/*************************************************************************/ /* a_star.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2018 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 ASTAR_H #define ASTAR_H #include "reference.h" #include "self_list.h" /** A* pathfinding algorithm @author Juan Linietsky <reduzio@gmail.com> */ class AStar : public Reference { GDCLASS(AStar, Reference) uint64_t pass; struct Point { SelfList<Point> list; int id; Vector3 pos; real_t weight_scale; uint64_t last_pass; Vector<Point *> neighbours; // Used for pathfinding Point *prev_point; real_t distance; Point() : list(this) {} }; Map<int, Point *> points; struct Segment { union { struct { int32_t from; int32_t to; }; uint64_t key; }; Point *from_point; Point *to_point; 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; } }; Set<Segment> segments; bool _solve(Point *begin_point, Point *end_point); protected: static void _bind_methods(); virtual float _estimate_cost(int p_from_id, int p_to_id); virtual float _compute_cost(int p_from_id, int p_to_id); public: int get_available_point_id() const; void add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale = 1); Vector3 get_point_position(int p_id) const; void set_point_position(int p_id, const Vector3 &p_pos); real_t get_point_weight_scale(int p_id) const; void set_point_weight_scale(int p_id, real_t p_weight_scale); void remove_point(int p_id); bool has_point(int p_id) const; PoolVector<int> get_point_connections(int p_id); Array get_points(); 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 clear(); int get_closest_point(const Vector3 &p_point) const; Vector3 get_closest_position_in_segment(const Vector3 &p_point) const; PoolVector<Vector3> get_point_path(int p_from_id, int p_to_id); PoolVector<int> get_id_path(int p_from_id, int p_to_id); AStar(); ~AStar(); }; #endif // ASTAR_H