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#pragma once
#include "global-coords.hpp"
#include "object-id.hpp"
#include "rotation.hpp"
#include "world.hpp"
#include "compat/function2.fwd.hpp"
#include "path-search-result.hpp"
#include "compat/int-hash.hpp"
#include <bit>
#include <array>
#include <Magnum/Math/Vector2.h>
#include <Magnum/DimensionTraits.h>
#include <tsl/robin_hash.h>
namespace Corrade::Containers {
//template<typename T> class Optional;
//template<typename T, typename U> class Pair;
template<typename T> class ArrayView;
} // namespace Corrade::Containers
namespace floormat {
struct world;
struct object;
struct chunk;
struct path_search_result;
enum class path_search_continue : bool { pass = false, blocked = true };
struct astar
{
fm_DECLARE_DELETED_COPY_ASSIGNMENT(astar);
struct position
{
global_coords coord;
Vector2b offset;
bool operator==(const position&) const = default;
};
struct visited
{
uint32_t dist = (uint32_t)-1;
uint32_t prev = (uint32_t)-1;
global_coords coord;
Vector2b offset;
bool expanded = false;
};
struct hash_op
{
size_t operator()(position coord) const;
};
void reserve(size_t capacity)
{
nodes.reserve(capacity);
indexes.reserve(capacity);
Q.reserve(capacity);
}
astar()
{
constexpr auto capacity = TILE_COUNT * 16;
indexes.max_load_factor(.4f);
reserve(capacity);
}
void clear()
{
nodes.clear();
indexes.clear();
Q.clear();
}
std::vector<visited> nodes;
tsl::robin_map<position, uint32_t, hash_op> indexes;
std::vector<uint32_t> Q;
};
class path_search final
{
friend struct path_search_result;
public:
static constexpr int subdivide_factor = 4;
static constexpr auto div_size = iTILE_SIZE2 / subdivide_factor;
static constexpr auto min_size = div_size / 2;
struct neighbors final
{
auto begin() const { return data.data(); }
auto end() const { return data.data() + size; }
std::array<global_coords, 5> data;
uint8_t size = 0;
operator ArrayView<const global_coords>() const;
};
template<typename T> struct bbox { VectorTypeFor<2, T> min, max; };
using pred = fu2::function_view<path_search_continue(collision_data) const>;
struct astar astar;
static const pred& never_continue() noexcept;
static const pred& always_continue() noexcept;
// todo add simple bresenham short-circuit
path_search_result Dijkstra(world& w, Vector2ub own_size, object_id own_id, global_coords from, Vector2b from_offset, global_coords to, Vector2b to_offset, const pred& p = never_continue());
path_search_result Dijkstra(world& w, const object& obj, global_coords to, Vector2b to_offset, const pred& p = never_continue());
static bool is_passable_1(chunk& c, Vector2 min, Vector2 max, object_id own_id, const pred& p = never_continue());
static bool is_passable_(chunk* c0, const std::array<world::neighbor_pair, 8>& neighbors,
Vector2 min, Vector2 max, object_id own_id, const pred& p = never_continue());
static bool is_passable(world& w, chunk_coords_ ch0, Vector2 min, Vector2 max, object_id own_id, const pred& p = never_continue());
static bool is_passable(world& w, global_coords coord, Vector2b offset, Vector2ub size, object_id own_id, const pred& p = never_continue());
static bool is_passable(world& w, chunk_coords_ ch0, const bbox<float>& bb, object_id own_id, const pred& p = never_continue());
// todo move to test/path-search.cpp
static bbox<float> neighbor_tile_bbox(Vector2i coord, Vector2ub own_size, Vector2ub div, rotation r);
static neighbors neighbor_tiles(world& w, global_coords coord, Vector2ub size, object_id own_id, const pred& p = never_continue());
};
} // namespace floormat
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