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Improve support for directed graphs in AStar

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This commit is contained in:
Shiqing 2019-07-13 11:22:12 +08:00
parent 24e1039eb6
commit 98136418ac
2 changed files with 35 additions and 26 deletions
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53
core/math/a_star.cpp
View File

@ -164,23 +164,21 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
}
Segment s(p_id, p_with_id);
if (s.from == p_id) {
s.from_point = a;
s.to_point = b;
} else {
s.from_point = b;
s.to_point = a;
}
s.from_point = a;
s.to_point = b;
segments.insert(s);
if (bidirectional) {
SWAP(s.from, s.to);
SWAP(s.from_point, s.to_point);
segments.insert(s);
}
}
void AStar::disconnect_points(int p_id, int p_with_id) {
void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
Segment s(p_id, p_with_id);
ERR_FAIL_COND(!segments.has(s));
segments.erase(s);
Segment t(p_with_id, p_id);
Point *a;
bool a_exists = points.lookup(p_id, a);
@ -190,10 +188,24 @@ void AStar::disconnect_points(int p_id, int p_with_id) {
bool b_exists = points.lookup(p_with_id, b);
CRASH_COND(!b_exists);
a->neighbours.remove(b->id);
a->unlinked_neighbours.remove(b->id);
b->neighbours.remove(a->id);
b->unlinked_neighbours.remove(a->id);
bool warned = false;
if (segments.has(s)) {
segments.erase(s);
a->neighbours.remove(b->id);
b->unlinked_neighbours.remove(a->id);
} else {
warned = true;
WARN_PRINT("The edge to be removed does not exist.");
}
if (bidirectional && segments.has(t)) {
segments.erase(t);
b->neighbours.remove(a->id);
a->unlinked_neighbours.remove(b->id);
} else if (bidirectional && !warned) {
WARN_PRINT("The reverse edge to be removed does not exist.");
}
}
bool AStar::has_point(int p_id) const {
@ -227,10 +239,11 @@ PoolVector<int> AStar::get_point_connections(int p_id) {
return point_list;
}
bool AStar::are_points_connected(int p_id, int p_with_id) const {
bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
Segment s(p_id, p_with_id);
return segments.has(s);
Segment t(p_with_id, p_id);
return segments.has(s) || (bidirectional && segments.has(t));
}
void AStar::clear() {
@ -532,8 +545,8 @@ void AStar::_bind_methods() {
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar::is_point_disabled);
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true));
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id"), &AStar::disconnect_points);
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id"), &AStar::are_points_connected);
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar::disconnect_points, DEFVAL(true));
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar::are_points_connected, DEFVAL(true));
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar::get_point_count);
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar::get_point_capacity);

8
core/math/a_star.h
View File

@ -93,10 +93,6 @@ class AStar : public Reference {
bool operator<(const Segment &p_s) const { return key < p_s.key; }
Segment() { key = 0; }
Segment(int p_from, int p_to) {
if (p_from > p_to) {
SWAP(p_from, p_to);
}
from = p_from;
to = p_to;
}
@ -133,8 +129,8 @@ public:
bool is_point_disabled(int p_id) const;
void connect_points(int p_id, int p_with_id, bool bidirectional = true);
void disconnect_points(int p_id, int p_with_id);
bool are_points_connected(int p_id, int p_with_id) const;
void disconnect_points(int p_id, int p_with_id, bool bidirectional = true);
bool are_points_connected(int p_id, int p_with_id, bool bidirectional = true) const;
int get_point_count() const;
int get_point_capacity() const;