diff options
Diffstat (limited to 'core/math')
| -rw-r--r-- | core/math/a_star_grid_2d.cpp | 589 | ||||
| -rw-r--r-- | core/math/a_star_grid_2d.h | 178 | ||||
| -rw-r--r-- | core/math/basis.h | 6 | ||||
| -rw-r--r-- | core/math/transform_3d.cpp | 13 | ||||
| -rw-r--r-- | core/math/transform_3d.h | 1 | ||||
| -rw-r--r-- | core/math/vector3.cpp | 10 |
6 files changed, 775 insertions, 22 deletions
diff --git a/core/math/a_star_grid_2d.cpp b/core/math/a_star_grid_2d.cpp new file mode 100644 index 0000000000..8db33bde6f --- /dev/null +++ b/core/math/a_star_grid_2d.cpp @@ -0,0 +1,589 @@ +/*************************************************************************/ +/* a_star_grid_2d.cpp */ +/*************************************************************************/ +/* 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. */ +/*************************************************************************/ + +#include "a_star_grid_2d.h" + +static real_t heuristic_manhattan(const Vector2i &p_from, const Vector2i &p_to) { + real_t dx = (real_t)ABS(p_to.x - p_from.x); + real_t dy = (real_t)ABS(p_to.y - p_from.y); + return dx + dy; +} + +static real_t heuristic_euclidian(const Vector2i &p_from, const Vector2i &p_to) { + real_t dx = (real_t)ABS(p_to.x - p_from.x); + real_t dy = (real_t)ABS(p_to.y - p_from.y); + return (real_t)Math::sqrt(dx * dx + dy * dy); +} + +static real_t heuristic_octile(const Vector2i &p_from, const Vector2i &p_to) { + real_t dx = (real_t)ABS(p_to.x - p_from.x); + real_t dy = (real_t)ABS(p_to.y - p_from.y); + real_t F = Math_SQRT2 - 1; + return (dx < dy) ? F * dx + dy : F * dy + dx; +} + +static real_t heuristic_chebyshev(const Vector2i &p_from, const Vector2i &p_to) { + real_t dx = (real_t)ABS(p_to.x - p_from.x); + real_t dy = (real_t)ABS(p_to.y - p_from.y); + return MAX(dx, dy); +} + +static real_t (*heuristics[AStarGrid2D::HEURISTIC_MAX])(const Vector2i &, const Vector2i &) = { heuristic_manhattan, heuristic_euclidian, heuristic_octile, heuristic_chebyshev }; + +void AStarGrid2D::set_size(const Vector2i &p_size) { + ERR_FAIL_COND(p_size.x < 0 || p_size.y < 0); + if (p_size != size) { + size = p_size; + dirty = true; + } +} + +Vector2i AStarGrid2D::get_size() const { + return size; +} + +void AStarGrid2D::set_offset(const Vector2 &p_offset) { + if (!offset.is_equal_approx(p_offset)) { + offset = p_offset; + dirty = true; + } +} + +Vector2 AStarGrid2D::get_offset() const { + return offset; +} + +void AStarGrid2D::set_cell_size(const Vector2 &p_cell_size) { + if (!cell_size.is_equal_approx(p_cell_size)) { + cell_size = p_cell_size; + dirty = true; + } +} + +Vector2 AStarGrid2D::get_cell_size() const { + return cell_size; +} + +void AStarGrid2D::update() { + points.clear(); + for (int64_t y = 0; y < size.y; y++) { + LocalVector<Point> line; + for (int64_t x = 0; x < size.x; x++) { + line.push_back(Point(Vector2i(x, y), offset + Vector2(x, y) * cell_size)); + } + points.push_back(line); + } + dirty = false; +} + +bool AStarGrid2D::is_in_bounds(int p_x, int p_y) const { + return p_x >= 0 && p_x < size.width && p_y >= 0 && p_y < size.height; +} + +bool AStarGrid2D::is_in_boundsv(const Vector2i &p_id) const { + return p_id.x >= 0 && p_id.x < size.width && p_id.y >= 0 && p_id.y < size.height; +} + +bool AStarGrid2D::is_dirty() const { + return dirty; +} + +void AStarGrid2D::set_jumping_enabled(bool p_enabled) { + jumping_enabled = p_enabled; +} + +bool AStarGrid2D::is_jumping_enabled() const { + return jumping_enabled; +} + +void AStarGrid2D::set_diagonal_mode(DiagonalMode p_diagonal_mode) { + ERR_FAIL_INDEX((int)p_diagonal_mode, (int)DIAGONAL_MODE_MAX); + diagonal_mode = p_diagonal_mode; +} + +AStarGrid2D::DiagonalMode AStarGrid2D::get_diagonal_mode() const { + return diagonal_mode; +} + +void AStarGrid2D::set_default_heuristic(Heuristic p_heuristic) { + ERR_FAIL_INDEX((int)p_heuristic, (int)HEURISTIC_MAX); + default_heuristic = p_heuristic; +} + +AStarGrid2D::Heuristic AStarGrid2D::get_default_heuristic() const { + return default_heuristic; +} + +void AStarGrid2D::set_point_solid(const Vector2i &p_id, bool p_solid) { + ERR_FAIL_COND_MSG(dirty, "Grid is not initialized. Call the update method."); + ERR_FAIL_COND_MSG(!is_in_boundsv(p_id), vformat("Can't set if point is disabled. Point out of bounds (%s/%s, %s/%s).", p_id.x, size.width, p_id.y, size.height)); + points[p_id.y][p_id.x].solid = p_solid; +} + +bool AStarGrid2D::is_point_solid(const Vector2i &p_id) const { + ERR_FAIL_COND_V_MSG(dirty, false, "Grid is not initialized. Call the update method."); + ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_id), false, vformat("Can't get if point is disabled. Point out of bounds (%s/%s, %s/%s).", p_id.x, size.width, p_id.y, size.height)); + return points[p_id.y][p_id.x].solid; +} + +AStarGrid2D::Point *AStarGrid2D::_jump(Point *p_from, Point *p_to) { + if (!p_to || p_to->solid) { + return nullptr; + } + if (p_to == end) { + return p_to; + } + + int64_t from_x = p_from->id.x; + int64_t from_y = p_from->id.y; + + int64_t to_x = p_to->id.x; + int64_t to_y = p_to->id.y; + + int64_t dx = to_x - from_x; + int64_t dy = to_y - from_y; + + if (diagonal_mode == DIAGONAL_MODE_ALWAYS || diagonal_mode == DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE) { + if (dx != 0 && dy != 0) { + if ((_is_walkable(to_x - dx, to_y + dy) && !_is_walkable(to_x - dx, to_y)) || (_is_walkable(to_x + dx, to_y - dy) && !_is_walkable(to_x, to_y - dy))) { + return p_to; + } + if (_jump(p_to, _get_point(to_x + dx, to_y)) != nullptr) { + return p_to; + } + if (_jump(p_to, _get_point(to_x, to_y + dy)) != nullptr) { + return p_to; + } + } else { + if (dx != 0) { + if ((_is_walkable(to_x + dx, to_y + 1) && !_is_walkable(to_x, to_y + 1)) || (_is_walkable(to_x + dx, to_y - 1) && !_is_walkable(to_x, to_y - 1))) { + return p_to; + } + } else { + if ((_is_walkable(to_x + 1, to_y + dy) && !_is_walkable(to_x + 1, to_y)) || (_is_walkable(to_x - 1, to_y + dy) && !_is_walkable(to_x - 1, to_y))) { + return p_to; + } + } + } + if (_is_walkable(to_x + dx, to_y + dy) && (diagonal_mode == DIAGONAL_MODE_ALWAYS || (_is_walkable(to_x + dx, to_y) || _is_walkable(to_x, to_y + dy)))) { + return _jump(p_to, _get_point(to_x + dx, to_y + dy)); + } + } else if (diagonal_mode == DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES) { + if (dx != 0 && dy != 0) { + if ((_is_walkable(to_x + dx, to_y + dy) && !_is_walkable(to_x, to_y + dy)) || !_is_walkable(to_x + dx, to_y)) { + return p_to; + } + if (_jump(p_to, _get_point(to_x + dx, to_y)) != nullptr) { + return p_to; + } + if (_jump(p_to, _get_point(to_x, to_y + dy)) != nullptr) { + return p_to; + } + } else { + if (dx != 0) { + if ((_is_walkable(to_x, to_y + 1) && !_is_walkable(to_x - dx, to_y + 1)) || (_is_walkable(to_x, to_y - 1) && !_is_walkable(to_x - dx, to_y - 1))) { + return p_to; + } + } else { + if ((_is_walkable(to_x + 1, to_y) && !_is_walkable(to_x + 1, to_y - dy)) || (_is_walkable(to_x - 1, to_y) && !_is_walkable(to_x - 1, to_y - dy))) { + return p_to; + } + } + } + if (_is_walkable(to_x + dx, to_y + dy) && _is_walkable(to_x + dx, to_y) && _is_walkable(to_x, to_y + dy)) { + return _jump(p_to, _get_point(to_x + dx, to_y + dy)); + } + } else { // DIAGONAL_MODE_NEVER + if (dx != 0) { + if (!_is_walkable(to_x + dx, to_y)) { + return p_to; + } + if (_jump(p_to, _get_point(to_x, to_y + 1)) != nullptr) { + return p_to; + } + if (_jump(p_to, _get_point(to_x, to_y - 1)) != nullptr) { + return p_to; + } + } else { + if (!_is_walkable(to_x, to_y + dy)) { + return p_to; + } + if (_jump(p_to, _get_point(to_x + 1, to_y)) != nullptr) { + return p_to; + } + if (_jump(p_to, _get_point(to_x - 1, to_y)) != nullptr) { + return p_to; + } + } + if (_is_walkable(to_x + dx, to_y + dy) && _is_walkable(to_x + dx, to_y) && _is_walkable(to_x, to_y + dy)) { + return _jump(p_to, _get_point(to_x + dx, to_y + dy)); + } + } + return nullptr; +} + +void AStarGrid2D::_get_nbors(Point *p_point, List<Point *> &r_nbors) { + bool ts0 = false, td0 = false, + ts1 = false, td1 = false, + ts2 = false, td2 = false, + ts3 = false, td3 = false; + + Point *left = nullptr; + Point *right = nullptr; + Point *top = nullptr; + Point *bottom = nullptr; + + Point *top_left = nullptr; + Point *top_right = nullptr; + Point *bottom_left = nullptr; + Point *bottom_right = nullptr; + + { + bool has_left = false; + bool has_right = false; + + if (p_point->id.x - 1 >= 0) { + left = _get_point_unchecked(p_point->id.x - 1, p_point->id.y); + has_left = true; + } + if (p_point->id.x + 1 < size.width) { + right = _get_point_unchecked(p_point->id.x + 1, p_point->id.y); + has_right = true; + } + if (p_point->id.y - 1 >= 0) { + top = _get_point_unchecked(p_point->id.x, p_point->id.y - 1); + if (has_left) { + top_left = _get_point_unchecked(p_point->id.x - 1, p_point->id.y - 1); + } + if (has_right) { + top_right = _get_point_unchecked(p_point->id.x + 1, p_point->id.y - 1); + } + } + if (p_point->id.y + 1 < size.height) { + bottom = _get_point_unchecked(p_point->id.x, p_point->id.y + 1); + if (has_left) { + bottom_left = _get_point_unchecked(p_point->id.x - 1, p_point->id.y + 1); + } + if (has_right) { + bottom_right = _get_point_unchecked(p_point->id.x + 1, p_point->id.y + 1); + } + } + } + + if (top && !top->solid) { + r_nbors.push_back(top); + ts0 = true; + } + if (right && !right->solid) { + r_nbors.push_back(right); + ts1 = true; + } + if (bottom && !bottom->solid) { + r_nbors.push_back(bottom); + ts2 = true; + } + if (left && !left->solid) { + r_nbors.push_back(left); + ts3 = true; + } + + switch (diagonal_mode) { + case DIAGONAL_MODE_ALWAYS: { + td0 = true; + td1 = true; + td2 = true; + td3 = true; + } break; + case DIAGONAL_MODE_NEVER: { + } break; + case DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE: { + td0 = ts3 || ts0; + td1 = ts0 || ts1; + td2 = ts1 || ts2; + td3 = ts2 || ts3; + } break; + case DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES: { + td0 = ts3 && ts0; + td1 = ts0 && ts1; + td2 = ts1 && ts2; + td3 = ts2 && ts3; + } break; + default: + break; + } + + if (td0 && (top_left && !top_left->solid)) { + r_nbors.push_back(top_left); + } + if (td1 && (top_right && !top_right->solid)) { + r_nbors.push_back(top_right); + } + if (td2 && (bottom_right && !bottom_right->solid)) { + r_nbors.push_back(bottom_right); + } + if (td3 && (bottom_left && !bottom_left->solid)) { + r_nbors.push_back(bottom_left); + } +} + +bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) { + pass++; + + if (p_end_point->solid) { + return false; + } + + bool found_route = false; + + Vector<Point *> open_list; + SortArray<Point *, SortPoints> sorter; + + p_begin_point->g_score = 0; + p_begin_point->f_score = _estimate_cost(p_begin_point->id, p_end_point->id); + open_list.push_back(p_begin_point); + end = p_end_point; + + while (!open_list.is_empty()) { + Point *p = open_list[0]; // The currently processed point. + + if (p == p_end_point) { + found_route = true; + break; + } + + sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list. + open_list.remove_at(open_list.size() - 1); + p->closed_pass = pass; // Mark the point as closed. + + List<Point *> nbors; + _get_nbors(p, nbors); + for (List<Point *>::Element *E = nbors.front(); E; E = E->next()) { + Point *e = E->get(); // The neighbour point. + if (jumping_enabled) { + e = _jump(p, e); + if (!e || e->closed_pass == pass) { + continue; + } + } else { + if (e->solid || e->closed_pass == pass) { + continue; + } + } + + real_t tentative_g_score = p->g_score + _compute_cost(p->id, e->id); + bool new_point = false; + + if (e->open_pass != pass) { // The point wasn't inside the open list. + e->open_pass = pass; + open_list.push_back(e); + new_point = true; + } else if (tentative_g_score >= e->g_score) { // The new path is worse than the previous. + continue; + } + + e->prev_point = p; + e->g_score = tentative_g_score; + e->f_score = e->g_score + _estimate_cost(e->id, p_end_point->id); + + if (new_point) { // The position of the new points is already known. + sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptrw()); + } else { + sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptrw()); + } + } + } + + return found_route; +} + +real_t AStarGrid2D::_estimate_cost(const Vector2i &p_from_id, const Vector2i &p_to_id) { + real_t scost; + if (GDVIRTUAL_CALL(_estimate_cost, p_from_id, p_to_id, scost)) { + return scost; + } + return heuristics[default_heuristic](p_from_id, p_to_id); +} + +real_t AStarGrid2D::_compute_cost(const Vector2i &p_from_id, const Vector2i &p_to_id) { + real_t scost; + if (GDVIRTUAL_CALL(_compute_cost, p_from_id, p_to_id, scost)) { + return scost; + } + return heuristics[default_heuristic](p_from_id, p_to_id); +} + +void AStarGrid2D::clear() { + points.clear(); + size = Vector2i(); +} + +Vector<Vector2> AStarGrid2D::get_point_path(const Vector2i &p_from_id, const Vector2i &p_to_id) { + ERR_FAIL_COND_V_MSG(dirty, Vector<Vector2>(), "Grid is not initialized. Call the update method."); + ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_from_id), Vector<Vector2>(), vformat("Can't get id path. Point out of bounds (%s/%s, %s/%s)", p_from_id.x, size.width, p_from_id.y, size.height)); + ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_to_id), Vector<Vector2>(), vformat("Can't get id path. Point out of bounds (%s/%s, %s/%s)", p_to_id.x, size.width, p_to_id.y, size.height)); + + Point *a = _get_point(p_from_id.x, p_from_id.y); + Point *b = _get_point(p_to_id.x, p_to_id.y); + + if (a == b) { + Vector<Vector2> ret; + ret.push_back(a->pos); + return ret; + } + + Point *begin_point = a; + Point *end_point = b; + + bool found_route = _solve(begin_point, end_point); + if (!found_route) { + return Vector<Vector2>(); + } + + Point *p = end_point; + int64_t pc = 1; + while (p != begin_point) { + pc++; + p = p->prev_point; + } + + Vector<Vector2> path; + path.resize(pc); + + { + Vector2 *w = path.ptrw(); + + p = end_point; + int64_t idx = pc - 1; + while (p != begin_point) { + w[idx--] = p->pos; + p = p->prev_point; + } + + w[0] = p->pos; + } + + return path; +} + +Vector<Vector2> AStarGrid2D::get_id_path(const Vector2i &p_from_id, const Vector2i &p_to_id) { + ERR_FAIL_COND_V_MSG(dirty, Vector<Vector2>(), "Grid is not initialized. Call the update method."); + ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_from_id), Vector<Vector2>(), vformat("Can't get id path. Point out of bounds (%s/%s, %s/%s)", p_from_id.x, size.width, p_from_id.y, size.height)); + ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_to_id), Vector<Vector2>(), vformat("Can't get id path. Point out of bounds (%s/%s, %s/%s)", p_to_id.x, size.width, p_to_id.y, size.height)); + + Point *a = _get_point(p_from_id.x, p_from_id.y); + Point *b = _get_point(p_to_id.x, p_to_id.y); + + if (a == b) { + Vector<Vector2> ret; + ret.push_back(Vector2((float)a->id.x, (float)a->id.y)); + return ret; + } + + Point *begin_point = a; + Point *end_point = b; + + bool found_route = _solve(begin_point, end_point); + if (!found_route) { + return Vector<Vector2>(); + } + + Point *p = end_point; + int64_t pc = 1; + while (p != begin_point) { + pc++; + p = p->prev_point; + } + + Vector<Vector2> path; + path.resize(pc); + + { + Vector2 *w = path.ptrw(); + + p = end_point; + int64_t idx = pc - 1; + while (p != begin_point) { + w[idx--] = Vector2((float)p->id.x, (float)p->id.y); + p = p->prev_point; + } + + w[0] = p->id; + } + + return path; +} + +void AStarGrid2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_size", "size"), &AStarGrid2D::set_size); + ClassDB::bind_method(D_METHOD("get_size"), &AStarGrid2D::get_size); + ClassDB::bind_method(D_METHOD("set_offset", "offset"), &AStarGrid2D::set_offset); + ClassDB::bind_method(D_METHOD("get_offset"), &AStarGrid2D::get_offset); + ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &AStarGrid2D::set_cell_size); + ClassDB::bind_method(D_METHOD("get_cell_size"), &AStarGrid2D::get_cell_size); + ClassDB::bind_method(D_METHOD("is_in_bounds", "x", "y"), &AStarGrid2D::is_in_bounds); + ClassDB::bind_method(D_METHOD("is_in_boundsv", "id"), &AStarGrid2D::is_in_boundsv); + ClassDB::bind_method(D_METHOD("is_dirty"), &AStarGrid2D::is_dirty); + ClassDB::bind_method(D_METHOD("update"), &AStarGrid2D::update); + ClassDB::bind_method(D_METHOD("set_jumping_enabled", "enabled"), &AStarGrid2D::set_jumping_enabled); + ClassDB::bind_method(D_METHOD("is_jumping_enabled"), &AStarGrid2D::is_jumping_enabled); + ClassDB::bind_method(D_METHOD("set_diagonal_mode", "mode"), &AStarGrid2D::set_diagonal_mode); + ClassDB::bind_method(D_METHOD("get_diagonal_mode"), &AStarGrid2D::get_diagonal_mode); + ClassDB::bind_method(D_METHOD("set_default_heuristic", "heuristic"), &AStarGrid2D::set_default_heuristic); + ClassDB::bind_method(D_METHOD("get_default_heuristic"), &AStarGrid2D::get_default_heuristic); + ClassDB::bind_method(D_METHOD("set_point_solid", "id", "solid"), &AStarGrid2D::set_point_solid, DEFVAL(true)); + ClassDB::bind_method(D_METHOD("is_point_solid", "id"), &AStarGrid2D::is_point_solid); + ClassDB::bind_method(D_METHOD("clear"), &AStarGrid2D::clear); + + ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStarGrid2D::get_point_path); + ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStarGrid2D::get_id_path); + + GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id") + GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id") + + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2I, "size"), "set_size", "get_size"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "offset"), "set_offset", "get_offset"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "cell_size"), "set_cell_size", "get_cell_size"); + + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "jumping_enabled"), "set_jumping_enabled", "is_jumping_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "default_heuristic", PROPERTY_HINT_ENUM, "Manhattan,Euclidean,Octile,Chebyshev,Max"), "set_default_heuristic", "get_default_heuristic"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "diagonal_mode", PROPERTY_HINT_ENUM, "Never,Always,At Least One Walkable,Only If No Obstacles,Max"), "set_diagonal_mode", "get_diagonal_mode"); + + BIND_ENUM_CONSTANT(HEURISTIC_EUCLIDEAN); + BIND_ENUM_CONSTANT(HEURISTIC_MANHATTAN); + BIND_ENUM_CONSTANT(HEURISTIC_OCTILE); + BIND_ENUM_CONSTANT(HEURISTIC_CHEBYSHEV); + BIND_ENUM_CONSTANT(HEURISTIC_MAX); + + BIND_ENUM_CONSTANT(DIAGONAL_MODE_ALWAYS); + BIND_ENUM_CONSTANT(DIAGONAL_MODE_NEVER); + BIND_ENUM_CONSTANT(DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE); + BIND_ENUM_CONSTANT(DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES); + BIND_ENUM_CONSTANT(DIAGONAL_MODE_MAX); +} 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 diff --git a/core/math/basis.h b/core/math/basis.h index 2853947ba7..cc2924f5ff 100644 --- a/core/math/basis.h +++ b/core/math/basis.h @@ -238,10 +238,8 @@ struct _NO_DISCARD_ Basis { Basis(const Vector3 &p_axis, real_t p_angle, const Vector3 &p_scale) { set_axis_angle_scale(p_axis, p_angle, p_scale); } static Basis from_scale(const Vector3 &p_scale); - _FORCE_INLINE_ Basis(const Vector3 &row0, const Vector3 &row1, const Vector3 &row2) { - rows[0] = row0; - rows[1] = row1; - rows[2] = row2; + _FORCE_INLINE_ Basis(const Vector3 &p_x_axis, const Vector3 &p_y_axis, const Vector3 &p_z_axis) { + set_columns(p_x_axis, p_y_axis, p_z_axis); } _FORCE_INLINE_ Basis() {} diff --git a/core/math/transform_3d.cpp b/core/math/transform_3d.cpp index a634faca9a..2de9e81b38 100644 --- a/core/math/transform_3d.cpp +++ b/core/math/transform_3d.cpp @@ -94,9 +94,7 @@ void Transform3D::set_look_at(const Vector3 &p_eye, const Vector3 &p_target, con origin = p_eye; } -Transform3D Transform3D::spherical_interpolate_with(const Transform3D &p_transform, real_t p_c) const { - /* not sure if very "efficient" but good enough? */ - +Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t p_c) const { Transform3D interp; Vector3 src_scale = basis.get_scale(); @@ -113,15 +111,6 @@ Transform3D Transform3D::spherical_interpolate_with(const Transform3D &p_transfo return interp; } -Transform3D Transform3D::interpolate_with(const Transform3D &p_transform, real_t p_c) const { - Transform3D interp; - - interp.basis = basis.lerp(p_transform.basis, p_c); - interp.origin = origin.lerp(p_transform.origin, p_c); - - return interp; -} - void Transform3D::scale(const Vector3 &p_scale) { basis.scale(p_scale); origin *= p_scale; diff --git a/core/math/transform_3d.h b/core/math/transform_3d.h index b572e90859..c62e4a7b0e 100644 --- a/core/math/transform_3d.h +++ b/core/math/transform_3d.h @@ -103,7 +103,6 @@ struct _NO_DISCARD_ Transform3D { void operator*=(const real_t p_val); Transform3D operator*(const real_t p_val) const; - Transform3D spherical_interpolate_with(const Transform3D &p_transform, real_t p_c) const; Transform3D interpolate_with(const Transform3D &p_transform, real_t p_c) const; _FORCE_INLINE_ Transform3D inverse_xform(const Transform3D &t) const { diff --git a/core/math/vector3.cpp b/core/math/vector3.cpp index fdbbb8cb5c..f8eefa4f18 100644 --- a/core/math/vector3.cpp +++ b/core/math/vector3.cpp @@ -134,11 +134,11 @@ Vector3 Vector3::octahedron_tangent_decode(const Vector2 &p_oct, float *sign) { } Basis Vector3::outer(const Vector3 &p_with) const { - Vector3 row0(x * p_with.x, x * p_with.y, x * p_with.z); - Vector3 row1(y * p_with.x, y * p_with.y, y * p_with.z); - Vector3 row2(z * p_with.x, z * p_with.y, z * p_with.z); - - return Basis(row0, row1, row2); + Basis basis; + basis.rows[0] = Vector3(x * p_with.x, x * p_with.y, x * p_with.z); + basis.rows[1] = Vector3(y * p_with.x, y * p_with.y, y * p_with.z); + basis.rows[2] = Vector3(z * p_with.x, z * p_with.y, z * p_with.z); + return basis; } bool Vector3::is_equal_approx(const Vector3 &p_v) const { |