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134 lines
4.0 KiB
C++
134 lines
4.0 KiB
C++
/* ScummVM - Graphic Adventure Engine
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*
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* ScummVM is the legal property of its developers, whose names
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* are too numerous to list here. Please refer to the COPYRIGHT
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* file distributed with this source distribution.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef TWP_GRAPH_H
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#define TWP_GRAPH_H
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#include "common/array.h"
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#include "math/vector2d.h"
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#include "twp/util.h"
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namespace Twp {
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class IndexedPriorityQueue {
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public:
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explicit IndexedPriorityQueue(Common::Array<float> &keys);
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void insert(int index);
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int pop();
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void reorderUp();
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void reorderDown();
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bool isEmpty();
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private:
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Common::Array<float> &_keys;
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Common::Array<int> _data;
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};
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// An edge is a part of a walkable area, it is used by a Graph.
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// See also:
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// - PathFinder
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// - Graph
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struct GraphEdge {
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GraphEdge(int start, int to, float cost);
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int start; // Index of the node in the graph representing the start of the edge.
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int to; // Index of the node in the graph representing the end of the edge.
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float cost; // Cost of the edge in the graph.
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};
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// A graph helps to find a path between two points.
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// This class has been ported from http://www.groebelsloot.com/2016/03/13/pathfinding-part-2/
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// and modified
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class Graph {
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public:
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Graph();
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void addNode(const Math::Vector2d &node);
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void addEdge(const GraphEdge &edge);
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// Gets the edge from 'from' index to 'to' index.
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GraphEdge *edge(int start, int to);
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Common::Array<int> getPath(int source, int target);
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Common::Array<Math::Vector2d> _nodes;
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Common::Array<Common::Array<GraphEdge> > _edges;
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Common::Array<Math::Vector2d> _concaveVertices;
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};
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class AStar {
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public:
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AStar(Graph *graph);
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void search(int source, int target);
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Graph *_graph = nullptr;
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Common::Array<GraphEdge *> _spt; // The Shortest Path Tree
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Common::Array<float> _gCost; // This array will store the G cost of each node
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Common::Array<float> _fCost; // This array will store the F cost of each node
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Common::Array<GraphEdge *> _sf; // The Search Frontier
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};
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// Represents an area where an actor can or cannot walk
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class Walkbox {
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public:
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Walkbox(const Common::Array<Vector2i> &polygon, bool visible = true);
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// Indicates whether or not the specified position is inside this walkbox.
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bool contains(const Math::Vector2d &position, bool toleranceOnOutside = true) const;
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bool concave(int vertex) const;
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void setVisible(bool visible) { _visible = visible; }
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bool isVisible() const { return _visible; }
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const Common::Array<Vector2i> &getPoints() const { return _polygon; }
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Math::Vector2d getClosestPointOnEdge(const Math::Vector2d &p) const;
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public:
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Common::String _name;
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private:
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Common::Array<Vector2i> _polygon;
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bool _visible;
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};
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// A PathFinder is used to find a walkable path within one or several walkboxes.
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class PathFinder {
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public:
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void setWalkboxes(const Common::Array<Walkbox> &walkboxes);
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Common::Array<Walkbox> getWalkboxes() const { return _walkboxes; }
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Common::Array<Math::Vector2d> calculatePath(const Math::Vector2d &start, const Math::Vector2d &to);
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void setDirty(bool dirty) { _isDirty = dirty; }
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bool isDirty() const { return _isDirty; }
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const Graph &getGraph() const { return _walkgraph; }
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private:
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Common::SharedPtr<Graph> createGraph();
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bool inLineOfSight(const Math::Vector2d &start, const Math::Vector2d &to);
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private:
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Common::Array<Walkbox> _walkboxes;
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Common::SharedPtr<Graph> _graph;
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Graph _walkgraph;
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bool _isDirty = true;
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};
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} // namespace Twp
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#endif
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