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Diffstat (limited to 'core/math/a_star_grid_2d.h')
| -rw-r--r-- | core/math/a_star_grid_2d.h | 178 |
1 files changed, 178 insertions, 0 deletions
diff --git a/core/math/a_star_grid_2d.h b/core/math/a_star_grid_2d.h new file mode 100644 index 0000000000..66312d10ac --- /dev/null +++ b/core/math/a_star_grid_2d.h @@ -0,0 +1,178 @@ +/*************************************************************************/ +/* a_star_grid_2d.h */ +/*************************************************************************/ +/* 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. */ +/*************************************************************************/ + +#ifndef A_STAR_GRID_2D_H +#define A_STAR_GRID_2D_H + +#include "core/object/gdvirtual.gen.inc" +#include "core/object/ref_counted.h" +#include "core/object/script_language.h" +#include "core/templates/list.h" +#include "core/templates/local_vector.h" + +class AStarGrid2D : public RefCounted { + GDCLASS(AStarGrid2D, RefCounted); + +public: + enum DiagonalMode { + DIAGONAL_MODE_ALWAYS, + DIAGONAL_MODE_NEVER, + DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE, + DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES, + DIAGONAL_MODE_MAX, + }; + + enum Heuristic { + HEURISTIC_EUCLIDEAN, + HEURISTIC_MANHATTAN, + HEURISTIC_OCTILE, + HEURISTIC_CHEBYSHEV, + HEURISTIC_MAX, + }; + +private: + Vector2i size; + Vector2 offset; + Vector2 cell_size = Vector2(1, 1); + bool dirty = false; + + bool jumping_enabled = false; + DiagonalMode diagonal_mode = DIAGONAL_MODE_ALWAYS; + Heuristic default_heuristic = HEURISTIC_EUCLIDEAN; + + struct Point { + Vector2i id; + + bool solid = false; + Vector2 pos; + + // Used for pathfinding. + Point *prev_point = nullptr; + real_t g_score = 0; + real_t f_score = 0; + uint64_t open_pass = 0; + uint64_t closed_pass = 0; + + Point() {} + + Point(const Vector2i &p_id, const Vector2 &p_pos) : + id(p_id), pos(p_pos) {} + }; + + struct SortPoints { + _FORCE_INLINE_ bool operator()(const Point *A, const Point *B) const { // Returns true when the Point A is worse than Point B. + if (A->f_score > B->f_score) { + return true; + } else if (A->f_score < B->f_score) { + return false; + } else { + 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. + } + } + }; + + LocalVector<LocalVector<Point>> points; + Point *end = nullptr; + + uint64_t pass = 1; + +private: // Internal routines. + _FORCE_INLINE_ bool _is_walkable(int64_t p_x, int64_t p_y) const { + if (p_x >= 0 && p_y >= 0 && p_x < size.width && p_y < size.height) { + return !points[p_y][p_x].solid; + } + return false; + } + + _FORCE_INLINE_ Point *_get_point(int64_t p_x, int64_t p_y) { + if (p_x >= 0 && p_y >= 0 && p_x < size.width && p_y < size.height) { + return &points[p_y][p_x]; + } + return nullptr; + } + + _FORCE_INLINE_ Point *_get_point_unchecked(int64_t p_x, int64_t p_y) { + return &points[p_y][p_x]; + } + + void _get_nbors(Point *p_point, List<Point *> &r_nbors); + Point *_jump(Point *p_from, Point *p_to); + bool _solve(Point *p_begin_point, Point *p_end_point); + +protected: + static void _bind_methods(); + + virtual real_t _estimate_cost(const Vector2i &p_from_id, const Vector2i &p_to_id); + virtual real_t _compute_cost(const Vector2i &p_from_id, const Vector2i &p_to_id); + + GDVIRTUAL2RC(real_t, _estimate_cost, Vector2i, Vector2i) + GDVIRTUAL2RC(real_t, _compute_cost, Vector2i, Vector2i) + +public: + void set_size(const Vector2i &p_size); + Vector2i get_size() const; + + void set_offset(const Vector2 &p_offset); + Vector2 get_offset() const; + + void set_cell_size(const Vector2 &p_cell_size); + Vector2 get_cell_size() const; + + void update(); + + int get_width() const; + int get_height() const; + + bool is_in_bounds(int p_x, int p_y) const; + bool is_in_boundsv(const Vector2i &p_id) const; + bool is_dirty() const; + + void set_jumping_enabled(bool p_enabled); + bool is_jumping_enabled() const; + + void set_diagonal_mode(DiagonalMode p_diagonal_mode); + DiagonalMode get_diagonal_mode() const; + + void set_default_heuristic(Heuristic p_heuristic); + Heuristic get_default_heuristic() const; + + void set_point_solid(const Vector2i &p_id, bool p_solid = true); + bool is_point_solid(const Vector2i &p_id) const; + + void clear(); + + Vector<Vector2> get_point_path(const Vector2i &p_from, const Vector2i &p_to); + Vector<Vector2> get_id_path(const Vector2i &p_from, const Vector2i &p_to); +}; + +VARIANT_ENUM_CAST(AStarGrid2D::DiagonalMode); +VARIANT_ENUM_CAST(AStarGrid2D::Heuristic); + +#endif // A_STAR_GRID_2D_H |