0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
208 lines
6.6 KiB
C++
208 lines
6.6 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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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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/oa_hash_map.h"
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#include "core/reference.h"
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/**
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A* pathfinding algorithm
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@author Juan Linietsky <reduzio@gmail.com>
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*/
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class AStar : public Reference {
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GDCLASS(AStar, Reference);
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friend class AStar2D;
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struct Point {
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Point() {}
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int id;
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Vector3 pos;
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real_t weight_scale;
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bool enabled;
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OAHashMap<int, Point *> neighbours = 4u;
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OAHashMap<int, Point *> unlinked_neighbours = 4u;
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// Used for pathfinding.
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Point *prev_point;
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real_t g_score;
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real_t f_score;
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uint64_t open_pass;
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uint64_t closed_pass;
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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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union {
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struct {
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int32_t u;
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int32_t v;
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};
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uint64_t key = 0;
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};
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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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bool operator<(const Segment &p_s) const { return key < p_s.key; }
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Segment() {}
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Segment(int p_from, int p_to) {
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if (p_from < p_to) {
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u = p_from;
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v = p_to;
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direction = FORWARD;
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} else {
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u = p_to;
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v = p_from;
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direction = BACKWARD;
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}
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}
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};
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int last_free_id = 0;
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uint64_t pass = 1;
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OAHashMap<int, Point *> points;
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Set<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(int p_from_id, int p_to_id);
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virtual real_t _compute_cost(int p_from_id, int p_to_id);
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public:
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int get_available_point_id() const;
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void add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale = 1);
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Vector3 get_point_position(int p_id) const;
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void set_point_position(int p_id, const Vector3 &p_pos);
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real_t get_point_weight_scale(int p_id) const;
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void set_point_weight_scale(int p_id, real_t p_weight_scale);
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void remove_point(int p_id);
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bool has_point(int p_id) const;
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Vector<int> get_point_connections(int p_id);
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Array get_points();
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void set_point_disabled(int p_id, bool p_disabled = true);
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bool is_point_disabled(int p_id) const;
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void connect_points(int p_id, int p_with_id, bool bidirectional = true);
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void disconnect_points(int p_id, int p_with_id, bool bidirectional = true);
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bool are_points_connected(int p_id, int p_with_id, bool bidirectional = true) const;
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int get_point_count() const;
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int get_point_capacity() const;
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void reserve_space(int p_num_nodes);
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void clear();
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int 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(int p_from_id, int p_to_id);
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Vector<int> get_id_path(int p_from_id, int p_to_id);
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AStar() {}
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~AStar();
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};
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class AStar2D : public Reference {
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GDCLASS(AStar2D, Reference);
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AStar astar;
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bool _solve(AStar::Point *begin_point, AStar::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(int p_from_id, int p_to_id);
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virtual real_t _compute_cost(int p_from_id, int p_to_id);
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public:
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int get_available_point_id() const;
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void add_point(int p_id, const Vector2 &p_pos, real_t p_weight_scale = 1);
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Vector2 get_point_position(int p_id) const;
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void set_point_position(int p_id, const Vector2 &p_pos);
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real_t get_point_weight_scale(int p_id) const;
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void set_point_weight_scale(int p_id, real_t p_weight_scale);
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void remove_point(int p_id);
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bool has_point(int p_id) const;
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Vector<int> get_point_connections(int p_id);
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Array get_points();
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void set_point_disabled(int p_id, bool p_disabled = true);
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bool is_point_disabled(int p_id) const;
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void connect_points(int p_id, int p_with_id, bool p_bidirectional = true);
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void disconnect_points(int p_id, int p_with_id);
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bool are_points_connected(int p_id, int p_with_id) const;
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int get_point_count() const;
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int get_point_capacity() const;
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void reserve_space(int p_num_nodes);
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void clear();
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int 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(int p_from_id, int p_to_id);
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Vector<int> get_id_path(int p_from_id, int 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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