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Added ability to change A-star cost function

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This commit is contained in:
Fabian Mathews 2017-03-25 20:14:41 +10:30
parent a0b0dff6fd
commit b541402417
4 changed files with 31 additions and 3 deletions
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25
core/math/a_star.cpp
View file

@ -28,6 +28,8 @@
/*************************************************************************/ /*************************************************************************/
#include "a_star.h" #include "a_star.h"
#include "geometry.h" #include "geometry.h"
#include "scene/scene_string_names.h"
#include "script_language.h"
int AStar::get_available_point_id() const { int AStar::get_available_point_id() const {
@ -187,7 +189,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
Point *n = begin_point->neighbours[i]; Point *n = begin_point->neighbours[i];
n->prev_point = begin_point; n->prev_point = begin_point;
n->distance = n->pos.distance_to(begin_point->pos); n->distance = _compute_cost(n->id, begin_point->id);
n->distance *= n->weight_scale; n->distance *= n->weight_scale;
n->last_pass = pass; n->last_pass = pass;
open_list.add(&n->list); open_list.add(&n->list);
@ -215,7 +217,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
Point *p = E->self(); Point *p = E->self();
real_t cost = p->distance; real_t cost = p->distance;
cost += p->pos.distance_to(end_point->pos); cost += _estimate_cost(p->id, end_point->id);
cost *= p->weight_scale; cost *= p->weight_scale;
if (cost < least_cost) { if (cost < least_cost) {
@ -233,7 +235,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
Point *e = p->neighbours[i]; Point *e = p->neighbours[i];
real_t distance = p->pos.distance_to(e->pos) + p->distance; real_t distance = _compute_cost(p->id, e->id) + p->distance;
distance *= e->weight_scale; distance *= e->weight_scale;
if (e->last_pass == pass) { if (e->last_pass == pass) {
@ -274,6 +276,20 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
return found_route; return found_route;
} }
float AStar::_estimate_cost(int p_from_id, int p_to_id) {
if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_estimate_cost))
return get_script_instance()->call(SceneStringNames::get_singleton()->_estimate_cost, p_from_id, p_to_id);
return points[p_from_id]->pos.distance_to(points[p_to_id]->pos);
}
float AStar::_compute_cost(int p_from_id, int p_to_id) {
if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_compute_cost))
return get_script_instance()->call(SceneStringNames::get_singleton()->_compute_cost, p_from_id, p_to_id);
return points[p_from_id]->pos.distance_to(points[p_to_id]->pos);
}
PoolVector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) { PoolVector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
ERR_FAIL_COND_V(!points.has(p_from_id), PoolVector<Vector3>()); ERR_FAIL_COND_V(!points.has(p_from_id), PoolVector<Vector3>());
@ -395,6 +411,9 @@ void AStar::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar::get_point_path); ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar::get_point_path);
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar::get_id_path); ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar::get_id_path);
BIND_VMETHOD(MethodInfo("_estimate_cost", PropertyInfo(Variant::INT, "from_id"), PropertyInfo(Variant::INT, "to_id")));
BIND_VMETHOD(MethodInfo("_compute_cost", PropertyInfo(Variant::INT, "from_id"), PropertyInfo(Variant::INT, "to_id")));
} }
AStar::AStar() { AStar::AStar() {

3
core/math/a_star.h
View file

@ -93,6 +93,9 @@ class AStar : public Reference {
protected: protected:
static void _bind_methods(); static void _bind_methods();
virtual float _estimate_cost(int p_from_id, int p_to_id);
virtual float _compute_cost(int p_from_id, int p_to_id);
public: public:
int get_available_point_id() const; int get_available_point_id() const;

3
scene/scene_string_names.cpp
View file

@ -32,6 +32,9 @@ SceneStringNames *SceneStringNames::singleton = NULL;
SceneStringNames::SceneStringNames() { SceneStringNames::SceneStringNames() {
_estimate_cost = StaticCString::create("_estimate_cost");
_compute_cost = StaticCString::create("_compute_cost");
resized = StaticCString::create("resized"); resized = StaticCString::create("resized");
dot = StaticCString::create("."); dot = StaticCString::create(".");
doubledot = StaticCString::create(".."); doubledot = StaticCString::create("..");

3
scene/scene_string_names.h
View file

@ -49,6 +49,9 @@ class SceneStringNames {
public: public:
_FORCE_INLINE_ static SceneStringNames *get_singleton() { return singleton; } _FORCE_INLINE_ static SceneStringNames *get_singleton() { return singleton; }
StringName _estimate_cost;
StringName _compute_cost;
StringName resized; StringName resized;
StringName dot; StringName dot;
StringName doubledot; StringName doubledot;