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/**************************************************************************/
/* a_star_grid_2d.h */
/**************************************************************************/
/* This file is part of: */
/* REDOT ENGINE */
/* https://redotengine.org */
/**************************************************************************/
/* Copyright (c) 2024-present Redot Engine contributors */
/* (see REDOT_AUTHORS.md) */
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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/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,
};
enum CellShape {
CELL_SHAPE_SQUARE,
CELL_SHAPE_ISOMETRIC_RIGHT,
CELL_SHAPE_ISOMETRIC_DOWN,
CELL_SHAPE_MAX,
};
private:
Rect2i region;
Vector2 offset;
Size2 cell_size = Size2(1, 1);
bool dirty = false;
CellShape cell_shape = CELL_SHAPE_SQUARE;
bool jumping_enabled = false;
int64_t max_traversals = 0;
DiagonalMode diagonal_mode = DIAGONAL_MODE_ALWAYS;
Heuristic default_compute_heuristic = HEURISTIC_EUCLIDEAN;
Heuristic default_estimate_heuristic = HEURISTIC_EUCLIDEAN;
struct Point {
Vector2i id;
Vector2 pos;
real_t weight_scale = 1.0;
// 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;
// Used for getting last_closest_point.
real_t abs_g_score = 0;
real_t abs_f_score = 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<bool> solid_mask;
LocalVector<LocalVector<Point>> points;
Point *end = nullptr;
Point *last_closest_point = nullptr;
uint64_t pass = 1;
private: // Internal routines.
_FORCE_INLINE_ size_t _to_mask_index(int32_t p_x, int32_t p_y) const {
return ((p_y - region.position.y + 1) * (region.size.x + 2)) + p_x - region.position.x + 1;
}
_FORCE_INLINE_ bool _is_walkable(int32_t p_x, int32_t p_y) const {
return !solid_mask[_to_mask_index(p_x, p_y)];
}
_FORCE_INLINE_ Point *_get_point(int32_t p_x, int32_t p_y) {
if (region.has_point(Vector2i(p_x, p_y))) {
return &points[p_y - region.position.y][p_x - region.position.x];
}
return nullptr;
}
_FORCE_INLINE_ void _set_solid_unchecked(int32_t p_x, int32_t p_y, bool p_solid) {
solid_mask[_to_mask_index(p_x, p_y)] = p_solid;
}
_FORCE_INLINE_ void _set_solid_unchecked(const Vector2i &p_id, bool p_solid) {
solid_mask[_to_mask_index(p_id.x, p_id.y)] = p_solid;
}
_FORCE_INLINE_ bool _get_solid_unchecked(const Vector2i &p_id) const {
return solid_mask[_to_mask_index(p_id.x, p_id.y)];
}
_FORCE_INLINE_ Point *_get_point_unchecked(int32_t p_x, int32_t p_y) {
return &points[p_y - region.position.y][p_x - region.position.x];
}
_FORCE_INLINE_ Point *_get_point_unchecked(const Vector2i &p_id) {
return &points[p_id.y - region.position.y][p_id.x - region.position.x];
}
_FORCE_INLINE_ const Point *_get_point_unchecked(const Vector2i &p_id) const {
return &points[p_id.y - region.position.y][p_id.x - region.position.x];
}
void _get_nbors(Point *p_point, LocalVector<Point *> &r_nbors);
Point *_jump(Point *p_from, Point *p_to);
bool _solve(Point *p_begin_point, Point *p_end_point, bool p_allow_partial_path);
Point *_forced_successor(int32_t p_x, int32_t p_y, int32_t p_dx, int32_t p_dy, bool p_inclusive = false);
protected:
static void _bind_methods();
virtual real_t _estimate_cost(const Vector2i &p_from_id, const Vector2i &p_end_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)
#ifndef DISABLE_DEPRECATED
TypedArray<Vector2i> _get_id_path_bind_compat_88047(const Vector2i &p_from, const Vector2i &p_to);
Vector<Vector2> _get_point_path_bind_compat_88047(const Vector2i &p_from, const Vector2i &p_to);
static void _bind_compatibility_methods();
#endif
public:
void set_region(const Rect2i &p_region);
Rect2i get_region() const;
void set_size(const Size2i &p_size);
Size2i get_size() const;
void set_offset(const Vector2 &p_offset);
Vector2 get_offset() const;
void set_cell_size(const Size2 &p_cell_size);
Size2 get_cell_size() const;
void set_cell_shape(CellShape p_cell_shape);
CellShape get_cell_shape() const;
void update();
bool is_in_bounds(int32_t p_x, int32_t 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_max_traversals(int64_t p_max_traversals);
int64_t get_max_traversals() const;
void set_diagonal_mode(DiagonalMode p_diagonal_mode);
DiagonalMode get_diagonal_mode() const;
void set_default_compute_heuristic(Heuristic p_heuristic);
Heuristic get_default_compute_heuristic() const;
void set_default_estimate_heuristic(Heuristic p_heuristic);
Heuristic get_default_estimate_heuristic() const;
void set_point_solid(const Vector2i &p_id, bool p_solid = true);
bool is_point_solid(const Vector2i &p_id) const;
void set_point_weight_scale(const Vector2i &p_id, real_t p_weight_scale);
real_t get_point_weight_scale(const Vector2i &p_id) const;
void fill_solid_region(const Rect2i &p_region, bool p_solid = true);
void fill_weight_scale_region(const Rect2i &p_region, real_t p_weight_scale);
void clear();
Vector2 get_point_position(const Vector2i &p_id) const;
TypedArray<Dictionary> get_point_data_in_region(const Rect2i &p_region) const;
Vector<Vector2> get_point_path(const Vector2i &p_from, const Vector2i &p_to, bool p_allow_partial_path = false);
TypedArray<Vector2i> get_id_path(const Vector2i &p_from, const Vector2i &p_to, bool p_allow_partial_path = false);
};
VARIANT_ENUM_CAST(AStarGrid2D::DiagonalMode);
VARIANT_ENUM_CAST(AStarGrid2D::Heuristic);
VARIANT_ENUM_CAST(AStarGrid2D::CellShape)
#endif // A_STAR_GRID_2D_H
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