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#ifndef ASTAR_H
#define ASTAR_H
#include "reference.h"
#include "self_list.h"
class AStar: public Reference {
OBJ_TYPE(AStar,Reference)
uint64_t pass;
struct Point {
SelfList<Point> list;
int id;
Vector3 pos;
float weight_scale;
uint64_t last_pass;
Vector<Point*> neighbours;
//used for pathfinding
Point *prev_point;
float 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();
public:
int get_available_point_id() const;
void add_point(int p_id,const Vector3& p_pos,float p_weight_scale=1);
Vector3 get_point_pos(int p_id) const;
float get_point_weight_scale(int p_id) const;
void remove_point(int p_id);
void connect_points(int p_id,int p_with_id);
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_pos_in_segment(const Vector3& p_point) const;
DVector<Vector3> get_point_path(int p_from_id, int p_to_id);
DVector<int> get_id_path(int p_from_id, int p_to_id);
AStar();
~AStar();
};
#endif // ASTAR_H
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