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-rw-r--r--core/math/a_star.cpp76
-rw-r--r--core/math/a_star.h35
2 files changed, 76 insertions, 35 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp
index ae2b56e7b7..810e290922 100644
--- a/core/math/a_star.cpp
+++ b/core/math/a_star.cpp
@@ -164,23 +164,23 @@ 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;
+ if (bidirectional) s.direction = Segment::BIDIRECTIONAL;
+
+ Set<Segment>::Element *element = segments.find(s);
+ if (element != NULL) {
+ s.direction |= element->get().direction;
+ if (s.direction == Segment::BIDIRECTIONAL) {
+ // Both are neighbours of each other now
+ a->unlinked_neighbours.remove(b->id);
+ b->unlinked_neighbours.remove(a->id);
+ }
+ segments.erase(element);
}
segments.insert(s);
}
-void AStar::disconnect_points(int p_id, int p_with_id) {
-
- Segment s(p_id, p_with_id);
- ERR_FAIL_COND(!segments.has(s));
-
- segments.erase(s);
+void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
Point *a;
bool a_exists = points.lookup(p_id, a);
@@ -190,10 +190,33 @@ 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);
+ Segment s(p_id, p_with_id);
+ int remove_direction = bidirectional ? (int)Segment::BIDIRECTIONAL : s.direction;
+
+ Set<Segment>::Element *element = segments.find(s);
+ if (element != NULL) {
+ // s is the new segment
+ // Erase the directions to be removed
+ s.direction = (element->get().direction & ~remove_direction);
+
+ a->neighbours.remove(b->id);
+ if (bidirectional) {
+ b->neighbours.remove(a->id);
+ if (element->get().direction != Segment::BIDIRECTIONAL) {
+ a->unlinked_neighbours.remove(b->id);
+ b->unlinked_neighbours.remove(a->id);
+ }
+ } else {
+ if (s.direction == Segment::NONE)
+ b->unlinked_neighbours.remove(a->id);
+ else
+ a->unlinked_neighbours.set(b->id, b);
+ }
+
+ segments.erase(element);
+ if (s.direction != Segment::NONE)
+ segments.insert(s);
+ }
}
bool AStar::has_point(int p_id) const {
@@ -227,10 +250,13 @@ 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);
+ const Set<Segment>::Element *element = segments.find(s);
+
+ return element != NULL &&
+ (bidirectional || (element->get().direction & s.direction) == s.direction);
}
void AStar::clear() {
@@ -284,13 +310,17 @@ Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
for (const Set<Segment>::Element *E = segments.front(); E; E = E->next()) {
- if (!(E->get().from_point->enabled && E->get().to_point->enabled)) {
+ Point *from_point = nullptr, *to_point = nullptr;
+ points.lookup(E->get().u, from_point);
+ points.lookup(E->get().v, to_point);
+
+ if (!(from_point->enabled && to_point->enabled)) {
continue;
}
Vector3 segment[2] = {
- E->get().from_point->pos,
- E->get().to_point->pos,
+ from_point->pos,
+ to_point->pos,
};
Vector3 p = Geometry::get_closest_point_to_segment(p_point, segment);
@@ -532,8 +562,8 @@ 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);
diff --git a/core/math/a_star.h b/core/math/a_star.h
index 0a5d3e992c..8ff62e646b 100644
--- a/core/math/a_star.h
+++ b/core/math/a_star.h
@@ -81,24 +81,35 @@ class AStar : public Reference {
struct Segment {
union {
struct {
- int32_t from;
- int32_t to;
+ int32_t u;
+ int32_t v;
};
uint64_t key;
};
- Point *from_point;
- Point *to_point;
+ enum {
+ NONE = 0,
+ FORWARD = 1,
+ BACKWARD = 2,
+ BIDIRECTIONAL = FORWARD | BACKWARD
+ };
+ unsigned char direction;
bool operator<(const Segment &p_s) const { return key < p_s.key; }
- Segment() { key = 0; }
+ Segment() {
+ key = 0;
+ direction = NONE;
+ }
Segment(int p_from, int p_to) {
- if (p_from > p_to) {
- SWAP(p_from, p_to);
+ if (p_from < p_to) {
+ u = p_from;
+ v = p_to;
+ direction = FORWARD;
+ } else {
+ u = p_to;
+ v = p_from;
+ direction = BACKWARD;
}
-
- from = p_from;
- to = p_to;
}
};
@@ -133,8 +144,8 @@ 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;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-02 13:33:40 +0000