Removed all Pathfinder functionality.
This commit is contained in:
Felix Ableitner
parent
99243ccd60
commit
fbcbcc6902
4 changed files with 50 additions and 530 deletions
23
source/World.cpp
Normal file
23
source/World.cpp
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
/*
|
||||
* World.cpp
|
||||
*
|
||||
* Created on: 22.12.2012
|
||||
* Author: Felix
|
||||
*/
|
||||
|
||||
#include "World.h"
|
||||
|
||||
World::World() {
|
||||
// TODO Auto-generated constructor stub
|
||||
|
||||
}
|
||||
|
||||
World::~World() {
|
||||
// TODO Auto-generated destructor stub
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
World::step() {
|
||||
|
||||
}
|
||||
19
source/World.h
Normal file
19
source/World.h
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
* World.h
|
||||
*
|
||||
* Created on: 22.12.2012
|
||||
* Author: Felix
|
||||
*/
|
||||
|
||||
#ifndef DG_WORLD_H_
|
||||
#define DG_WORLD_H_
|
||||
|
||||
class World {
|
||||
public:
|
||||
World();
|
||||
~World();
|
||||
|
||||
void step();
|
||||
};
|
||||
|
||||
#endif /* DG_WORLD_H_ */
|
||||
|
|
@ -1,530 +1,17 @@
|
|||
/*
|
||||
* Example use of boost::astar_search_no_init on an infinite, implicitly-defined graph.
|
||||
* Game.cpp
|
||||
*
|
||||
* The graph type used here is XYGraph, representing an infinite grid of squares. Each
|
||||
* square is connected to its eight neighbors; however, the example shows how to use
|
||||
* boost::filtered_graph to make the search take place only along orthogonal edges.
|
||||
*
|
||||
* based on https://groups.google.com/forum/?fromgroups=#!topic/boost-list/Jz5OOygzW3E
|
||||
* Created on: 24.09.2012
|
||||
* Author: Felix
|
||||
*/
|
||||
|
||||
#include "Pathfinder.h"
|
||||
|
||||
#include <list>
|
||||
#include <utility>
|
||||
#include <iostream>
|
||||
#include <map>
|
||||
#include <set>
|
||||
#include <vector>
|
||||
|
||||
#include <boost/ref.hpp>
|
||||
#include <boost/operators.hpp>
|
||||
#include <boost/graph/graph_traits.hpp>
|
||||
#include <boost/graph/filtered_graph.hpp>
|
||||
#include <boost/graph/astar_search.hpp>
|
||||
|
||||
#include "../util/Log.h"
|
||||
|
||||
// Boost interface type declarations.
|
||||
enum class Direction;
|
||||
struct Vertex;
|
||||
struct NeighborIterator;
|
||||
class FilterEdge;
|
||||
class FilterVertex;
|
||||
template <typename K, typename V>
|
||||
class DefaultMap;
|
||||
struct found_goal;
|
||||
struct Vertex;
|
||||
struct VertexGraph;
|
||||
|
||||
typedef boost::filtered_graph<VertexGraph, FilterEdge, FilterVertex> Graph;
|
||||
typedef boost::associative_property_map< DefaultMap<Vertex,unsigned> > DistanceMap;
|
||||
typedef DefaultMap<Vertex,unsigned> WrappedDistanceMap;
|
||||
|
||||
// Boost interface type definitions.
|
||||
enum class Direction {
|
||||
MIN = 0,
|
||||
N, S, E, W, NW, NE, SE, SW, NONE
|
||||
};
|
||||
|
||||
/**
|
||||
* Used to map vertexes to various constant values.
|
||||
*/
|
||||
template <typename K, typename V>
|
||||
class DefaultMap {
|
||||
public:
|
||||
typedef K key_type;
|
||||
typedef V data_type;
|
||||
typedef std::pair<K,V> value_type;
|
||||
|
||||
DefaultMap(V const& defaultValue) :
|
||||
defaultValue(defaultValue) {
|
||||
Pathfinder::Pathfinder() {
|
||||
}
|
||||
|
||||
V& operator[](K const& k) {
|
||||
if (m.find(k) == m.end()) {
|
||||
m[k] = defaultValue;
|
||||
}
|
||||
return m[k];
|
||||
}
|
||||
|
||||
private:
|
||||
std::map<K,V> m;
|
||||
V const defaultValue;
|
||||
};
|
||||
|
||||
struct FoundGoal {}; //< exception for termination
|
||||
|
||||
struct Vertex : public boost::additive<Vertex,
|
||||
boost::totally_ordered<Vertex,
|
||||
boost::equivalent<Vertex> > > {
|
||||
Vertex(int x = 0, int y = 0);
|
||||
|
||||
// Same square counts.
|
||||
bool adjacentTo(Vertex const& that) const {
|
||||
return abs(x - that.x) <= 1 && abs(y - that.y) <= 1;
|
||||
}
|
||||
|
||||
Vertex& operator=(Vertex const& that);
|
||||
Vertex& operator+=(Vertex const& that);
|
||||
|
||||
bool operator<(Vertex const& that) const {
|
||||
return x < that.x || (x == that.x && y < that.y);
|
||||
}
|
||||
|
||||
int x;
|
||||
int y;
|
||||
|
||||
Vertex neighbor(Direction direction) const;
|
||||
std::set<Vertex> allNeighbors() const;
|
||||
};
|
||||
|
||||
/*
|
||||
* Model of:
|
||||
* * Graph
|
||||
* * IncidenceGraph
|
||||
*/
|
||||
struct VertexGraph {
|
||||
VertexGraph() = default;
|
||||
|
||||
// Graph concept requirements
|
||||
typedef Vertex vertex_descriptor;
|
||||
typedef std::pair<Vertex, Vertex> edge_descriptor;
|
||||
typedef boost::undirected_tag directed_category;
|
||||
typedef boost::disallow_parallel_edge_tag edge_parallel_category;
|
||||
typedef boost::incidence_graph_tag traversal_category;
|
||||
|
||||
// IncidenceGraph concept requirements
|
||||
typedef NeighborIterator out_edge_iterator;
|
||||
typedef int degree_size_type;
|
||||
};
|
||||
|
||||
namespace boost {
|
||||
template <> struct graph_traits<VertexGraph> {
|
||||
typedef VertexGraph G;
|
||||
|
||||
typedef G::vertex_descriptor vertex_descriptor;
|
||||
typedef G::edge_descriptor edge_descriptor;
|
||||
typedef G::out_edge_iterator out_edge_iterator;
|
||||
|
||||
typedef G::directed_category directed_category;
|
||||
typedef G::edge_parallel_category edge_parallel_category;
|
||||
typedef G::traversal_category traversal_category;
|
||||
|
||||
typedef G::degree_size_type degree_size_type;
|
||||
|
||||
typedef void in_edge_iterator;
|
||||
typedef void vertex_iterator;
|
||||
typedef void vertices_size_type;
|
||||
typedef void edge_iterator;
|
||||
typedef void edges_size_type;
|
||||
};
|
||||
}
|
||||
|
||||
/**
|
||||
* Placeholder, always returns true.
|
||||
*/
|
||||
class FilterEdge {
|
||||
public:
|
||||
FilterEdge() = default;
|
||||
FilterEdge(b2World& world, const Vector2f& size);
|
||||
bool operator()(std::pair<Vertex,Vertex> const& edge) const {
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
* Filters vertexes, can be used to block certain fields.
|
||||
*
|
||||
* This might be quite expensive as Box2D is queried for blocking objects in every step.
|
||||
*/
|
||||
class FilterVertex {
|
||||
public:
|
||||
FilterVertex() = default;
|
||||
FilterVertex(b2World& world, const Vector2f& size);
|
||||
bool operator()(Vertex const& vertex) const;
|
||||
|
||||
private:
|
||||
/**
|
||||
* Callback object for b2World::QueryAABB(). Callback::empty is set to false if the vertex is
|
||||
* blocked by a solid, non-moving body.
|
||||
*/
|
||||
class Callback : public b2QueryCallback {
|
||||
public:
|
||||
Callback() :
|
||||
empty(true) {
|
||||
};
|
||||
bool ReportFixture(b2Fixture* fixture);
|
||||
bool empty; //< Keeps the result of a query, do not call before querying.
|
||||
};
|
||||
private:
|
||||
b2World* mWorld;
|
||||
Vector2f mSize;
|
||||
};
|
||||
|
||||
/**
|
||||
* Allows access to adjacent vertexes.
|
||||
*/
|
||||
struct NeighborIterator : public boost::iterator_facade<NeighborIterator,
|
||||
std::pair<Vertex,Vertex>,
|
||||
boost::forward_traversal_tag,
|
||||
std::pair<Vertex,Vertex> > {
|
||||
public:
|
||||
NeighborIterator() = default;
|
||||
NeighborIterator(Vertex xy, Direction direction);
|
||||
|
||||
NeighborIterator& operator=(NeighborIterator const& that);
|
||||
|
||||
std::pair<Vertex,Vertex> operator*() const;
|
||||
void operator++() {
|
||||
direction = static_cast<Direction>(int(direction) + 1);
|
||||
}
|
||||
bool operator==(NeighborIterator const& that) const {
|
||||
return xy == that.xy && direction == that.direction;
|
||||
}
|
||||
bool equal(NeighborIterator const& that) const {
|
||||
return operator==(that);
|
||||
}
|
||||
void increment() {
|
||||
operator++();
|
||||
}
|
||||
|
||||
private:
|
||||
Vertex xy;
|
||||
Direction direction;
|
||||
};
|
||||
|
||||
struct PredecessorMap {
|
||||
PredecessorMap() = default;
|
||||
PredecessorMap(PredecessorMap const& that) :
|
||||
m(that.m) {
|
||||
}
|
||||
|
||||
typedef Vertex key_type;
|
||||
typedef Vertex value_type;
|
||||
typedef Vertex & reference_type;
|
||||
typedef boost::read_write_property_map_tag category;
|
||||
|
||||
Vertex & operator[](Vertex xy) {
|
||||
return m[xy];
|
||||
}
|
||||
|
||||
std::map<Vertex,Vertex> m;
|
||||
};
|
||||
|
||||
/**
|
||||
* Throws exception when goal is reached.
|
||||
*/
|
||||
class GoalVisitor : public boost::default_astar_visitor {
|
||||
public:
|
||||
GoalVisitor(Vertex goal) :
|
||||
m_goal(goal) {
|
||||
}
|
||||
void examine_vertex(Vertex xy, Graph const& g);
|
||||
private:
|
||||
Vertex m_goal;
|
||||
};
|
||||
|
||||
// Euclidean distance heuristic (square root omitted)
|
||||
class DistanceHeuristic : public boost::astar_heuristic<Graph, int> {
|
||||
public:
|
||||
DistanceHeuristic(Vertex goal) :
|
||||
m_goal(goal) {
|
||||
}
|
||||
unsigned int operator()(Vertex xy);
|
||||
private:
|
||||
Vertex m_goal;
|
||||
};
|
||||
|
||||
// Boost interface function declarations.
|
||||
Vertex get(PredecessorMap const& pm, Vertex xy);
|
||||
void put(PredecessorMap & pm, Vertex key, Vertex value);
|
||||
// IncidenceGraph concept requirements
|
||||
std::pair<VertexGraph::out_edge_iterator,
|
||||
VertexGraph::out_edge_iterator> out_edges(VertexGraph::vertex_descriptor v, VertexGraph const& g);
|
||||
VertexGraph::degree_size_type out_degree(VertexGraph::vertex_descriptor v, VertexGraph const& g);
|
||||
VertexGraph::vertex_descriptor source(VertexGraph::edge_descriptor e, VertexGraph const& g);
|
||||
VertexGraph::vertex_descriptor target(VertexGraph::edge_descriptor e, VertexGraph const& g);
|
||||
Vertex vertex(const Vector2f& vector);
|
||||
Vector2f vector(const Vertex& vertex);
|
||||
|
||||
// Constant variables.
|
||||
|
||||
static const Vector2f VERTEX_SIZE = Vector2f(10, 10);
|
||||
|
||||
// Helper functions.
|
||||
Vertex vertex(const Vector2f& vector) {
|
||||
return Vertex(vector.x / VERTEX_SIZE.x, vector.y / VERTEX_SIZE.y);
|
||||
}
|
||||
|
||||
Vector2f vector(const Vertex& vertex) {
|
||||
return Vector2f(vertex.x * VERTEX_SIZE.x, vertex.y * VERTEX_SIZE.y);
|
||||
}
|
||||
|
||||
/**
|
||||
* @param world The Box2D world instance to use for collisions.
|
||||
*/
|
||||
Pathfinder::Pathfinder(b2World& world) :
|
||||
mWorld(world) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns a path from the position of a Physical to an absolute position. Returns an empty
|
||||
* std::vector on failure.
|
||||
*
|
||||
* The path returned is in reverse order so that the immediate next point to move to can be
|
||||
* accessed via pop_back().
|
||||
* Returns an empty vector on failure.
|
||||
*
|
||||
* @param physical The object to be moved.
|
||||
* @param to The position to find a path to.
|
||||
* @return The path from physical.getPostion() to destination. Empty on failure.
|
||||
*
|
||||
* TODO: Objects are only recognized partially, examples:
|
||||
* Mostly ignores Cover.
|
||||
* Sometimes moves into wall and instantly out again.
|
||||
*/
|
||||
std::vector<Vector2f>
|
||||
Pathfinder::getPath(Body& physical, const Vector2f& destination) {
|
||||
Vertex start(vertex(physical.getPosition()));
|
||||
Vertex goal(vertex(destination));
|
||||
|
||||
VertexGraph baseGraph;
|
||||
Graph graph(baseGraph, FilterEdge(), FilterVertex(mWorld, physical.getSize()));
|
||||
PredecessorMap p;
|
||||
WrappedDistanceMap wrappedMap = WrappedDistanceMap(std::numeric_limits<unsigned>::max());
|
||||
DistanceMap d = DistanceMap(wrappedMap);
|
||||
// Constructor of boost::associative_property_map fails if these are declared inline.
|
||||
DefaultMap<std::pair<Vertex,Vertex>,unsigned> weightMap =
|
||||
DefaultMap<std::pair<Vertex,Vertex>,unsigned>(1);
|
||||
std::map<Vertex,unsigned> vertexIndexMap;
|
||||
std::map<Vertex,unsigned> rankMap;
|
||||
std::map<Vertex,boost::default_color_type> colorMap;
|
||||
|
||||
// There does not seem destination be a way destination signal the goal as reached other than throwing an exception.
|
||||
try {
|
||||
astar_search_no_init(graph,
|
||||
start,
|
||||
DistanceHeuristic(goal)
|
||||
, visitor(GoalVisitor(goal))
|
||||
. distance_map(d)
|
||||
. predecessor_map(boost::ref(p))
|
||||
. weight_map(boost::associative_property_map<DefaultMap<std::pair<Vertex,Vertex>,unsigned> >(
|
||||
weightMap))
|
||||
. vertex_index_map(boost::associative_property_map< std::map<Vertex,unsigned> >(vertexIndexMap))
|
||||
. rank_map(boost::associative_property_map< std::map<Vertex,unsigned> >(rankMap))
|
||||
. color_map(boost::associative_property_map< std::map<Vertex,boost::default_color_type> >(
|
||||
colorMap))
|
||||
. distance_compare(std::less<unsigned>())
|
||||
. distance_combine(std::plus<unsigned>())
|
||||
);
|
||||
} catch(FoundGoal&) { // found a path destination the goal
|
||||
std::vector<Vector2f> shortestPath;
|
||||
shortestPath.push_back(destination);
|
||||
for(Vertex xy = goal;; xy = p[xy]) {
|
||||
shortestPath.push_back(vector(xy));
|
||||
if(p[xy] == xy) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
// Remove current position.
|
||||
shortestPath.pop_back();
|
||||
// Remove next node to avoid possibly moving in opposite direction.
|
||||
// This should not cause problems if vertexes are small enough.
|
||||
shortestPath.pop_back();
|
||||
// Leave it in reverse order so we can just pop the current destination.
|
||||
//std::reverse(shortestPath.begin(), shortestPath.end());
|
||||
return shortestPath;
|
||||
}
|
||||
LOG_W("No path from " << vector(start) << " destination " << vector(goal));
|
||||
return std::vector<Vector2f>();
|
||||
}
|
||||
|
||||
/**
|
||||
* @param world Box2D world used for collisions.
|
||||
* @param size Size of the moving object.
|
||||
*/
|
||||
FilterVertex::FilterVertex(b2World& world, const Vector2f& size) :
|
||||
mWorld(&world),
|
||||
mSize(size) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Decides which vertexes may be accessed.
|
||||
*
|
||||
* @param vertex A vertex to be tested.
|
||||
* @return True if the vertex may be moved to.
|
||||
*/
|
||||
bool
|
||||
FilterVertex::operator()(Vertex const& vertex) const {
|
||||
Callback callback;
|
||||
b2AABB aabb;
|
||||
// Bottom left.
|
||||
aabb.lowerBound = vector(vector(vertex) - 0.5f * mSize);
|
||||
// Top right.
|
||||
aabb.upperBound = vector(vector(vertex) + 0.5f * mSize);
|
||||
mWorld->QueryAABB(&callback, aabb);
|
||||
return callback.empty;
|
||||
}
|
||||
|
||||
bool
|
||||
FilterVertex::Callback::ReportFixture(b2Fixture* fixture) {
|
||||
Body& physical = *static_cast<Body*>(fixture->GetBody()->GetUserData());
|
||||
if (!physical.isMovable() && physical.isSolid()) {
|
||||
empty = false;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
unsigned int
|
||||
DistanceHeuristic::operator()(Vertex xy) {
|
||||
int dx = m_goal.x - xy.x;
|
||||
int dy = m_goal.y - xy.y;
|
||||
unsigned int retval = (unsigned int) dx * dx + dy * dy;
|
||||
return retval;
|
||||
}
|
||||
|
||||
Vertex
|
||||
get(PredecessorMap const& pm, Vertex xy) {
|
||||
std::map<Vertex,Vertex>::const_iterator found = pm.m.find(xy);
|
||||
return (found != pm.m.end()) ? found->second : xy;
|
||||
}
|
||||
|
||||
void
|
||||
put(PredecessorMap & pm, Vertex key, Vertex value) {
|
||||
pm.m[key] = value;
|
||||
}
|
||||
|
||||
void
|
||||
GoalVisitor::examine_vertex(Vertex xy, Graph const& g) {
|
||||
if(xy == m_goal)
|
||||
throw FoundGoal();
|
||||
}
|
||||
|
||||
std::pair<VertexGraph::out_edge_iterator, VertexGraph::out_edge_iterator>
|
||||
out_edges(VertexGraph::vertex_descriptor v,
|
||||
VertexGraph const& g) {
|
||||
return std::make_pair(VertexGraph::out_edge_iterator(v, Direction::MIN),
|
||||
VertexGraph::out_edge_iterator(v, Direction::NONE) );
|
||||
}
|
||||
|
||||
VertexGraph::degree_size_type
|
||||
out_degree(VertexGraph::vertex_descriptor v, VertexGraph const& g) {
|
||||
return v.allNeighbors().size();
|
||||
}
|
||||
|
||||
VertexGraph::vertex_descriptor
|
||||
source(VertexGraph::edge_descriptor e, VertexGraph const& g) {
|
||||
return e.first;
|
||||
}
|
||||
|
||||
VertexGraph::vertex_descriptor
|
||||
target(VertexGraph::edge_descriptor e, VertexGraph const& g) {
|
||||
return e.second;
|
||||
}
|
||||
|
||||
NeighborIterator::NeighborIterator(Vertex xy, Direction direction) :
|
||||
xy(xy),
|
||||
direction(direction) {
|
||||
}
|
||||
|
||||
NeighborIterator&
|
||||
NeighborIterator::operator=(NeighborIterator const& that) {
|
||||
xy = that.xy;
|
||||
direction = that.direction;
|
||||
return *this;
|
||||
}
|
||||
|
||||
std::pair<Vertex,Vertex>
|
||||
NeighborIterator::operator*() const {
|
||||
std::pair<Vertex,Vertex> const retval = std::make_pair(xy, xy.neighbor(direction));
|
||||
return retval;
|
||||
}
|
||||
|
||||
Vertex::Vertex(int x, int y) :
|
||||
x(x),
|
||||
y(y) {
|
||||
}
|
||||
|
||||
Vertex&
|
||||
Vertex::operator=(Vertex const& that) {
|
||||
x = that.x;
|
||||
y = that.y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vertex&
|
||||
Vertex::operator+=(Vertex const& that) {
|
||||
x += that.x;
|
||||
y += that.y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vertex
|
||||
Vertex::neighbor(Direction direction) const {
|
||||
int dx = 0, dy = 0;
|
||||
switch (direction)
|
||||
{
|
||||
case Direction::NW:
|
||||
case Direction::W:
|
||||
case Direction::SW:
|
||||
dx = -1;
|
||||
break;
|
||||
case Direction::NE:
|
||||
case Direction::E:
|
||||
case Direction::SE:
|
||||
dx = 1;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
switch (direction)
|
||||
{
|
||||
case Direction::NW:
|
||||
case Direction::N:
|
||||
case Direction::NE:
|
||||
dy = -1;
|
||||
break;
|
||||
case Direction::SW:
|
||||
case Direction::S:
|
||||
case Direction::SE:
|
||||
dy = 1;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
Vertex const neighbor(x + dx, y + dy);
|
||||
return neighbor;
|
||||
}
|
||||
|
||||
std::set<Vertex>
|
||||
Vertex::allNeighbors() const {
|
||||
std::set<Vertex> neighbors;
|
||||
|
||||
for (int dx = -1; dx <= 1; ++dx)
|
||||
for (int dy = -1; dy <= 1; ++dy)
|
||||
neighbors.insert(Vertex(x+dx,y+dy));
|
||||
|
||||
return neighbors;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -13,23 +13,14 @@
|
|||
#include "../abstract/Body.h"
|
||||
#include "../types/Vector.h"
|
||||
|
||||
/**
|
||||
* Interface class for Boost Graph A* library.
|
||||
*/
|
||||
class Body;
|
||||
|
||||
class Pathfinder {
|
||||
// Public functions.
|
||||
public:
|
||||
Pathfinder(b2World& world);
|
||||
Pathfinder();
|
||||
|
||||
std::vector<Vector2f> getPath(Body& physical, const Vector2f& destination);
|
||||
|
||||
// Private variables.
|
||||
private:
|
||||
/// The size of a vertex in pixels. Should be between the size of the moving object
|
||||
/// and TileManager::TILE_SIZE.
|
||||
static const Vector2f VERTEX_SIZE;
|
||||
|
||||
b2World& mWorld;
|
||||
};
|
||||
|
||||
#endif /* PATHFINDER_H_ */
|
||||
|
|
|
|||
Reference in a new issue