/**************************************************************************/ /* a_star.h */ /**************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /**************************************************************************/ /* 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_H #define A_STAR_H #include "core/object/gdvirtual.gen.inc" #include "core/object/ref_counted.h" #include "core/templates/oa_hash_map.h" /** A* pathfinding algorithm. */ class AStar3D : public RefCounted { GDCLASS(AStar3D, RefCounted); friend class AStar2D; struct Point { Point() {} int64_t id = 0; Vector3 pos; real_t weight_scale = 0; bool enabled = false; OAHashMap neighbors = 4u; OAHashMap unlinked_neighbours = 4u; // 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 closest_point_of_last_pathing_call. real_t abs_g_score = 0; real_t abs_f_score = 0; }; 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. } } }; struct Segment { Pair key; enum { NONE = 0, FORWARD = 1, BACKWARD = 2, BIDIRECTIONAL = FORWARD | BACKWARD }; unsigned char direction = NONE; static uint32_t hash(const Segment &p_seg) { return PairHash().hash(p_seg.key); } bool operator==(const Segment &p_s) const { return key == p_s.key; } Segment() {} Segment(int64_t p_from, int64_t p_to) { if (p_from < p_to) { key.first = p_from; key.second = p_to; direction = FORWARD; } else { key.first = p_to; key.second = p_from; direction = BACKWARD; } } }; int64_t last_free_id = 0; uint64_t pass = 1; OAHashMap points; HashSet segments; Point *last_closest_point = nullptr; bool _solve(Point *begin_point, Point *end_point, bool p_allow_partial_path); protected: static void _bind_methods(); virtual real_t _estimate_cost(int64_t p_from_id, int64_t p_end_id); virtual real_t _compute_cost(int64_t p_from_id, int64_t p_to_id); GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t) GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t) #ifndef DISABLE_DEPRECATED Vector _get_id_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id); Vector _get_point_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id); static void _bind_compatibility_methods(); #endif public: int64_t get_available_point_id() const; void add_point(int64_t p_id, const Vector3 &p_pos, real_t p_weight_scale = 1); Vector3 get_point_position(int64_t p_id) const; void set_point_position(int64_t p_id, const Vector3 &p_pos); real_t get_point_weight_scale(int64_t p_id) const; void set_point_weight_scale(int64_t p_id, real_t p_weight_scale); void remove_point(int64_t p_id); bool has_point(int64_t p_id) const; Vector get_point_connections(int64_t p_id); PackedInt64Array get_point_ids(); void set_point_disabled(int64_t p_id, bool p_disabled = true); bool is_point_disabled(int64_t p_id) const; void connect_points(int64_t p_id, int64_t p_with_id, bool bidirectional = true); void disconnect_points(int64_t p_id, int64_t p_with_id, bool bidirectional = true); bool are_points_connected(int64_t p_id, int64_t p_with_id, bool bidirectional = true) const; int64_t get_point_count() const; int64_t get_point_capacity() const; void reserve_space(int64_t p_num_nodes); void clear(); int64_t get_closest_point(const Vector3 &p_point, bool p_include_disabled = false) const; Vector3 get_closest_position_in_segment(const Vector3 &p_point) const; Vector get_point_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false); Vector get_id_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false); AStar3D() {} ~AStar3D(); }; class AStar2D : public RefCounted { GDCLASS(AStar2D, RefCounted); AStar3D astar; bool _solve(AStar3D::Point *begin_point, AStar3D::Point *end_point, bool p_allow_partial_path); protected: static void _bind_methods(); virtual real_t _estimate_cost(int64_t p_from_id, int64_t p_end_id); virtual real_t _compute_cost(int64_t p_from_id, int64_t p_to_id); GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t) GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t) #ifndef DISABLE_DEPRECATED Vector _get_id_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id); Vector _get_point_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id); static void _bind_compatibility_methods(); #endif public: int64_t get_available_point_id() const; void add_point(int64_t p_id, const Vector2 &p_pos, real_t p_weight_scale = 1); Vector2 get_point_position(int64_t p_id) const; void set_point_position(int64_t p_id, const Vector2 &p_pos); real_t get_point_weight_scale(int64_t p_id) const; void set_point_weight_scale(int64_t p_id, real_t p_weight_scale); void remove_point(int64_t p_id); bool has_point(int64_t p_id) const; Vector get_point_connections(int64_t p_id); PackedInt64Array get_point_ids(); void set_point_disabled(int64_t p_id, bool p_disabled = true); bool is_point_disabled(int64_t p_id) const; void connect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true); void disconnect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true); bool are_points_connected(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true) const; int64_t get_point_count() const; int64_t get_point_capacity() const; void reserve_space(int64_t p_num_nodes); void clear(); int64_t get_closest_point(const Vector2 &p_point, bool p_include_disabled = false) const; Vector2 get_closest_position_in_segment(const Vector2 &p_point) const; Vector get_point_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false); Vector get_id_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false); AStar2D() {} ~AStar2D() {} }; #endif // A_STAR_H