.

1 files changed, 0 insertions, 429 deletions

diff --git a/src/path-search-dijkstra.cpp b/src/path-search-dijkstra.cpp
deleted file mode 100644
index 995229af..00000000
--- a/src/path-search-dijkstra.cpp
+++ /dev/null
@@ -1,429 +0,0 @@
-#include "path-search.hpp"
-#include "object.hpp"
-#include "point.hpp"
-#include <Corrade/Containers/StaticArray.h>
-#include <Magnum/Math/Vector2.h>
-#include <Magnum/Math/Functions.h>
-
-namespace floormat {
-
-template<typename T> using bbox = path_search::bbox<T>;
-using visited = astar::visited;
-
-namespace {
-
-constexpr auto div_size = path_search::div_size;
-
-template<typename T>
-requires std::is_arithmetic_v<T>
-constexpr auto bbox_from_pos(Math::Vector2<T> pos, Vector2b offset, Vector2ui size)
-{
-    const auto vec = Vector2i(pos) * iTILE_SIZE2 + Vector2i(offset);
-    const auto min = vec - Vector2i(size / 2);
-    const auto max = vec + Vector2i(size);
-    const auto bb = bbox<float>{Vector2(min), Vector2(max)};
-    return bb;
-}
-
-template<typename T>
-requires std::is_arithmetic_v<T>
-constexpr inline bbox<T> bbox_union(bbox<T> bb0, bbox<T> bb1)
-{
-    return { Math::min(bb0.min, bb1.min), Math::max(bb0.max, bb1.max) };
-}
-
-constexpr auto directions = []() constexpr
-{
-    struct pair { Vector2i dir; uint32_t len; };
-    constexpr auto len1 = div_size;
-    constexpr auto len2 = (uint32_t)(len1.length() + 0.5f); // NOLINT
-    std::array<pair, 8> array = {{
-        { { -1, -1 }, len2 },
-        { {  1,  1 }, len2 },
-        { { -1,  1 }, len2 },
-        { {  1, -1 }, len2 },
-        { { -1,  0 }, len1.x() },
-        { {  0, -1 }, len1.y() },
-        { {  1,  0 }, len1.x() },
-        { {  0,  1 }, len1.y() },
-    }};
-    for (auto& [vec, len] : array)
-        vec *= div_size;
-#if 0
-    for (auto i = 0uz; i < array.size(); i++)
-        for (auto j = 0uz; j < i; j++)
-            fm_assert(array[i].dir != array[j].dir);
-#endif
-    return array;
-}();
-
-struct heap_comparator
-{
-    const std::vector<visited>& nodes; // NOLINT
-    inline heap_comparator(const std::vector<visited>& nodes) : nodes{nodes} {}
-    inline bool operator()(uint32_t a, uint32_t b) const { return nodes[b].dist < nodes[a].dist; }
-};
-
-inline uint32_t distance(point a, point b)
-{
-    Vector2i dist;
-    dist += (a.coord() - b.coord())*iTILE_SIZE2;
-    dist += Vector2i(a.offset()) - Vector2i(b.offset());
-    return (uint32_t)Math::sqrt(Math::abs(dist).dot());
-}
-
-inline uint32_t distance_l2(point a, point b)
-{
-    Vector2i dist;
-    dist += (a.coord() - b.coord())*iTILE_SIZE2;
-    dist += Vector2i(a.offset()) - Vector2i(b.offset());
-    return (uint32_t)Math::abs(dist).sum();
-}
-
-} // namespace
-
-astar::astar()
-{
-    reserve(initial_capacity);
-}
-
-void astar::reserve(size_t capacity)
-{
-    nodes.reserve(capacity);
-    Q.reserve(capacity);
-}
-
-void astar::clear()
-{
-    nodes.clear();
-    Q.clear();
-}
-
-void astar::add_to_heap(uint32_t id)
-{
-    Q.push_back(id);
-    std::push_heap(Q.begin(), Q.end(), heap_comparator{nodes});
-}
-
-uint32_t astar::pop_from_heap()
-{
-    std::pop_heap(Q.begin(), Q.end(), heap_comparator{nodes});
-    const auto id = Q.back();
-    Q.pop_back();
-    return id;
-}
-
-path_search_result astar::Dijkstra(world& w, const point from_, const point to_, object_id own_id, uint32_t max_dist,
-                                   Vector2ub own_size_, int debug, const pred& p)
-{
-#ifdef FM_NO_DEBUG
-    (void)debug;
-#endif
-
-    clear();
-    cache.allocate(from_, max_dist);
-
-    constexpr auto min_size = Vector2ui{div_size*3/2};
-    const auto own_size = Math::max(Vector2ui(own_size_), min_size);
-    constexpr auto goal_thres = (uint32_t)(div_size.length() + 1.5f);
-
-    const auto [from, from_offset] = from_;
-    const auto [to, to_offset] = to_;
-
-    if (from.z() != to.z()) [[unlikely]]
-        return {};
-
-    // todo try removing this eventually
-    if (from.z() != 0) [[unlikely]]
-        return {};
-
-    if (!path_search::is_passable(w, from, from_offset, own_size, own_id, p))
-        return {};
-
-    if (!path_search::is_passable(w, to, to_offset, own_size, own_id, p))
-        return {};
-
-    cache.allocate(from_, max_dist);
-    nodes.push_back({.dist = 0, .pt = from_, });
-    add_to_heap(0);
-
-    {   const auto bb0 = bbox_from_pos(Vector2(from.local()), {}, own_size);
-        uint32_t idx = 0;
-        constexpr int8_t div_min = div_factor*-2, div_max = div_factor*2+1;
-
-        for (int8_t y = div_min; y <= div_max; y++)
-            for (int8_t x = div_min; x <= div_max; x++)
-            {
-                auto off_ = Vector2i(x, y) * div_size;
-                auto off = Vector2(off_);
-                auto bb1 = bbox<float>{ bb0.min + off, bb0.max + off};
-                auto bb = bbox_union(bb0, bb1);
-                auto dist = (uint32_t)off.length();
-
-                if (path_search::is_passable(w, from.chunk3(), bb, own_id, p))
-                {
-                    auto pt = object::normalize_coords({from, {}}, off_);
-                    cache.add_index(pt, idx);
-                    nodes.push_back({.dist = dist, .prev = (uint32_t)-1, .pt = pt, });
-                    add_to_heap(idx++);
-                }
-            }
-    }
-
-    auto closest_dist = distance(from_, to_);
-    auto closest_pos = from_;
-    uint32_t closest_path_len = 0;
-    auto goal_idx = (uint32_t)-1;
-    const auto goal_bb = bbox_from_pos(Vector2(to_.local()), to_offset, own_size);
-
-    while (!Q.empty())
-    {
-        const auto id = pop_from_heap();
-        point cur_pt;
-        uint32_t cur_dist;
-        {   auto& n = nodes[id];
-            cur_pt = n.pt;
-            cur_dist = n.dist;
-        }
-
-        if (cur_dist >= max_dist) [[unlikely]]
-            continue;
-
-        if (auto d = distance(cur_pt, to_); d < closest_dist) [[unlikely]]
-        {
-            closest_dist = d;
-            closest_pos = cur_pt;
-            closest_path_len = cur_dist;
-        }
-
-#ifndef FM_NO_DEBUG
-        if (debug >= 2) [[unlikely]]
-            DBG_nospace << "node"
-                        << " px:" << closest_dist << " path:" << closest_path_len
-                        << " pos:" << closest_pos;
-#endif
-
-        if (auto dist_to_goal = distance_l2(cur_pt, to_); dist_to_goal < goal_thres) [[unlikely]]
-        {
-            //if (auto dist = cur_dist + dist_to_goal; dist < max_dist)
-            {
-                auto dist = cur_dist;
-                auto vec = Vector2(cur_pt.coord() - to_.coord()) * TILE_SIZE2 + Vector2(cur_pt.offset() - to_.offset());
-                auto bb1 = bbox<float>{goal_bb.min + vec, goal_bb.max + vec};
-                auto bb = bbox_union(goal_bb, bb1);
-
-                if (path_search::is_passable(w, to_.chunk3(), bb, own_id, p))
-                {
-                    goal_idx = id;
-                    max_dist = dist;
-                    continue; // path can only get longer
-                }
-            }
-        }
-
-        for (auto [vec, len] : directions)
-        {
-            const auto dist = cur_dist + len;
-            if (dist >= max_dist)
-                continue;
-
-            const auto new_pt = object::normalize_coords(cur_pt, vec);
-            const auto [new_coord, new_offset] = new_pt;
-            auto chunk_idx = cache.get_chunk_index(Vector2i(new_pt.chunk()));
-            auto tile_idx = cache.get_tile_index(Vector2i(new_pt.local()), new_offset);
-            auto new_idx = cache.lookup_index(chunk_idx, tile_idx);
-
-            if (new_idx != (uint32_t)-1)
-            {
-                if (nodes[new_idx].dist <= dist)
-                    continue;
-            }
-
-            {   const auto bb0 = bbox_from_pos(Vector2(cur_pt.local()), cur_pt.offset(), own_size);
-                auto vec_ = Vector2(vec);
-                auto bb1 = bbox<float>{ bb0.min + vec_, bb0.max + vec_ };
-                auto bb = bbox_union(bb0, bb1);
-                if (!path_search::is_passable(w, new_coord.chunk3(), bb, own_id, p))
-                    continue;
-            }
-
-            if (new_idx == (uint32_t)-1)
-            {
-                const auto sz = nodes.size();
-                new_idx = (uint32_t)sz;
-                cache.add_index(chunk_idx, tile_idx, new_idx);
-                auto new_node = visited {
-                    .dist = dist, .prev = id,
-                    .pt = {new_coord, new_offset},
-                };
-                nodes.push_back(new_node);
-            }
-            else
-            {
-                auto& n = nodes[new_idx];
-                n.dist = dist;
-                n.prev = id;
-            }
-
-#ifndef FM_NO_DEBUG
-            if (debug >= 3) [[unlikely]]
-                DBG_nospace << " path:" << dist
-                            << " pos:" << Vector3i(new_coord)
-                            << ";" << new_offset;
-#endif
-
-            add_to_heap(new_idx);
-        }
-    }
-
-    //fm_debug_assert(nodes.size() == indexes.size());
-#ifndef FM_NO_DEBUG
-    if (debug >= 1)
-    {
-        auto dbg = DBG_nospace;
-        dbg << "dijkstra: ";
-        if (goal_idx != (uint32_t)-1)
-            dbg << "found len:" << nodes[goal_idx].dist;
-        else
-        {
-            dbg << "closest px:" << closest_dist << " path:" << closest_path_len
-                << " pos:" << closest_pos;
-        }
-         dbg << " nodes:" << nodes.size();
-    }
-#endif
-
-    path_search_result result;
-    auto& path = result.path();
-    path.clear();
-
-    if (auto i = goal_idx; i != (uint32_t)-1)
-    {
-        if (to_ != nodes[goal_idx].pt)
-            path.push_back(to_);
-
-        do
-        {
-            const auto& node = nodes[i];
-            path.push_back(node.pt);
-            i = node.prev;
-        }
-        while (i !=(uint32_t)-1);
-
-        std::reverse(path.begin(), path.end());
-        result.set_cost(nodes[goal_idx].dist);
-    }
-
-    return result;
-}
-
-struct astar::chunk_cache
-{
-    static constexpr size_t dimensions[] = {
-        TILE_COUNT,
-        (size_t)div_factor * (size_t)div_factor,
-    };
-    static constexpr size_t size = []() constexpr -> size_t {
-        size_t x = 1;
-        for (auto i : dimensions)
-            x *= i;
-        return x;
-    }();
-    static constexpr size_t rank = sizeof(dimensions)/sizeof(dimensions[0]);
-
-    struct index { uint32_t value = (uint32_t)value; };
-
-    std::array<index, size> indexes = {};
-    std::bitset<size> exists{false};
-};
-
-astar::cache::cache() = default;
-
-Vector2ui astar::cache::get_size_to_allocate(uint32_t max_dist)
-{
-    constexpr auto chunk_size = Vector2ui(iTILE_SIZE2) * TILE_MAX_DIM;
-    constexpr auto rounding   = chunk_size - Vector2ui(1);
-    auto nchunks = (Vector2ui(max_dist) + rounding) / chunk_size;
-    return nchunks + Vector2ui(3);
-}
-
-void astar::cache::allocate(point from, uint32_t max_dist)
-{
-    auto off = get_size_to_allocate(max_dist);
-    start = Vector2i(from.chunk()) - Vector2i(off);
-    size = off * 2u + Vector2ui(1);
-    auto len = size.product();
-    if (len > array.size())
-        array = Array<chunk_cache>{ValueInit, len};
-    else
-    {
-        for (auto i = 0uz; i < len; i++)
-        {
-            array[i].exists = {};
-            array[i].indexes = {}; // todo
-        }
-    }
-}
-
-size_t astar::cache::get_chunk_index(Vector2i start, Vector2ui size, Vector2i coord)
-{
-    auto off = Vector2ui(coord - start);
-    fm_assert(off < size);
-    auto index = off.y() * size.x() + off.x();
-    fm_debug_assert(index < size.product());
-    return index;
-}
-
-size_t astar::cache::get_chunk_index(Vector2i chunk) const { return get_chunk_index(start, size, chunk); }
-
-size_t astar::cache::get_tile_index(Vector2i pos, Vector2b offset_)
-{
-    Vector2i offset{offset_};
-    constexpr auto tile_start = div_size * div_factor/-2;
-    offset -= tile_start;
-    fm_debug_assert(offset >= Vector2i{0, 0} && offset < div_size * div_factor);
-    auto nth_div = Vector2ui(offset) / Vector2ui(div_size);
-    const size_t idx[] = {
-        (size_t)pos.y() * TILE_MAX_DIM + (size_t)pos.x(),
-        (size_t)nth_div.y() * div_factor + (size_t)nth_div.x(),
-    };
-    size_t index = 0;
-    for (auto i = 0uz; i < chunk_cache::rank; i++)
-    {
-        size_t k = idx[i];
-        for (auto j = 0uz; j < i; j++)
-            k *= chunk_cache::dimensions[j];
-        index += k;
-    }
-    fm_debug_assert(index < chunk_cache::size);
-    return index;
-}
-
-void astar::cache::add_index(size_t chunk_index, size_t tile_index, uint32_t index)
-{
-    fm_debug_assert(index != (uint32_t)-1);
-    auto& c = array[chunk_index];
-    fm_debug_assert(!c.exists[tile_index]);
-    c.exists[tile_index] = true;
-    c.indexes[tile_index] = {index};
-}
-
-void astar::cache::add_index(point pt, uint32_t index)
-{
-    auto ch = get_chunk_index(Vector2i(pt.chunk()));
-    auto tile = get_tile_index(Vector2i(pt.local()), pt.offset());
-    fm_debug_assert(!array[ch].exists[tile]);
-    array[ch].exists[tile] = true;
-    array[ch].indexes[tile] = {index};
-}
-
-uint32_t astar::cache::lookup_index(size_t chunk_index, size_t tile_index)
-{
-    auto& c = array[chunk_index];
-    if (c.exists[tile_index])
-        return c.indexes[tile_index].value;
-    else
-        return (uint32_t)-1;
-}
-
-} // namespace floormat