216 lines
6.8 KiB
C++
216 lines
6.8 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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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 ASTAR_H
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#define ASTAR_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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id(0),
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enabled(false),
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neighbours(4u),
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unlinked_neighbours(4u),
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prev_point(nullptr),
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open_pass(0) {}
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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;
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OAHashMap<int, Point *> unlinked_neighbours;
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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;
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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;
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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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key = 0;
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direction = NONE;
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}
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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;
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uint64_t pass;
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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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PoolVector<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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PoolVector<Vector3> get_point_path(int p_from_id, int p_to_id);
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PoolVector<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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PoolVector<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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PoolVector<Vector2> get_point_path(int p_from_id, int p_to_id);
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PoolVector<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 // ASTAR_H
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