1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
|
#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 "point.hpp"
#include <bit>
#include <array>
#include <vector>
#include <bitset>
#include <Corrade/Containers/Array.h>
#include <Magnum/Math/Vector2.h>
#include <Magnum/DimensionTraits.h>
namespace floormat {
struct world;
struct object;
struct chunk;
// todo add pathfinding sub-namespace
struct path_search_result;
enum class path_search_continue : bool { pass = false, blocked = true };
class path_search final
{
friend struct path_search_result;
public:
static constexpr int div_factor = 4;
static constexpr auto div_size = iTILE_SIZE2 / div_factor;
static constexpr auto min_size = Vector2ui(div_size * 2);
template<typename T>
requires std::is_arithmetic_v<T>
struct bbox
{
VectorTypeFor<2, T> min, max;
template<typename U>
requires std::is_arithmetic_v<U>
explicit constexpr operator bbox<U>() const {
using Vec = VectorTypeFor<2, U>;
return bbox<U>{ Vec(min), Vec(max) };
}
constexpr bool operator==(const bbox<T>&) const = default;
};
using pred = fu2::function_view<path_search_continue(collision_data) const>;
static const pred& never_continue() noexcept;
static const pred& always_continue() noexcept;
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, global_coords coord, Vector2b offset, Vector2ui 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());
};
struct astar
{
struct visited
{
uint32_t dist = (uint32_t)-1;
uint32_t prev = (uint32_t)-1;
point pt;
};
using pred = path_search::pred;
template<typename T> using bbox = path_search::bbox<T>;
fm_DECLARE_DELETED_COPY_ASSIGNMENT(astar);
astar();
void reserve(size_t capacity);
void clear();
// todo add simple bresenham short-circuit
path_search_result Dijkstra(world& w, point from, point to,
object_id own_id, uint32_t max_dist, Vector2ub own_size,
int debug = 0, const pred& p = path_search::never_continue());
private:
static constexpr auto div_factor = (int8_t)path_search::div_factor;
static constexpr auto initial_capacity = TILE_COUNT * 16 * div_factor*div_factor;
struct chunk_cache;
struct cache
{
Vector2ui size;
Vector2i start{(int)((1u << 31) - 1)};
Array<chunk_cache> array;
cache();
fm_DECLARE_DELETED_COPY_ASSIGNMENT(cache);
size_t get_chunk_index(Vector2i chunk) const;
static size_t get_chunk_index(Vector2i start, Vector2ui size, Vector2i coord);
static size_t get_tile_index(Vector2i pos, Vector2b offset);
static Vector2ui get_size_to_allocate(uint32_t max_dist);
void allocate(point from, uint32_t max_dist);
void add_index(size_t chunk_index, size_t tile_index, uint32_t index);
void add_index(point pt, uint32_t index);
uint32_t lookup_index(size_t chunk_index, size_t tile_index);
};
void add_to_heap(uint32_t id);
uint32_t pop_from_heap();
struct cache cache;
std::vector<visited> nodes;
std::vector<uint32_t> Q;
};
} // namespace floormat
|
