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astar performance improvements, use oahashmap
This commit is contained in:
Robin Hübner
parent
de8ce3e625
commit
4bac393549
@ -40,7 +40,17 @@ int AStar::get_available_point_id() const {
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return 1;
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}
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return points.back()->key() + 1;
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// calculate our new next available point id if bigger than before or next id already contained in set of points.
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if (points.has(last_free_id)) {
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int cur_new_id = last_free_id;
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while (points.has(cur_new_id)) {
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cur_new_id++;
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}
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int &non_const = const_cast<int &>(last_free_id);
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non_const = cur_new_id;
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}
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return last_free_id;
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}
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void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
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@ -48,7 +58,10 @@ void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
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ERR_FAIL_COND(p_id < 0);
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ERR_FAIL_COND(p_weight_scale < 1);
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if (!points.has(p_id)) {
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Point *found_pt;
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bool p_exists = points.lookup(p_id, found_pt);
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if (!p_exists) {
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Point *pt = memnew(Point);
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pt->id = p_id;
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pt->pos = p_pos;
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@ -57,84 +70,98 @@ void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
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pt->open_pass = 0;
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pt->closed_pass = 0;
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pt->enabled = true;
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points[p_id] = pt;
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points.set(p_id, pt);
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} else {
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points[p_id]->pos = p_pos;
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points[p_id]->weight_scale = p_weight_scale;
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found_pt->pos = p_pos;
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found_pt->weight_scale = p_weight_scale;
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}
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}
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Vector3 AStar::get_point_position(int p_id) const {
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ERR_FAIL_COND_V(!points.has(p_id), Vector3());
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND_V(!p_exists, Vector3());
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return points[p_id]->pos;
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return p->pos;
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}
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void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
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ERR_FAIL_COND(!points.has(p_id));
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND(!p_exists);
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points[p_id]->pos = p_pos;
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p->pos = p_pos;
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}
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real_t AStar::get_point_weight_scale(int p_id) const {
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ERR_FAIL_COND_V(!points.has(p_id), 0);
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND_V(!p_exists, 0);
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return points[p_id]->weight_scale;
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return p->weight_scale;
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}
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void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
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ERR_FAIL_COND(!points.has(p_id));
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND(!p_exists);
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ERR_FAIL_COND(p_weight_scale < 1);
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points[p_id]->weight_scale = p_weight_scale;
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p->weight_scale = p_weight_scale;
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}
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void AStar::remove_point(int p_id) {
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ERR_FAIL_COND(!points.has(p_id));
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND(!p_exists);
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Point *p = points[p_id];
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for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
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for (Set<Point *>::Element *E = p->neighbours.front(); E; E = E->next()) {
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Segment s(p_id, E->get()->id);
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Segment s(p_id, (*it.key));
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segments.erase(s);
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E->get()->neighbours.erase(p);
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E->get()->unlinked_neighbours.erase(p);
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(*it.value)->neighbours.remove(p->id);
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(*it.value)->unlinked_neighbours.remove(p->id);
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}
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for (Set<Point *>::Element *E = p->unlinked_neighbours.front(); E; E = E->next()) {
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for (OAHashMap<int, Point *>::Iterator it = p->unlinked_neighbours.iter(); it.valid; it = p->unlinked_neighbours.next_iter(it)) {
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Segment s(p_id, E->get()->id);
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Segment s(p_id, (*it.key));
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segments.erase(s);
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E->get()->neighbours.erase(p);
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E->get()->unlinked_neighbours.erase(p);
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(*it.value)->neighbours.remove(p->id);
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(*it.value)->unlinked_neighbours.remove(p->id);
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}
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memdelete(p);
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points.erase(p_id);
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points.remove(p_id);
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last_free_id = p_id;
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}
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void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
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ERR_FAIL_COND(!points.has(p_id));
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ERR_FAIL_COND(!points.has(p_with_id));
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ERR_FAIL_COND(p_id == p_with_id);
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Point *a = points[p_id];
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Point *b = points[p_with_id];
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a->neighbours.insert(b);
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Point *a;
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bool from_exists = points.lookup(p_id, a);
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ERR_FAIL_COND(!from_exists);
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if (bidirectional)
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b->neighbours.insert(a);
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else
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b->unlinked_neighbours.insert(a);
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Point *b;
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bool to_exists = points.lookup(p_with_id, b);
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ERR_FAIL_COND(!to_exists);
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a->neighbours.set(b->id, b);
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if (bidirectional) {
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b->neighbours.set(a->id, a);
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} else {
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b->unlinked_neighbours.set(a->id, a);
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}
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Segment s(p_id, p_with_id);
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if (s.from == p_id) {
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@ -147,6 +174,7 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
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segments.insert(s);
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}
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void AStar::disconnect_points(int p_id, int p_with_id) {
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Segment s(p_id, p_with_id);
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@ -154,12 +182,18 @@ void AStar::disconnect_points(int p_id, int p_with_id) {
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segments.erase(s);
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Point *a = points[p_id];
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Point *b = points[p_with_id];
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a->neighbours.erase(b);
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a->unlinked_neighbours.erase(b);
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b->neighbours.erase(a);
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b->unlinked_neighbours.erase(a);
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Point *a;
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bool a_exists = points.lookup(p_id, a);
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CRASH_COND(!a_exists);
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Point *b;
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bool b_exists = points.lookup(p_with_id, b);
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CRASH_COND(!b_exists);
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a->neighbours.remove(b->id);
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a->unlinked_neighbours.remove(b->id);
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b->neighbours.remove(a->id);
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b->unlinked_neighbours.remove(a->id);
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}
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bool AStar::has_point(int p_id) const {
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@ -171,8 +205,8 @@ Array AStar::get_points() {
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Array point_list;
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for (const Map<int, Point *>::Element *E = points.front(); E; E = E->next()) {
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point_list.push_back(E->key());
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for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
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point_list.push_back(*(it.key));
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}
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return point_list;
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@ -180,14 +214,14 @@ Array AStar::get_points() {
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PoolVector<int> AStar::get_point_connections(int p_id) {
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ERR_FAIL_COND_V(!points.has(p_id), PoolVector<int>());
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Point *p;
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bool p_exists = points.lookup(p_id, p);
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ERR_FAIL_COND_V(!p_exists, PoolVector<int>());
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PoolVector<int> point_list;
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Point *p = points[p_id];
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for (Set<Point *>::Element *E = p->neighbours.front(); E; E = E->next()) {
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point_list.push_back(E->get()->id);
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for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
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point_list.push_back((*it.key));
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}
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return point_list;
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@ -201,9 +235,9 @@ bool AStar::are_points_connected(int p_id, int p_with_id) const {
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void AStar::clear() {
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for (const Map<int, Point *>::Element *E = points.front(); E; E = E->next()) {
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memdelete(E->get());
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last_free_id = 0;
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for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
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memdelete(*(it.value));
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}
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segments.clear();
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points.clear();
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@ -214,14 +248,14 @@ int AStar::get_closest_point(const Vector3 &p_point) const {
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int closest_id = -1;
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real_t closest_dist = 1e20;
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for (const Map<int, Point *>::Element *E = points.front(); E; E = E->next()) {
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for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
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if (!E->get()->enabled)
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continue; //Disabled points should not be considered
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real_t d = p_point.distance_squared_to(E->get()->pos);
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if (!(*it.value)->enabled) continue; // Disabled points should not be considered.
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real_t d = p_point.distance_squared_to((*it.value)->pos);
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if (closest_id < 0 || d < closest_dist) {
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closest_dist = d;
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closest_id = E->key();
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closest_id = *(it.key);
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}
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}
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@ -230,8 +264,8 @@ int AStar::get_closest_point(const Vector3 &p_point) const {
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Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
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real_t closest_dist = 1e20;
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bool found = false;
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real_t closest_dist = 1e20;
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Vector3 closest_point;
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for (const Set<Segment>::Element *E = segments.front(); E; E = E->next()) {
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@ -262,8 +296,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
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pass++;
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if (!end_point->enabled)
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return false;
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if (!end_point->enabled) return false;
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bool found_route = false;
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@ -272,13 +305,9 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
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begin_point->g_score = 0;
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begin_point->f_score = _estimate_cost(begin_point->id, end_point->id);
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open_list.push_back(begin_point);
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while (true) {
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if (open_list.size() == 0) // No path found
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break;
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while (!open_list.empty()) {
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Point *p = open_list[0]; // The currently processed point
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@ -291,24 +320,23 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
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open_list.remove(open_list.size() - 1);
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p->closed_pass = pass; // Mark the point as closed
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for (Set<Point *>::Element *E = p->neighbours.front(); E; E = E->next()) {
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for (OAHashMap<int, Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
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Point *e = E->get(); // The neighbour point
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Point *e = *(it.value); // The neighbour point
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if (!e->enabled || e->closed_pass == pass)
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if (!e->enabled || e->closed_pass == pass) {
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continue;
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}
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real_t tentative_g_score = p->g_score + _compute_cost(p->id, e->id) * e->weight_scale;
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bool new_point = false;
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if (e->open_pass != pass) { // The point wasn't inside the open list
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if (e->open_pass != pass) { // The point wasn't inside the open list.
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e->open_pass = pass;
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open_list.push_back(e);
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new_point = true;
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} else if (tentative_g_score >= e->g_score) { // The new path is worse than the previous
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} else if (tentative_g_score >= e->g_score) { // The new path is worse than the previous.
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continue;
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}
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@ -316,10 +344,11 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
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e->g_score = tentative_g_score;
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e->f_score = e->g_score + _estimate_cost(e->id, end_point->id);
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if (new_point) // The position of the new points is already known
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if (new_point) { // The position of the new points is already known.
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sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptrw());
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else
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} else {
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sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptrw());
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}
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}
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}
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@ -331,7 +360,15 @@ float AStar::_estimate_cost(int p_from_id, int p_to_id) {
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if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_estimate_cost))
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return get_script_instance()->call(SceneStringNames::get_singleton()->_estimate_cost, p_from_id, p_to_id);
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return points[p_from_id]->pos.distance_to(points[p_to_id]->pos);
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Point *from_point;
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bool from_exists = points.lookup(p_from_id, from_point);
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CRASH_COND(!from_exists);
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Point *to_point;
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bool to_exists = points.lookup(p_to_id, to_point);
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CRASH_COND(!to_exists);
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return from_point->pos.distance_to(to_point->pos);
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}
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float AStar::_compute_cost(int p_from_id, int p_to_id) {
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@ -339,16 +376,26 @@ float AStar::_compute_cost(int p_from_id, int p_to_id) {
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if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_compute_cost))
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return get_script_instance()->call(SceneStringNames::get_singleton()->_compute_cost, p_from_id, p_to_id);
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return points[p_from_id]->pos.distance_to(points[p_to_id]->pos);
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Point *from_point;
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bool from_exists = points.lookup(p_from_id, from_point);
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CRASH_COND(!from_exists);
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Point *to_point;
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bool to_exists = points.lookup(p_to_id, to_point);
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CRASH_COND(!to_exists);
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return from_point->pos.distance_to(to_point->pos);
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}
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PoolVector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
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ERR_FAIL_COND_V(!points.has(p_from_id), PoolVector<Vector3>());
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ERR_FAIL_COND_V(!points.has(p_to_id), PoolVector<Vector3>());
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Point *a;
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bool from_exists = points.lookup(p_from_id, a);
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ERR_FAIL_COND_V(!from_exists, PoolVector<Vector3>());
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Point *a = points[p_from_id];
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Point *b = points[p_to_id];
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Point *b;
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bool to_exists = points.lookup(p_to_id, b);
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ERR_FAIL_COND_V(!to_exists, PoolVector<Vector3>());
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if (a == b) {
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PoolVector<Vector3> ret;
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@ -360,11 +407,8 @@ PoolVector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
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Point *end_point = b;
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bool found_route = _solve(begin_point, end_point);
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if (!found_route) return PoolVector<Vector3>();
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if (!found_route)
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return PoolVector<Vector3>();
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// Midpoints
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Point *p = end_point;
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int pc = 1; // Begin point
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while (p != begin_point) {
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@ -393,11 +437,13 @@ PoolVector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
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PoolVector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
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ERR_FAIL_COND_V(!points.has(p_from_id), PoolVector<int>());
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ERR_FAIL_COND_V(!points.has(p_to_id), PoolVector<int>());
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Point *a;
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bool from_exists = points.lookup(p_from_id, a);
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ERR_FAIL_COND_V(!from_exists, PoolVector<int>());
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Point *a = points[p_from_id];
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Point *b = points[p_to_id];
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Point *b;
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bool to_exists = points.lookup(p_to_id, b);
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ERR_FAIL_COND_V(!to_exists, PoolVector<int>());
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if (a == b) {
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PoolVector<int> ret;
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@ -409,11 +455,8 @@ PoolVector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
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Point *end_point = b;
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bool found_route = _solve(begin_point, end_point);
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if (!found_route) return PoolVector<int>();
|
||||
|
||||
if (!found_route)
|
||||
return PoolVector<int>();
|
||||
|
||||
// Midpoints
|
||||
Point *p = end_point;
|
||||
int pc = 1; // Begin point
|
||||
while (p != begin_point) {
|
||||
@ -442,16 +485,20 @@ PoolVector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
|
||||
|
||||
void AStar::set_point_disabled(int p_id, bool p_disabled) {
|
||||
|
||||
ERR_FAIL_COND(!points.has(p_id));
|
||||
Point *p;
|
||||
bool p_exists = points.lookup(p_id, p);
|
||||
ERR_FAIL_COND(!p_exists);
|
||||
|
||||
points[p_id]->enabled = !p_disabled;
|
||||
p->enabled = !p_disabled;
|
||||
}
|
||||
|
||||
bool AStar::is_point_disabled(int p_id) const {
|
||||
|
||||
ERR_FAIL_COND_V(!points.has(p_id), false);
|
||||
Point *p;
|
||||
bool p_exists = points.lookup(p_id, p);
|
||||
ERR_FAIL_COND_V(!p_exists, false);
|
||||
|
||||
return !points[p_id]->enabled;
|
||||
return !p->enabled;
|
||||
}
|
||||
|
||||
void AStar::_bind_methods() {
|
||||
@ -487,13 +534,11 @@ void AStar::_bind_methods() {
|
||||
}
|
||||
|
||||
AStar::AStar() {
|
||||
|
||||
last_free_id = 0;
|
||||
pass = 1;
|
||||
}
|
||||
|
||||
AStar::~AStar() {
|
||||
|
||||
pass = 1;
|
||||
clear();
|
||||
}
|
||||
|
||||
|
||||
@ -31,6 +31,7 @@
|
||||
#ifndef ASTAR_H
|
||||
#define ASTAR_H
|
||||
|
||||
#include "core/oa_hash_map.h"
|
||||
#include "core/reference.h"
|
||||
|
||||
/**
|
||||
@ -43,8 +44,6 @@ class AStar : public Reference {
|
||||
|
||||
GDCLASS(AStar, Reference);
|
||||
|
||||
uint64_t pass;
|
||||
|
||||
struct Point {
|
||||
|
||||
int id;
|
||||
@ -52,10 +51,10 @@ class AStar : public Reference {
|
||||
real_t weight_scale;
|
||||
bool enabled;
|
||||
|
||||
Set<Point *> neighbours;
|
||||
Set<Point *> unlinked_neighbours;
|
||||
OAHashMap<int, Point *> neighbours;
|
||||
OAHashMap<int, Point *> unlinked_neighbours;
|
||||
|
||||
// Used for pathfinding
|
||||
// Used for pathfinding.
|
||||
Point *prev_point;
|
||||
real_t g_score;
|
||||
real_t f_score;
|
||||
@ -63,16 +62,15 @@ class AStar : public Reference {
|
||||
uint64_t closed_pass;
|
||||
};
|
||||
|
||||
Map<int, Point *> points;
|
||||
|
||||
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)
|
||||
_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)
|
||||
} 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
|
||||
} 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.
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
@ -100,6 +98,10 @@ class AStar : public Reference {
|
||||
}
|
||||
};
|
||||
|
||||
int last_free_id;
|
||||
uint64_t pass;
|
||||
|
||||
OAHashMap<int, Point *> points;
|
||||
Set<Segment> segments;
|
||||
|
||||
bool _solve(Point *begin_point, Point *end_point);
|
||||
|
||||
@ -62,7 +62,7 @@ private:
|
||||
static const uint32_t EMPTY_HASH = 0;
|
||||
static const uint32_t DELETED_HASH_BIT = 1 << 31;
|
||||
|
||||
_FORCE_INLINE_ uint32_t _hash(const TKey &p_key) {
|
||||
_FORCE_INLINE_ uint32_t _hash(const TKey &p_key) const {
|
||||
uint32_t hash = Hasher::hash(p_key);
|
||||
|
||||
if (hash == EMPTY_HASH) {
|
||||
@ -74,7 +74,7 @@ private:
|
||||
return hash;
|
||||
}
|
||||
|
||||
_FORCE_INLINE_ uint32_t _get_probe_length(uint32_t p_pos, uint32_t p_hash) {
|
||||
_FORCE_INLINE_ uint32_t _get_probe_length(uint32_t p_pos, uint32_t p_hash) const {
|
||||
p_hash = p_hash & ~DELETED_HASH_BIT; // we don't care if it was deleted or not
|
||||
|
||||
uint32_t original_pos = p_hash % capacity;
|
||||
@ -90,7 +90,7 @@ private:
|
||||
num_elements++;
|
||||
}
|
||||
|
||||
bool _lookup_pos(const TKey &p_key, uint32_t &r_pos) {
|
||||
bool _lookup_pos(const TKey &p_key, uint32_t &r_pos) const {
|
||||
uint32_t hash = _hash(p_key);
|
||||
uint32_t pos = hash % capacity;
|
||||
uint32_t distance = 0;
|
||||
@ -151,6 +151,7 @@ private:
|
||||
distance++;
|
||||
}
|
||||
}
|
||||
|
||||
void _resize_and_rehash() {
|
||||
|
||||
TKey *old_keys = keys;
|
||||
@ -190,6 +191,26 @@ public:
|
||||
_FORCE_INLINE_ uint32_t get_capacity() const { return capacity; }
|
||||
_FORCE_INLINE_ uint32_t get_num_elements() const { return num_elements; }
|
||||
|
||||
bool empty() const {
|
||||
return num_elements == 0;
|
||||
}
|
||||
|
||||
void clear() {
|
||||
|
||||
for (uint32_t i = 0; i < capacity; i++) {
|
||||
|
||||
if (hashes[i] & DELETED_HASH_BIT) {
|
||||
continue;
|
||||
}
|
||||
|
||||
hashes[i] |= DELETED_HASH_BIT;
|
||||
values[i].~TValue();
|
||||
keys[i].~TKey();
|
||||
}
|
||||
|
||||
num_elements = 0;
|
||||
}
|
||||
|
||||
void insert(const TKey &p_key, const TValue &p_value) {
|
||||
|
||||
if ((float)num_elements / (float)capacity > 0.9) {
|
||||
@ -219,7 +240,7 @@ public:
|
||||
* if r_data is not NULL then the value will be written to the object
|
||||
* it points to.
|
||||
*/
|
||||
bool lookup(const TKey &p_key, TValue &r_data) {
|
||||
bool lookup(const TKey &p_key, TValue &r_data) const {
|
||||
uint32_t pos = 0;
|
||||
bool exists = _lookup_pos(p_key, pos);
|
||||
|
||||
@ -232,7 +253,7 @@ public:
|
||||
return false;
|
||||
}
|
||||
|
||||
_FORCE_INLINE_ bool has(const TKey &p_key) {
|
||||
_FORCE_INLINE_ bool has(const TKey &p_key) const {
|
||||
uint32_t _pos = 0;
|
||||
return _lookup_pos(p_key, _pos);
|
||||
}
|
||||
@ -302,6 +323,9 @@ public:
|
||||
return it;
|
||||
}
|
||||
|
||||
OAHashMap(const OAHashMap &) = delete; // Delete the copy constructor so we don't get unexpected copies and dangling pointers.
|
||||
OAHashMap &operator=(const OAHashMap &) = delete; // Same for assignment operator.
|
||||
|
||||
OAHashMap(uint32_t p_initial_capacity = 64) {
|
||||
|
||||
capacity = p_initial_capacity;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user