/*************************************************************************/ /* a_star.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #include "a_star.h" #include "core/math/geometry_3d.h" #include "core/object/script_language.h" int64_t AStar3D::get_available_point_id() const { if (points.has(last_free_id)) { int64_t cur_new_id = last_free_id + 1; while (points.has(cur_new_id)) { cur_new_id++; } const_cast<int64_t &>(last_free_id) = cur_new_id; } return last_free_id; } 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)); Point *found_pt; bool p_exists = points.lookup(p_id, found_pt); if (!p_exists) { Point *pt = memnew(Point); pt->id = p_id; pt->pos = p_pos; pt->weight_scale = p_weight_scale; pt->prev_point = nullptr; pt->open_pass = 0; pt->closed_pass = 0; pt->enabled = true; points.set(p_id, pt); } else { found_pt->pos = p_pos; found_pt->weight_scale = p_weight_scale; } } 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)); return 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)); p->pos = p_pos; } 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)); return 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)); ERR_FAIL_COND_MSG(p_weight_scale < 0.0, vformat("Can't set point's weight scale less than 0.0: %f.", p_weight_scale)); p->weight_scale = p_weight_scale; } 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<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); (*it.value)->neighbours.remove(p->id); (*it.value)->unlinked_neighbours.remove(p->id); } 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); (*it.value)->neighbours.remove(p->id); (*it.value)->unlinked_neighbours.remove(p->id); } memdelete(p); points.remove(p_id); last_free_id = p_id; } 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; bool from_exists = points.lookup(p_id, a); ERR_FAIL_COND_MSG(!from_exists, vformat("Can't connect points. Point with id: %d doesn't exist.", p_id)); Point *b; bool to_exists = points.lookup(p_with_id, b); ERR_FAIL_COND_MSG(!to_exists, vformat("Can't connect points. Point with id: %d doesn't exist.", p_with_id)); a->neighbours.set(b->id, b); if (bidirectional) { b->neighbours.set(a->id, a); } else { b->unlinked_neighbours.set(a->id, a); } Segment s(p_id, p_with_id); if (bidirectional) { s.direction = Segment::BIDIRECTIONAL; } HashSet<Segment, Segment>::Iterator element = segments.find(s); if (element) { s.direction |= element->direction; if (s.direction == Segment::BIDIRECTIONAL) { // Both are neighbours of each other now a->unlinked_neighbours.remove(b->id); b->unlinked_neighbours.remove(a->id); } segments.remove(element); } segments.insert(s); } 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)); Point *b; bool b_exists = points.lookup(p_with_id, b); 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 : (int)s.direction; HashSet<Segment, Segment>::Iterator element = segments.find(s); if (element) { // s is the new segment // Erase the directions to be removed s.direction = (element->direction & ~remove_direction); a->neighbours.remove(b->id); if (bidirectional) { b->neighbours.remove(a->id); if (element->direction != Segment::BIDIRECTIONAL) { a->unlinked_neighbours.remove(b->id); b->unlinked_neighbours.remove(a->id); } } else { if (s.direction == Segment::NONE) { b->unlinked_neighbours.remove(a->id); } else { a->unlinked_neighbours.set(b->id, b); } } segments.remove(element); if (s.direction != Segment::NONE) { segments.insert(s); } } } bool AStar3D::has_point(int64_t p_id) const { return points.has(p_id); } PackedInt64Array AStar3D::get_point_ids() { PackedInt64Array point_list; 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<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<int64_t>(), vformat("Can't get point's connections. Point with id: %d doesn't exist.", p_id)); Vector<int64_t> point_list; 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(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); return element && (bidirectional || (element->direction & s.direction) == s.direction); } void AStar3D::clear() { last_free_id = 0; for (OAHashMap<int64_t, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) { memdelete(*(it.value)); } segments.clear(); points.clear(); } int64_t AStar3D::get_point_count() const { return points.get_num_elements(); } int64_t AStar3D::get_point_capacity() const { return points.get_capacity(); } 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); } 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<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. } // 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); int64_t id = *(it.key); if (d <= closest_dist) { if (d == closest_dist && id > closest_id) { // Keep lowest ID. continue; } closest_dist = d; closest_id = id; } } return closest_id; } Vector3 AStar3D::get_closest_position_in_segment(const Vector3 &p_point) const { real_t closest_dist = 1e20; Vector3 closest_point; for (const Segment &E : segments) { Point *from_point = nullptr, *to_point = nullptr; points.lookup(E.key.first, from_point); points.lookup(E.key.second, to_point); if (!(from_point->enabled && to_point->enabled)) { continue; } Vector3 segment[2] = { from_point->pos, to_point->pos, }; Vector3 p = Geometry3D::get_closest_point_to_segment(p_point, segment); real_t d = p_point.distance_squared_to(p); if (d < closest_dist) { closest_point = p; closest_dist = d; } } return closest_point; } bool AStar3D::_solve(Point *begin_point, Point *end_point) { pass++; if (!end_point->enabled) { return false; } bool found_route = false; Vector<Point *> open_list; SortArray<Point *, SortPoints> sorter; begin_point->g_score = 0; begin_point->f_score = _estimate_cost(begin_point->id, end_point->id); open_list.push_back(begin_point); while (!open_list.is_empty()) { Point *p = open_list[0]; // The currently processed point if (p == end_point) { found_route = true; break; } sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list open_list.remove_at(open_list.size() - 1); p->closed_pass = pass; // Mark the point as closed 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) { continue; } real_t tentative_g_score = p->g_score + _compute_cost(p->id, e->id) * e->weight_scale; bool new_point = false; if (e->open_pass != pass) { // The point wasn't inside the open list. e->open_pass = pass; open_list.push_back(e); new_point = true; } else if (tentative_g_score >= e->g_score) { // The new path is worse than the previous. continue; } e->prev_point = p; e->g_score = tentative_g_score; e->f_score = e->g_score + _estimate_cost(e->id, end_point->id); if (new_point) { // The position of the new points is already known. sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptrw()); } else { sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptrw()); } } } return found_route; } 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; } Point *from_point; bool from_exists = points.lookup(p_from_id, from_point); ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_from_id)); Point *to_point; bool to_exists = points.lookup(p_to_id, to_point); ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_to_id)); return from_point->pos.distance_to(to_point->pos); } 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; } Point *from_point; bool from_exists = points.lookup(p_from_id, from_point); ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_from_id)); Point *to_point; bool to_exists = points.lookup(p_to_id, to_point); ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_to_id)); return from_point->pos.distance_to(to_point->pos); } 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)); Point *b; bool to_exists = points.lookup(p_to_id, b); ERR_FAIL_COND_V_MSG(!to_exists, Vector<Vector3>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_to_id)); if (a == b) { Vector<Vector3> ret; ret.push_back(a->pos); return ret; } Point *begin_point = a; Point *end_point = b; bool found_route = _solve(begin_point, end_point); if (!found_route) { return Vector<Vector3>(); } Point *p = end_point; int64_t pc = 1; // Begin point while (p != begin_point) { pc++; p = p->prev_point; } Vector<Vector3> path; path.resize(pc); { Vector3 *w = path.ptrw(); Point *p2 = end_point; int64_t idx = pc - 1; while (p2 != begin_point) { w[idx--] = p2->pos; p2 = p2->prev_point; } w[0] = p2->pos; // Assign first } return path; } 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<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<int64_t>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id)); if (a == b) { Vector<int64_t> ret; ret.push_back(a->id); return ret; } Point *begin_point = a; Point *end_point = b; bool found_route = _solve(begin_point, end_point); if (!found_route) { return Vector<int64_t>(); } Point *p = end_point; int64_t pc = 1; // Begin point while (p != begin_point) { pc++; p = p->prev_point; } Vector<int64_t> path; path.resize(pc); { int64_t *w = path.ptrw(); p = end_point; int64_t idx = pc - 1; while (p != begin_point) { w[idx--] = p->id; p = p->prev_point; } w[0] = p->id; // Assign first } return path; } 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)); p->enabled = !p_disabled; } 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)); return !p->enabled; } void AStar3D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar3D::get_available_point_id); ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar3D::add_point, DEFVAL(1.0)); ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar3D::get_point_position); ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar3D::set_point_position); ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar3D::get_point_weight_scale); ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar3D::set_point_weight_scale); ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar3D::remove_point); ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar3D::has_point); ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar3D::get_point_connections); ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar3D::get_point_ids); ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar3D::set_point_disabled, DEFVAL(true)); ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar3D::is_point_disabled); ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar3D::connect_points, DEFVAL(true)); ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar3D::disconnect_points, DEFVAL(true)); ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar3D::are_points_connected, DEFVAL(true)); ClassDB::bind_method(D_METHOD("get_point_count"), &AStar3D::get_point_count); ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar3D::get_point_capacity); ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar3D::reserve_space); ClassDB::bind_method(D_METHOD("clear"), &AStar3D::clear); ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar3D::get_closest_point, DEFVAL(false)); ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar3D::get_closest_position_in_segment); ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar3D::get_point_path); ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar3D::get_id_path); GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id") GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id") } AStar3D::~AStar3D() { clear(); } ///////////////////////////////////////////////////////////// int64_t AStar2D::get_available_point_id() const { return astar.get_available_point_id(); } 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(int64_t p_id) const { Vector3 p = astar.get_point_position(p_id); return Vector2(p.x, p.y); } 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(int64_t p_id) const { return astar.get_point_weight_scale(p_id); } 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(int64_t p_id) { astar.remove_point(p_id); } bool AStar2D::has_point(int64_t p_id) const { return astar.has_point(p_id); } Vector<int64_t> AStar2D::get_point_connections(int64_t p_id) { return astar.get_point_connections(p_id); } PackedInt64Array AStar2D::get_point_ids() { return astar.get_point_ids(); } 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(int64_t p_id) const { return astar.is_point_disabled(p_id); } 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(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(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); } int64_t AStar2D::get_point_count() const { return astar.get_point_count(); } int64_t AStar2D::get_point_capacity() const { return astar.get_point_capacity(); } void AStar2D::clear() { astar.clear(); } void AStar2D::reserve_space(int64_t p_num_nodes) { astar.reserve_space(p_num_nodes); } 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); } Vector2 AStar2D::get_closest_position_in_segment(const Vector2 &p_point) const { Vector3 p = astar.get_closest_position_in_segment(Vector3(p_point.x, p_point.y, 0)); return Vector2(p.x, p.y); } 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; } AStar3D::Point *from_point; bool from_exists = astar.points.lookup(p_from_id, from_point); ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_from_id)); AStar3D::Point *to_point; bool to_exists = astar.points.lookup(p_to_id, to_point); ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_to_id)); return from_point->pos.distance_to(to_point->pos); } 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; } AStar3D::Point *from_point; bool from_exists = astar.points.lookup(p_from_id, from_point); ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_from_id)); AStar3D::Point *to_point; bool to_exists = astar.points.lookup(p_to_id, to_point); ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_to_id)); return from_point->pos.distance_to(to_point->pos); } 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)); AStar3D::Point *b; bool to_exists = astar.points.lookup(p_to_id, b); ERR_FAIL_COND_V_MSG(!to_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_to_id)); if (a == b) { Vector<Vector2> ret = { Vector2(a->pos.x, a->pos.y) }; return ret; } AStar3D::Point *begin_point = a; AStar3D::Point *end_point = b; bool found_route = _solve(begin_point, end_point); if (!found_route) { return Vector<Vector2>(); } AStar3D::Point *p = end_point; int64_t pc = 1; // Begin point while (p != begin_point) { pc++; p = p->prev_point; } Vector<Vector2> path; path.resize(pc); { Vector2 *w = path.ptrw(); AStar3D::Point *p2 = end_point; int64_t idx = pc - 1; while (p2 != begin_point) { w[idx--] = Vector2(p2->pos.x, p2->pos.y); p2 = p2->prev_point; } w[0] = Vector2(p2->pos.x, p2->pos.y); // Assign first } return path; } 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<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<int64_t>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id)); if (a == b) { Vector<int64_t> ret; ret.push_back(a->id); return ret; } AStar3D::Point *begin_point = a; AStar3D::Point *end_point = b; bool found_route = _solve(begin_point, end_point); if (!found_route) { return Vector<int64_t>(); } AStar3D::Point *p = end_point; int64_t pc = 1; // Begin point while (p != begin_point) { pc++; p = p->prev_point; } Vector<int64_t> path; path.resize(pc); { int64_t *w = path.ptrw(); p = end_point; int64_t idx = pc - 1; while (p != begin_point) { w[idx--] = p->id; p = p->prev_point; } w[0] = p->id; // Assign first } return path; } bool AStar2D::_solve(AStar3D::Point *begin_point, AStar3D::Point *end_point) { astar.pass++; if (!end_point->enabled) { return false; } bool found_route = false; Vector<AStar3D::Point *> open_list; SortArray<AStar3D::Point *, AStar3D::SortPoints> sorter; begin_point->g_score = 0; begin_point->f_score = _estimate_cost(begin_point->id, end_point->id); open_list.push_back(begin_point); while (!open_list.is_empty()) { AStar3D::Point *p = open_list[0]; // The currently processed point if (p == end_point) { found_route = true; break; } sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list open_list.remove_at(open_list.size() - 1); p->closed_pass = astar.pass; // Mark the point as closed 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) { continue; } real_t tentative_g_score = p->g_score + _compute_cost(p->id, e->id) * e->weight_scale; bool new_point = false; if (e->open_pass != astar.pass) { // The point wasn't inside the open list. e->open_pass = astar.pass; open_list.push_back(e); new_point = true; } else if (tentative_g_score >= e->g_score) { // The new path is worse than the previous. continue; } e->prev_point = p; e->g_score = tentative_g_score; e->f_score = e->g_score + _estimate_cost(e->id, end_point->id); if (new_point) { // The position of the new points is already known. sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptrw()); } else { sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptrw()); } } } return found_route; } void AStar2D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar2D::get_available_point_id); ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar2D::add_point, DEFVAL(1.0)); ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar2D::get_point_position); ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar2D::set_point_position); ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar2D::get_point_weight_scale); ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar2D::set_point_weight_scale); ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar2D::remove_point); ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar2D::has_point); ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar2D::get_point_connections); ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar2D::get_point_ids); ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar2D::set_point_disabled, DEFVAL(true)); ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar2D::is_point_disabled); ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar2D::connect_points, DEFVAL(true)); ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar2D::disconnect_points, DEFVAL(true)); ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar2D::are_points_connected, DEFVAL(true)); ClassDB::bind_method(D_METHOD("get_point_count"), &AStar2D::get_point_count); ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar2D::get_point_capacity); ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar2D::reserve_space); ClassDB::bind_method(D_METHOD("clear"), &AStar2D::clear); ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar2D::get_closest_point, DEFVAL(false)); ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar2D::get_closest_position_in_segment); ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar2D::get_point_path); ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar2D::get_id_path); GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id") GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id") }