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Merge pull request #30556 from kawa-yoiko/astar-directed

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Improve support for directed graphs in A*; docs update included
This commit is contained in:
Rémi Verschelde
2019-11-07 12:33:27 +01:00
committed by GitHub
parent c663d65ffc 0c35994f2f
commit ed373a60b1
4 changed files with 358 additions and 40 deletions
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76
core/math/a_star.cpp
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@@ -164,23 +164,23 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
}
Segment s(p_id, p_with_id);
if (s.from == p_id) {
s.from_point = a;
s.to_point = b;
} else {
s.from_point = b;
s.to_point = a;
if (bidirectional) s.direction = Segment::BIDIRECTIONAL;
Set<Segment>::Element *element = segments.find(s);
if (element != NULL) {
s.direction |= element->get().direction;
if (s.direction == Segment::BIDIRECTIONAL) {
// Both are neighbours of each other now
a->unlinked_neighbours.remove(b->id);
b->unlinked_neighbours.remove(a->id);
}
segments.erase(element);
}
segments.insert(s);
}
void AStar::disconnect_points(int p_id, int p_with_id) {
Segment s(p_id, p_with_id);
ERR_FAIL_COND(!segments.has(s));
segments.erase(s);
void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
Point *a;
bool a_exists = points.lookup(p_id, a);
@@ -190,10 +190,33 @@ void AStar::disconnect_points(int p_id, int p_with_id) {
bool b_exists = points.lookup(p_with_id, b);
CRASH_COND(!b_exists);
a->neighbours.remove(b->id);
a->unlinked_neighbours.remove(b->id);
b->neighbours.remove(a->id);
b->unlinked_neighbours.remove(a->id);
Segment s(p_id, p_with_id);
int remove_direction = bidirectional ? (int)Segment::BIDIRECTIONAL : s.direction;
Set<Segment>::Element *element = segments.find(s);
if (element != NULL) {
// s is the new segment
// Erase the directions to be removed
s.direction = (element->get().direction & ~remove_direction);
a->neighbours.remove(b->id);
if (bidirectional) {
b->neighbours.remove(a->id);
if (element->get().direction != Segment::BIDIRECTIONAL) {
a->unlinked_neighbours.remove(b->id);
b->unlinked_neighbours.remove(a->id);
}
} else {
if (s.direction == Segment::NONE)
b->unlinked_neighbours.remove(a->id);
else
a->unlinked_neighbours.set(b->id, b);
}
segments.erase(element);
if (s.direction != Segment::NONE)
segments.insert(s);
}
}
bool AStar::has_point(int p_id) const {
@@ -227,10 +250,13 @@ PoolVector<int> AStar::get_point_connections(int p_id) {
return point_list;
}
bool AStar::are_points_connected(int p_id, int p_with_id) const {
bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
Segment s(p_id, p_with_id);
return segments.has(s);
const Set<Segment>::Element *element = segments.find(s);
return element != NULL &&
(bidirectional || (element->get().direction & s.direction) == s.direction);
}
void AStar::clear() {
@@ -284,13 +310,17 @@ Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
for (const Set<Segment>::Element *E = segments.front(); E; E = E->next()) {
if (!(E->get().from_point->enabled && E->get().to_point->enabled)) {
Point *from_point = nullptr, *to_point = nullptr;
points.lookup(E->get().u, from_point);
points.lookup(E->get().v, to_point);
if (!(from_point->enabled && to_point->enabled)) {
continue;
}
Vector3 segment[2] = {
E->get().from_point->pos,
E->get().to_point->pos,
from_point->pos,
to_point->pos,
};
Vector3 p = Geometry::get_closest_point_to_segment(p_point, segment);
@@ -532,8 +562,8 @@ void AStar::_bind_methods() {
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar::is_point_disabled);
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true));
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id"), &AStar::disconnect_points);
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id"), &AStar::are_points_connected);
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar::disconnect_points, DEFVAL(true));
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar::are_points_connected, DEFVAL(true));
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar::get_point_count);
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar::get_point_capacity);