 &p_point, bool p_include_disabled = false) const;
int64_t get_closest_point(const Vector3 &p_point, bool p_include_disabled = false) const;
Vector3 get_closest_position_in_segment(const Vector3 &p_point) const;
Vector<Vector3> get_point_path(int p_from_id, int p_to_id);
Vector<int> get_id_path(int p_from_id, int p_to_id);
Vector<Vector3> get_point_path(int64_t p_from_id, int64_t p_to_id);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
AStar3D() {}
~AStar3D();
@ -172,42 +167,42 @@ class AStar2D : public RefCounted {
protected:
static void _bind_methods();
virtual real_t _estimate_cost(int p_from_id, int p_to_id);
virtual real_t _compute_cost(int p_from_id, int p_to_id);
virtual real_t _estimate_cost(int64_t p_from_id, int64_t p_to_id);
virtual real_t _compute_cost(int64_t p_from_id, int64_t p_to_id);
GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
public:
int get_available_point_id() const;
int64_t get_available_point_id() const;
void add_point(int p_id, const Vector2 &p_pos, real_t p_weight_scale = 1);
Vector2 get_point_position(int p_id) const;
void set_point_position(int p_id, const Vector2 &p_pos);
real_t get_point_weight_scale(int p_id) const;
void set_point_weight_scale(int p_id, real_t p_weight_scale);
void remove_point(int p_id);
bool has_point(int p_id) const;
Vector<int> get_point_connections(int p_id);
void add_point(int64_t p_id, const Vector2 &p_pos, real_t p_weight_scale = 1);
Vector2 get_point_position(int64_t p_id) const;
void set_point_position(int64_t p_id, const Vector2 &p_pos);
real_t get_point_weight_scale(int64_t p_id) const;
void set_point_weight_scale(int64_t p_id, real_t p_weight_scale);
void remove_point(int64_t p_id);
bool has_point(int64_t p_id) const;
Vector<int64_t> get_point_connections(int64_t p_id);
Array get_point_ids();
void set_point_disabled(int p_id, bool p_disabled = true);
bool is_point_disabled(int p_id) const;
void set_point_disabled(int64_t p_id, bool p_disabled = true);
bool is_point_disabled(int64_t p_id) const;
void connect_points(int p_id, int p_with_id, bool p_bidirectional = true);
void disconnect_points(int p_id, int p_with_id, bool p_bidirectional = true);
bool are_points_connected(int p_id, int p_with_id, bool p_bidirectional = true) const;
void connect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true);
void disconnect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true);
bool are_points_connected(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true) const;
int get_point_count() const;
int get_point_capacity() const;
void reserve_space(int p_num_nodes);
int64_t get_point_count() const;
int64_t get_point_capacity() const;
void reserve_space(int64_t p_num_nodes);
void clear();
int get_closest_point(const Vector2 &p_point, bool p_include_disabled = false) const;
int64_t get_closest_point(const Vector2 &p_point, bool p_include_disabled = false) const;
Vector2 get_closest_position_in_segment(const Vector2 &p_point) const;
Vector<Vector2> get_point_path(int p_from_id, int p_to_id);
Vector<int> get_id_path(int p_from_id, int p_to_id);
Vector<Vector2> get_point_path(int64_t p_from_id, int64_t p_to_id);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
AStar2D() {}
~AStar2D() {}

4
doc/classes/AStar2D.xml
View file

@ -135,7 +135,7 @@
</description>
</method>
<method name="get_id_path">
<return type="PackedInt32Array" />
<return type="PackedInt64Array" />
<argument index="0" name="from_id" type="int" />
<argument index="1" name="to_id" type="int" />
<description>
@ -179,7 +179,7 @@
</description>
</method>
<method name="get_point_connections">
<return type="PackedInt32Array" />
<return type="PackedInt64Array" />
<argument index="0" name="id" type="int" />
<description>
Returns an array with the IDs of the points that form the connection with the given point.

4
doc/classes/AStar3D.xml
View file

@ -164,7 +164,7 @@
</description>
</method>
<method name="get_id_path">
<return type="PackedInt32Array" />
<return type="PackedInt64Array" />
<argument index="0" name="from_id" type="int" />
<argument index="1" name="to_id" type="int" />
<description>
@ -207,7 +207,7 @@
</description>
</method>
<method name="get_point_connections">
<return type="PackedInt32Array" />
<return type="PackedInt64Array" />
<argument index="0" name="id" type="int" />
<description>
Returns an array with the IDs of the points that form the connection with the given point.

8
tests/core/math/test_astar.h
View file

@ -58,7 +58,7 @@ public:
}
// Disable heuristic completely.
real_t _compute_cost(int p_from, int p_to) {
real_t _compute_cost(int64_t p_from, int64_t p_to) {
if (p_from == A && p_to == C) {
return 1000;
}
@ -68,7 +68,7 @@ public:
TEST_CASE("[AStar3D] ABC path") {
ABCX abcx;
Vector<int> path = abcx.get_id_path(ABCX::A, ABCX::C);
Vector<int64_t> path = abcx.get_id_path(ABCX::A, ABCX::C);
REQUIRE(path.size() == 3);
CHECK(path[0] == ABCX::A);
CHECK(path[1] == ABCX::B);
@ -77,7 +77,7 @@ TEST_CASE("[AStar3D] ABC path") {
TEST_CASE("[AStar3D] ABCX path") {
ABCX abcx;
Vector<int> path = abcx.get_id_path(ABCX::X, ABCX::C);
Vector<int64_t> path = abcx.get_id_path(ABCX::X, ABCX::C);
REQUIRE(path.size() == 4);
CHECK(path[0] == ABCX::X);
CHECK(path[1] == ABCX::A);
@ -318,7 +318,7 @@ TEST_CASE("[Stress][AStar3D] Find paths") {
for (int u = 0; u < N; u++) {
for (int v = 0; v < N; v++) {
if (u != v) {
Vector<int> route = a.get_id_path(u, v);
Vector<int64_t> route = a.get_id_path(u, v);
if (!Math::is_inf(d[u][v])) {
// Reachable.
if (route.size() == 0) {