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Make AStar to use 64-bit logic

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This commit is contained in:
Yuri Rubinsky
2022-06-16 11:56:12 +03:00
parent 1ad6fade00
commit 7da2a21425
5 changed files with 146 additions and 151 deletions
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119
core/math/a_star.h
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@@ -35,6 +35,7 @@
#include "core/object/ref_counted.h"
#include "core/object/script_language.h"
#include "core/templates/oa_hash_map.h"
#include "core/templates/pair.h"
/**
A* pathfinding algorithm.
@@ -47,13 +48,13 @@ class AStar3D : public RefCounted {
struct Point {
Point() {}
int id = 0;
int64_t id = 0;
Vector3 pos;
real_t weight_scale = 0;
bool enabled = false;
OAHashMap<int, Point *> neighbours = 4u;
OAHashMap<int, Point *> unlinked_neighbours = 4u;
OAHashMap<int64_t, Point *> neighbours = 4u;
OAHashMap<int64_t, Point *> unlinked_neighbours = 4u;
// Used for pathfinding.
Point *prev_point = nullptr;
@@ -76,13 +77,7 @@ class AStar3D : public RefCounted {
};
struct Segment {
union {
struct {
int32_t u;
int32_t v;
};
uint64_t key = 0;
};
Pair<int64_t, int64_t> key;
enum {
NONE = 0,
@@ -93,28 +88,28 @@ class AStar3D : public RefCounted {
unsigned char direction = NONE;
static uint32_t hash(const Segment &p_seg) {
return hash_one_uint64(p_seg.key);
return PairHash<int64_t, int64_t>().hash(p_seg.key);
}
bool operator==(const Segment &p_s) const { return key == p_s.key; }
Segment() {}
Segment(int p_from, int p_to) {
Segment(int64_t p_from, int64_t p_to) {
if (p_from < p_to) {
u = p_from;
v = p_to;
key.first = p_from;
key.second = p_to;
direction = FORWARD;
} else {
u = p_to;
v = p_from;
key.first = p_to;
key.second = p_from;
direction = BACKWARD;
}
}
};
int last_free_id = 0;
int64_t last_free_id = 0;
uint64_t pass = 1;
OAHashMap<int, Point *> points;
OAHashMap<int64_t, Point *> points;
HashSet<Segment, Segment> segments;
bool _solve(Point *begin_point, Point *end_point);
@@ -122,42 +117,42 @@ class AStar3D : public RefCounted {
protected:
static void _bind_methods();
virtual real_t _estimate_cost(int p_from_id, int p_to_id);
virtual real_t _compute_cost(int p_from_id, int p_to_id);
virtual real_t _estimate_cost(int64_t p_from_id, int64_t p_to_id);
virtual real_t _compute_cost(int64_t p_from_id, int64_t p_to_id);
GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
public:
int get_available_point_id() const;
int64_t 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;
Vector<int> get_point_connections(int p_id);
void add_point(int64_t p_id, const Vector3 &p_pos, real_t p_weight_scale = 1);
Vector3 get_point_position(int64_t p_id) const;
void set_point_position(int64_t p_id, const Vector3 &p_pos);
real_t get_point_weight_scale(int64_t p_id) const;
void set_point_weight_scale(int64_t p_id, real_t p_weight_scale);
void remove_point(int64_t p_id);
bool has_point(int64_t p_id) const;
Vector<int64_t> get_point_connections(int64_t p_id);
Array get_point_ids();
void set_point_disabled(int p_id, bool p_disabled = true);
bool is_point_disabled(int p_id) const;
void set_point_disabled(int64_t p_id, bool p_disabled = true);
bool is_point_disabled(int64_t p_id) const;
void connect_points(int p_id, int p_with_id, bool bidirectional = true);
void disconnect_points(int p_id, int p_with_id, bool bidirectional = true);
bool are_points_connected(int p_id, int p_with_id, bool bidirectional = true) const;
void connect_points(int64_t p_id, int64_t p_with_id, bool bidirectional = true);
void disconnect_points(int64_t p_id, int64_t p_with_id, bool bidirectional = true);
bool are_points_connected(int64_t p_id, int64_t p_with_id, bool bidirectional = true) const;
int get_point_count() const;
int get_point_capacity() const;
void reserve_space(int p_num_nodes);
int64_t get_point_count() const;
int64_t get_point_capacity() const;
void reserve_space(int64_t p_num_nodes);
void clear();
int get_closest_point(const Vector3 &p_point, bool p_include_disabled = false) const;
int64_t get_closest_point(const Vector3 &p_point, bool p_include_disabled = false) const;
Vector3 get_closest_position_in_segment(const Vector3 &p_point) const;
Vector<Vector3> get_point_path(int p_from_id, int p_to_id);
Vector<int> get_id_path(int p_from_id, int p_to_id);
Vector<Vector3> get_point_path(int64_t p_from_id, int64_t p_to_id);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
AStar3D() {}
~AStar3D();
@@ -172,42 +167,42 @@ class AStar2D : public RefCounted {
protected:
static void _bind_methods();
virtual real_t _estimate_cost(int p_from_id, int p_to_id);
virtual real_t _compute_cost(int p_from_id, int p_to_id);
virtual real_t _estimate_cost(int64_t p_from_id, int64_t p_to_id);
virtual real_t _compute_cost(int64_t p_from_id, int64_t p_to_id);
GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
public:
int get_available_point_id() const;
int64_t get_available_point_id() const;
void add_point(int p_id, const Vector2 &p_pos, real_t p_weight_scale = 1);
Vector2 get_point_position(int p_id) const;
void set_point_position(int p_id, const Vector2 &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;
Vector<int> get_point_connections(int p_id);
void add_point(int64_t p_id, const Vector2 &p_pos, real_t p_weight_scale = 1);
Vector2 get_point_position(int64_t p_id) const;
void set_point_position(int64_t p_id, const Vector2 &p_pos);
real_t get_point_weight_scale(int64_t p_id) const;
void set_point_weight_scale(int64_t p_id, real_t p_weight_scale);
void remove_point(int64_t p_id);
bool has_point(int64_t p_id) const;
Vector<int64_t> get_point_connections(int64_t p_id);
Array get_point_ids();
void set_point_disabled(int p_id, bool p_disabled = true);
bool is_point_disabled(int p_id) const;
void set_point_disabled(int64_t p_id, bool p_disabled = true);
bool is_point_disabled(int64_t p_id) const;
void connect_points(int p_id, int p_with_id, bool p_bidirectional = true);
void disconnect_points(int p_id, int p_with_id, bool p_bidirectional = true);
bool are_points_connected(int p_id, int p_with_id, bool p_bidirectional = true) const;
void connect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true);
void disconnect_points(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true);
bool are_points_connected(int64_t p_id, int64_t p_with_id, bool p_bidirectional = true) const;
int get_point_count() const;
int get_point_capacity() const;
void reserve_space(int p_num_nodes);
int64_t get_point_count() const;
int64_t get_point_capacity() const;
void reserve_space(int64_t p_num_nodes);
void clear();
int get_closest_point(const Vector2 &p_point, bool p_include_disabled = false) const;
int64_t get_closest_point(const Vector2 &p_point, bool p_include_disabled = false) const;
Vector2 get_closest_position_in_segment(const Vector2 &p_point) const;
Vector<Vector2> get_point_path(int p_from_id, int p_to_id);
Vector<int> get_id_path(int p_from_id, int p_to_id);
Vector<Vector2> get_point_path(int64_t p_from_id, int64_t p_to_id);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
AStar2D() {}
~AStar2D() {}