d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
210 lines
7.4 KiB
C++
210 lines
7.4 KiB
C++
/**************************************************************************/
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/* a_star.h */
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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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef A_STAR_H
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#define A_STAR_H
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#include "core/object/gdvirtual.gen.inc"
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#include "core/object/ref_counted.h"
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#include "core/object/script_language.h"
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#include "core/templates/oa_hash_map.h"
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/**
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A* pathfinding algorithm.
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*/
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class AStar3D : public RefCounted {
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GDCLASS(AStar3D, RefCounted);
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friend class AStar2D;
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struct Point {
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Point() {}
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int64_t id = 0;
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Vector3 pos;
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real_t weight_scale = 0;
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bool enabled = false;
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OAHashMap<int64_t, Point *> neighbours = 4u;
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OAHashMap<int64_t, Point *> unlinked_neighbours = 4u;
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// Used for pathfinding.
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Point *prev_point = nullptr;
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real_t g_score = 0;
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real_t f_score = 0;
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uint64_t open_pass = 0;
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uint64_t closed_pass = 0;
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};
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struct SortPoints {
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_FORCE_INLINE_ bool operator()(const Point *A, const Point *B) const { // Returns true when the Point A is worse than Point B.
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if (A->f_score > B->f_score) {
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return true;
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} else if (A->f_score < B->f_score) {
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return false;
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} else {
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return A->g_score < B->g_score; // If the f_costs are the same then prioritize the points that are further away from the start.
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}
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}
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};
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struct Segment {
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Pair<int64_t, int64_t> key;
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enum {
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NONE = 0,
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FORWARD = 1,
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BACKWARD = 2,
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BIDIRECTIONAL = FORWARD | BACKWARD
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};
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unsigned char direction = NONE;
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static uint32_t hash(const Segment &p_seg) {
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return PairHash<int64_t, int64_t>().hash(p_seg.key);
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}
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bool operator==(const Segment &p_s) const { return key == p_s.key; }
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Segment() {}
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Segment(int64_t p_from, int64_t p_to) {
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if (p_from < p_to) {
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key.first = p_from;
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key.second = p_to;
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direction = FORWARD;
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} else {
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key.first = p_to;
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key.second = p_from;
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direction = BACKWARD;
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}
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}
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};
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int64_t last_free_id = 0;
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uint64_t pass = 1;
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OAHashMap<int64_t, Point *> points;
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HashSet<Segment, Segment> segments;
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bool _solve(Point *begin_point, Point *end_point);
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protected:
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static void _bind_methods();
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virtual real_t _estimate_cost(int64_t p_from_id, int64_t p_to_id);
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virtual real_t _compute_cost(int64_t p_from_id, int64_t p_to_id);
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GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
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GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
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public:
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int64_t get_available_point_id() const;
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void add_point(int64_t p_id, const Vector3 &p_pos, real_t p_weight_scale = 1);
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Vector3 get_point_position(int64_t p_id) const;
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void set_point_position(int64_t p_id, const Vector3 &p_pos);
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real_t get_point_weight_scale(int64_t p_id) const;
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void set_point_weight_scale(int64_t p_id, real_t p_weight_scale);
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void remove_point(int64_t p_id);
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bool has_point(int64_t p_id) const;
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Vector<int64_t> get_point_connections(int64_t p_id);
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PackedInt64Array get_point_ids();
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void set_point_disabled(int64_t p_id, bool p_disabled = true);
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bool is_point_disabled(int64_t p_id) const;
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void connect_points(int64_t p_id, int64_t p_with_id, bool bidirectional = true);
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void disconnect_points(int64_t p_id, int64_t p_with_id, bool bidirectional = true);
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bool are_points_connected(int64_t p_id, int64_t p_with_id, bool bidirectional = true) const;
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int64_t get_point_count() const;
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int64_t get_point_capacity() const;
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void reserve_space(int64_t p_num_nodes);
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void clear();
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int64_t get_closest_point(const Vector3 &p_point, bool p_include_disabled = false) const;
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Vector3 get_closest_position_in_segment(const Vector3 &p_point) const;
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Vector<Vector3> get_point_path(int64_t p_from_id, int64_t p_to_id);
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Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
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AStar3D() {}
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~AStar3D();
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};
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class AStar2D : public RefCounted {
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GDCLASS(AStar2D, RefCounted);
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AStar3D astar;
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bool _solve(AStar3D::Point *begin_point, AStar3D::Point *end_point);
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protected:
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static void _bind_methods();
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virtual real_t _estimate_cost(int64_t p_from_id, int64_t p_to_id);
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virtual real_t _compute_cost(int64_t p_from_id, int64_t p_to_id);
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GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
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GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
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public:
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int64_t get_available_point_id() const;
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void add_point(int64_t p_id, const Vector2 &p_pos, real_t p_weight_scale = 1);
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Vector2 get_point_position(int64_t p_id) const;
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void set_point_position(int64_t p_id, const Vector2 &p_pos);
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real_t get_point_weight_scale(int64_t p_id) const;
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void set_point_weight_scale(int64_t p_id, real_t p_weight_scale);
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void remove_point(int64_t p_id);
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bool has_point(int64_t p_id) const;
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Vector<int64_t> get_point_connections(int64_t p_id);
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PackedInt64Array get_point_ids();
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void set_point_disabled(int64_t p_id, bool p_disabled = true);
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bool is_point_disabled(int64_t p_id) const;
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void connect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true);
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void disconnect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true);
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bool are_points_connected(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true) const;
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int64_t get_point_count() const;
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int64_t get_point_capacity() const;
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void reserve_space(int64_t p_num_nodes);
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void clear();
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int64_t get_closest_point(const Vector2 &p_point, bool p_include_disabled = false) const;
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Vector2 get_closest_position_in_segment(const Vector2 &p_point) const;
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Vector<Vector2> get_point_path(int64_t p_from_id, int64_t p_to_id);
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Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
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AStar2D() {}
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~AStar2D() {}
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};
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#endif // A_STAR_H
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