3b11e33a09
Sets `AlignOperands` to `DontAlign`. `clang-format` developers seem to mostly care about space-based indentation and every other version of clang-format breaks the bad mismatch of tabs and spaces that it seems to use for operand alignment. So it's better without, so that it respects our two-tabs `ContinuationIndentWidth`.
885 lines
28 KiB
C++
885 lines
28 KiB
C++
/*************************************************************************/
|
|
/* a_star.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 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"
|
|
#include "scene/scene_string_names.h"
|
|
|
|
int AStar::get_available_point_id() const {
|
|
if (points.has(last_free_id)) {
|
|
int 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;
|
|
}
|
|
|
|
return last_free_id;
|
|
}
|
|
|
|
void AStar::add_point(int 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 < 1, vformat("Can't add a point with weight scale less than one: %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 AStar::get_point_position(int 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 AStar::set_point_position(int 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 AStar::get_point_weight_scale(int 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 AStar::set_point_weight_scale(int 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 < 1, vformat("Can't set point's weight scale less than one: %f.", p_weight_scale));
|
|
|
|
p->weight_scale = p_weight_scale;
|
|
}
|
|
|
|
void AStar::remove_point(int 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)) {
|
|
Segment s(p_id, (*it.key));
|
|
segments.erase(s);
|
|
|
|
(*it.value)->neighbours.remove(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)) {
|
|
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 AStar::connect_points(int p_id, int 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;
|
|
}
|
|
|
|
Set<Segment>::Element *element = segments.find(s);
|
|
if (element != nullptr) {
|
|
s.direction |= element->get().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.erase(element);
|
|
}
|
|
|
|
segments.insert(s);
|
|
}
|
|
|
|
void AStar::disconnect_points(int p_id, int 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 : s.direction;
|
|
|
|
Set<Segment>::Element *element = segments.find(s);
|
|
if (element != nullptr) {
|
|
// s is the new segment
|
|
// Erase the directions to be removed
|
|
s.direction = (element->get().direction & ~remove_direction);
|
|
|
|
a->neighbours.remove(b->id);
|
|
if (bidirectional) {
|
|
b->neighbours.remove(a->id);
|
|
if (element->get().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.erase(element);
|
|
if (s.direction != Segment::NONE) {
|
|
segments.insert(s);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool AStar::has_point(int p_id) const {
|
|
return points.has(p_id);
|
|
}
|
|
|
|
Array AStar::get_points() {
|
|
Array point_list;
|
|
|
|
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
|
|
point_list.push_back(*(it.key));
|
|
}
|
|
|
|
return point_list;
|
|
}
|
|
|
|
Vector<int> AStar::get_point_connections(int 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));
|
|
|
|
Vector<int> point_list;
|
|
|
|
for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
|
|
point_list.push_back((*it.key));
|
|
}
|
|
|
|
return point_list;
|
|
}
|
|
|
|
bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
|
|
Segment s(p_id, p_with_id);
|
|
const Set<Segment>::Element *element = segments.find(s);
|
|
|
|
return element != nullptr &&
|
|
(bidirectional || (element->get().direction & s.direction) == s.direction);
|
|
}
|
|
|
|
void AStar::clear() {
|
|
last_free_id = 0;
|
|
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
|
|
memdelete(*(it.value));
|
|
}
|
|
segments.clear();
|
|
points.clear();
|
|
}
|
|
|
|
int AStar::get_point_count() const {
|
|
return points.get_num_elements();
|
|
}
|
|
|
|
int AStar::get_point_capacity() const {
|
|
return points.get_capacity();
|
|
}
|
|
|
|
void AStar::reserve_space(int 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 AStar::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
|
|
int closest_id = -1;
|
|
real_t closest_dist = 1e20;
|
|
|
|
for (OAHashMap<int, 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);
|
|
int 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 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
|
|
real_t closest_dist = 1e20;
|
|
Vector3 closest_point;
|
|
|
|
for (const Set<Segment>::Element *E = segments.front(); E; E = E->next()) {
|
|
Point *from_point = nullptr, *to_point = nullptr;
|
|
points.lookup(E->get().u, from_point);
|
|
points.lookup(E->get().v, 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 AStar::_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(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)) {
|
|
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 AStar::_estimate_cost(int p_from_id, int 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 AStar::_compute_cost(int p_from_id, int 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> AStar::get_point_path(int p_from_id, int 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;
|
|
int 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;
|
|
int idx = pc - 1;
|
|
while (p2 != begin_point) {
|
|
w[idx--] = p2->pos;
|
|
p2 = p2->prev_point;
|
|
}
|
|
|
|
w[0] = p2->pos; // Assign first
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
Vector<int> AStar::get_id_path(int p_from_id, int 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));
|
|
|
|
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));
|
|
|
|
if (a == b) {
|
|
Vector<int> 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<int>();
|
|
}
|
|
|
|
Point *p = end_point;
|
|
int pc = 1; // Begin point
|
|
while (p != begin_point) {
|
|
pc++;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
Vector<int> path;
|
|
path.resize(pc);
|
|
|
|
{
|
|
int *w = path.ptrw();
|
|
|
|
p = end_point;
|
|
int idx = pc - 1;
|
|
while (p != begin_point) {
|
|
w[idx--] = p->id;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
w[0] = p->id; // Assign first
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
void AStar::set_point_disabled(int 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 AStar::is_point_disabled(int 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 AStar::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar::get_available_point_id);
|
|
ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar::add_point, DEFVAL(1.0));
|
|
ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar::get_point_position);
|
|
ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar::set_point_position);
|
|
ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar::get_point_weight_scale);
|
|
ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar::set_point_weight_scale);
|
|
ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar::remove_point);
|
|
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point);
|
|
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar::get_point_connections);
|
|
ClassDB::bind_method(D_METHOD("get_points"), &AStar::get_points);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar::set_point_disabled, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar::is_point_disabled);
|
|
|
|
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar::disconnect_points, DEFVAL(true));
|
|
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar::are_points_connected, DEFVAL(true));
|
|
|
|
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar::get_point_count);
|
|
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar::get_point_capacity);
|
|
ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar::reserve_space);
|
|
ClassDB::bind_method(D_METHOD("clear"), &AStar::clear);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar::get_closest_point, DEFVAL(false));
|
|
ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar::get_closest_position_in_segment);
|
|
|
|
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);
|
|
|
|
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
|
|
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")
|
|
}
|
|
|
|
AStar::~AStar() {
|
|
clear();
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////
|
|
|
|
int 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) {
|
|
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 {
|
|
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) {
|
|
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 {
|
|
return astar.get_point_weight_scale(p_id);
|
|
}
|
|
|
|
void AStar2D::set_point_weight_scale(int p_id, real_t p_weight_scale) {
|
|
astar.set_point_weight_scale(p_id, p_weight_scale);
|
|
}
|
|
|
|
void AStar2D::remove_point(int p_id) {
|
|
astar.remove_point(p_id);
|
|
}
|
|
|
|
bool AStar2D::has_point(int p_id) const {
|
|
return astar.has_point(p_id);
|
|
}
|
|
|
|
Vector<int> AStar2D::get_point_connections(int p_id) {
|
|
return astar.get_point_connections(p_id);
|
|
}
|
|
|
|
Array AStar2D::get_points() {
|
|
return astar.get_points();
|
|
}
|
|
|
|
void AStar2D::set_point_disabled(int p_id, bool p_disabled) {
|
|
astar.set_point_disabled(p_id, p_disabled);
|
|
}
|
|
|
|
bool AStar2D::is_point_disabled(int p_id) const {
|
|
return astar.is_point_disabled(p_id);
|
|
}
|
|
|
|
void AStar2D::connect_points(int p_id, int 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) {
|
|
astar.disconnect_points(p_id, p_with_id);
|
|
}
|
|
|
|
bool AStar2D::are_points_connected(int p_id, int p_with_id) const {
|
|
return astar.are_points_connected(p_id, p_with_id);
|
|
}
|
|
|
|
int AStar2D::get_point_count() const {
|
|
return astar.get_point_count();
|
|
}
|
|
|
|
int AStar2D::get_point_capacity() const {
|
|
return astar.get_point_capacity();
|
|
}
|
|
|
|
void AStar2D::clear() {
|
|
astar.clear();
|
|
}
|
|
|
|
void AStar2D::reserve_space(int p_num_nodes) {
|
|
astar.reserve_space(p_num_nodes);
|
|
}
|
|
|
|
int 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(int p_from_id, int p_to_id) {
|
|
real_t scost;
|
|
if (GDVIRTUAL_CALL(_estimate_cost, p_from_id, p_to_id, scost)) {
|
|
return scost;
|
|
}
|
|
|
|
AStar::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));
|
|
|
|
AStar::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(int p_from_id, int p_to_id) {
|
|
real_t scost;
|
|
if (GDVIRTUAL_CALL(_compute_cost, p_from_id, p_to_id, scost)) {
|
|
return scost;
|
|
}
|
|
|
|
AStar::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));
|
|
|
|
AStar::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(int p_from_id, int p_to_id) {
|
|
AStar::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));
|
|
|
|
AStar::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;
|
|
ret.push_back(Vector2(a->pos.x, a->pos.y));
|
|
return ret;
|
|
}
|
|
|
|
AStar::Point *begin_point = a;
|
|
AStar::Point *end_point = b;
|
|
|
|
bool found_route = _solve(begin_point, end_point);
|
|
if (!found_route) {
|
|
return Vector<Vector2>();
|
|
}
|
|
|
|
AStar::Point *p = end_point;
|
|
int pc = 1; // Begin point
|
|
while (p != begin_point) {
|
|
pc++;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
Vector<Vector2> path;
|
|
path.resize(pc);
|
|
|
|
{
|
|
Vector2 *w = path.ptrw();
|
|
|
|
AStar::Point *p2 = end_point;
|
|
int 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<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
|
|
AStar::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));
|
|
|
|
AStar::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));
|
|
|
|
if (a == b) {
|
|
Vector<int> ret;
|
|
ret.push_back(a->id);
|
|
return ret;
|
|
}
|
|
|
|
AStar::Point *begin_point = a;
|
|
AStar::Point *end_point = b;
|
|
|
|
bool found_route = _solve(begin_point, end_point);
|
|
if (!found_route) {
|
|
return Vector<int>();
|
|
}
|
|
|
|
AStar::Point *p = end_point;
|
|
int pc = 1; // Begin point
|
|
while (p != begin_point) {
|
|
pc++;
|
|
p = p->prev_point;
|
|
}
|
|
|
|
Vector<int> path;
|
|
path.resize(pc);
|
|
|
|
{
|
|
int *w = path.ptrw();
|
|
|
|
p = end_point;
|
|
int 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(AStar::Point *begin_point, AStar::Point *end_point) {
|
|
astar.pass++;
|
|
|
|
if (!end_point->enabled) {
|
|
return false;
|
|
}
|
|
|
|
bool found_route = false;
|
|
|
|
Vector<AStar::Point *> open_list;
|
|
SortArray<AStar::Point *, AStar::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()) {
|
|
AStar::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(open_list.size() - 1);
|
|
p->closed_pass = astar.pass; // Mark the point as closed
|
|
|
|
for (OAHashMap<int, AStar::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
|
|
AStar::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_points"), &AStar2D::get_points);
|
|
|
|
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"), &AStar2D::disconnect_points);
|
|
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id"), &AStar2D::are_points_connected);
|
|
|
|
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")
|
|
}
|