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Merge pull request #58 from devZoGok/imp-55-pathfinding

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Imp 55 pathfinding
This commit is contained in:
devZoGok
2024-01-06 13:44:07 +00:00
committed by GitHub
parent 5a0f85a939 4f86880433
commit 0ed518d8dd
8 changed files with 161 additions and 117 deletions
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external/vb01
Vendored
+1 -1
Submodule external/vb01 updated: 8d7a88688c...9cd660454c
map.cpp
+32 -12
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@@ -22,17 +22,6 @@ using namespace gameBase;
namespace battleship{
using namespace configData;
//TODO check if edges have lower weight than impassible weight value for the Pathfinder
int Map::Cell::getEdgeWeight(int destCellId){
int weight = Pathfinder::getSingleton()->getImpassibleNodeVal();
for(Edge e : edges)
if(e.destCellId == destCellId)
weight = e.weight;
return weight;
}
Map *map = nullptr;
Map* Map::getSingleton(){
@@ -42,6 +31,37 @@ namespace battleship{
return map;
}
vector<Map::Edge> Map::generateAdjacentNodeEdges(int numVertCells, int i, int numHorCells, int j, int weight){
vector<Map::Edge> edges;
bool up = (i > 0), right = (j < numHorCells - 1), down = (i < numVertCells - 1), left = (j > 0);
if(left)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * i + j - 1));
if(right)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * i + j + 1));
if(up)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i - 1) + j));
if(down)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i + 1) + j));
if(up && left)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i - 1) + j - 1));
if(up && right)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i - 1) + j + 1));
if(down && left)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i + 1) + j - 1));
if(down && right)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i + 1) + j + 1));
return edges;
}
void Map::update(){
}
@@ -200,6 +220,7 @@ namespace battleship{
cam->lookAt(Vector3(-1, -1, -1).norm(), Vector3(-1, 1, -1).norm());
}
//TODO implement toggleable cell rendering
void Map::loadCells(){
sol::state_view SOL_LUA_VIEW = generateView();
int numCells = SOL_LUA_VIEW[mapTable]["numCells"];
@@ -230,7 +251,6 @@ namespace battleship{
Node *node = new Node(cellPos + Vector3::VEC_J * .1);
node->attachMesh(quad);
cellNode->attachChild(node);
cells.push_back(Cell(cellPos, cellType, edges, underWaterCellIds));
}
map.h
+1 -1
View File
@@ -38,11 +38,11 @@ namespace battleship{
Cell(){}
Cell(vb01::Vector3 p, Type t, std::vector<Edge> e = std::vector<Edge>{}, std::vector<int> uc = std::vector<int>{}): pos(p), type(t), edges(e), underWaterCellIds(uc){}
int getEdgeWeight(int);
};
static Map* getSingleton();
~Map(){}
static std::vector<Edge> generateAdjacentNodeEdges(int, int, int, int, int);
void update();
void load(std::string, bool = false);
void unload();
mapEditorAppState.cpp
+1 -28
View File
@@ -340,34 +340,7 @@ namespace battleship{
}
}
vector<Map::Edge> edges;
int weight = 1;
bool up = (i > 0), right = (j < numHorCells - 1), down = (i < numVertCells - 1), left = (j > 0);
if(left)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * i + j - 1));
if(right)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * i + j + 1));
if(up)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i - 1) + j));
if(down)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i + 1) + j));
if(up && left)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i - 1) + j - 1));
if(up && right)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i - 1) + j + 1));
if(down && left)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i + 1) + j - 1));
if(down && right)
edges.push_back(Map::Edge(weight, numVertCells * i + j, numVertCells * (i + 1) + j + 1));
vector<Map::Edge> edges = Map::generateAdjacentNodeEdges(numVertCells, i, numHorCells, j, 1);
cells.push_back(Map::Cell(pos, type, edges));
}
pathfinder.cpp
+46 -39
View File
@@ -10,62 +10,69 @@ namespace battleship{
static Pathfinder *pathfinder = nullptr;
Pathfinder* Pathfinder::getSingleton(){
if(!pathfinder)
pathfinder = new Pathfinder();
if(!pathfinder)
pathfinder = new Pathfinder();
return pathfinder;
return pathfinder;
}
Pathfinder::Pathfinder(){
int Pathfinder::findMinDistVert(vector<pair<int, bool>> &cells, u32 distances[]){
int numCells = cells.size(), minDistVert;
for(int i = 0; i < numCells; i++)
if(!cells[i].second){
minDistVert = i;
break;
}
for(int i = 0; i < numCells; i++){
bool checked = cells[i].second;
if(!checked && distances[i] < distances[minDistVert])
minDistVert = i;
}
return minDistVert;
}
vector<int> Pathfinder::findPath(vector<Map::Cell> &cells, int source, int dest, int unitType){
int size = cells.size();
u32 distances[size];
vector<int> paths[size];
paths[source].push_back(source);
u32 distances[size];
vector<int> paths[size];
paths[source].push_back(source);
vector<pair<int, bool>> cellsByCheck;
for(int i = 0; i < size; i++)
distances[i] = (i == source ? 0 : impassibleNodeVal);
for(int i = 0; i < size; i++){
cellsByCheck.push_back(pair(i, false));
distances[i] = (i == source ? 0 : impassibleNodeVal);
}
vector<int> checkedNodes;
while(!cellsByCheck[dest].second){
int vertStrich = findMinDistVert(cellsByCheck, distances);
cellsByCheck[vertStrich].second = true;
while(find(checkedNodes.begin(), checkedNodes.end(), dest) == checkedNodes.end()){
bool initVertStrichSet = false;
int vertStrich;
int numEdges = cells[vertStrich].edges.size();
for(int i = 0; i < size; i++){
bool isChecked = find(checkedNodes.begin(), checkedNodes.end(), i) != checkedNodes.end();
for(int i = 0; i < numEdges; i++){
bool canMoveToStrichCell = true;
bool ship = ((UnitType)unitType == UnitType::UNDERWATER || (UnitType)unitType == UnitType::SEA_LEVEL);
if(!isChecked){
if(!initVertStrichSet){
vertStrich = i;
initVertStrichSet = true;
}
if((ship && cells[vertStrich].type != Map::Cell::WATER) || ((UnitType)unitType == UnitType::LAND && cells[vertStrich].type != Map::Cell::LAND))
canMoveToStrichCell = false;
if(initVertStrichSet && (distances[vertStrich] > distances[i]))
vertStrich = i;
}
}
if(canMoveToStrichCell){
int edgeNode = cells[vertStrich].edges[i].destCellId;
bool isChecked = cellsByCheck[edgeNode].second;
checkedNodes.push_back(vertStrich);
for(int i = 0; i < size; i++){
bool isChecked = find(checkedNodes.begin(), checkedNodes.end(), i) != checkedNodes.end();
bool canMoveToStrichCell = true;
bool ship = ((UnitType)unitType == UnitType::UNDERWATER || (UnitType)unitType == UnitType::SEA_LEVEL);
if((ship && cells[vertStrich].type != Map::Cell::WATER) || ((UnitType)unitType == UnitType::LAND && cells[vertStrich].type != Map::Cell::LAND))
canMoveToStrichCell = false;
if(!isChecked && (canMoveToStrichCell && distances[vertStrich] + cells[vertStrich].getEdgeWeight(i) < distances[i])){
distances[i] = distances[vertStrich] + cells[vertStrich].getEdgeWeight(i);
paths[i] = paths[vertStrich];
paths[i].push_back(i);
if(!isChecked && (distances[vertStrich] + cells[vertStrich].edges[i].weight < distances[edgeNode])){
distances[edgeNode] = distances[vertStrich] + cells[vertStrich].edges[i].weight;
paths[edgeNode] = paths[vertStrich];
paths[edgeNode].push_back(edgeNode);
}
}
}
}
return paths[dest];
return paths[dest];
}
}
pathfinder.h
+11 -10
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@@ -8,17 +8,18 @@
#include <util.h>
namespace battleship{
class Pathfinder{
public:
static Pathfinder* getSingleton();
std::vector<int> findPath(std::vector<Map::Cell>&, int, int, int = -1);
inline vb01::u32 getImpassibleNodeVal(){return impassibleNodeVal;}
inline void setImpassibleNodeVal(vb01::u32 val){this->impassibleNodeVal = val;}
private:
Pathfinder();
class Pathfinder{
public:
static Pathfinder* getSingleton();
std::vector<int> findPath(std::vector<Map::Cell>&, int, int, int = -1);
inline vb01::u32 getImpassibleNodeVal(){return impassibleNodeVal;}
inline void setImpassibleNodeVal(vb01::u32 val){this->impassibleNodeVal = val;}
private:
Pathfinder(){}
int findMinDistVert(std::vector<std::pair<int, bool>>&, vb01::u32[]);
vb01::u32 impassibleNodeVal;
};
vb01::u32 impassibleNodeVal;
};
}
#endif
pathfinderTest.cpp
+48 -13
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@@ -1,6 +1,5 @@
#include "pathfinderTest.h"
#include "pathfinder.h"
#include "map.h"
#include <util.h>
@@ -10,35 +9,71 @@ namespace battleship{
using namespace std;
using namespace vb01;
vector<Map::Cell> PathfinderTest::generateCellGraph(int numCellsOnSide){
vector<Map::Cell> cells;
for(int i = 0; i < numCellsOnSide; i++)
for(int j = 0; j < numCellsOnSide; j++){
vector<Map::Edge> edges = Map::generateAdjacentNodeEdges(numCellsOnSide, i, numCellsOnSide, j, 1);
cells.push_back(Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, edges));
}
return cells;
}
int PathfinderTest::calcPathLength(vector<int> &path){
int sumPathWeights = 0;
for(int i = 0; i < path.size() - 1; i++)
for(int j = 0; j < cells[path[i]].edges.size(); j++)
if(cells[path[i]].edges[j].destCellId == path[i + 1])
sumPathWeights += cells[path[i]].edges[j].weight;
return sumPathWeights;
}
void PathfinderTest::testFindPath(){
vector<Map::Cell> cells = vector<Map::Cell>{
cells = vector<Map::Cell>{
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 0, 0), Map::Edge(2, 0, 1), Map::Edge(4, 0, 2)}),
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 1, 1), Map::Edge(1, 1, 2), Map::Edge(9, 1, 3), Map::Edge(13, 1, 4)}),
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 2, 2), Map::Edge(2, 2, 1), Map::Edge(4, 2, 4), Map::Edge(5, 2, 5)}),
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 3, 3), Map::Edge(1, 3, 6)}),
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 4, 4), Map::Edge(1, 4, 0), Map::Edge(1, 4, 3), Map::Edge(3, 4, 6)}),
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 4, 4), Map::Edge(1, 4, 1), Map::Edge(1, 4, 3), Map::Edge(2, 4, 5), Map::Edge(3, 4, 6)}),
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 5, 5), Map::Edge(9, 5, 4), Map::Edge(2, 5, 6)}),
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 6, 6)})
};
int size = cells.size();
const u16 INF = u16(0 - 1);
pathfinder->setImpassibleNodeVal(INF);
vector<int> path = pathfinder->findPath(cells, 0, size - 1);
vector<int> path = pathfinder->findPath(cells, 0, cells.size() - 1);
CPPUNIT_ASSERT(path == vector<int>({0, 1, 2, 4, 3, 6}));
int sumPathWeights = 0;
for(int i = 1; i < path.size(); i++)
sumPathWeights += cells[path[i - 1]].getEdgeWeight(path[i]);
int sumPathWeights = calcPathLength(path);
CPPUNIT_ASSERT(sumPathWeights == 9);
}
void PathfinderTest::setUp(){
pathfinder = Pathfinder::getSingleton();
void PathfinderTest::testFindBigPath(){
int numIterations = 1;
cells = generateCellGraph(60);
s64 sumTime = 0;
for(int i = 0; i < numIterations; i++){
s64 t0 = getTime();
pathfinder->findPath(cells, 0, cells.size() - 1);
s64 t1 = getTime();
sumTime += t1 - t0;
}
int threshold = 100;
double avg = (double)sumTime / numIterations, eps = .1;
cout << "Total time: " << sumTime << endl;
CPPUNIT_ASSERT(sumTime <= threshold);
}
void PathfinderTest::tearDown(){
void PathfinderTest::setUp(){
pathfinder = Pathfinder::getSingleton();
}
void PathfinderTest::tearDown(){}
}
pathfinderTest.h
+21 -13
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@@ -4,22 +4,30 @@
#include <cppunit/TestFixture.h>
#include <cppunit/extensions/HelperMacros.h>
#include "map.h"
namespace battleship{
class Pathfinder;
class Pathfinder;
class PathfinderTest : public CppUnit::TestFixture{
CPPUNIT_TEST_SUITE(PathfinderTest);
CPPUNIT_TEST(testFindPath);
CPPUNIT_TEST_SUITE_END();
class PathfinderTest : public CppUnit::TestFixture{
CPPUNIT_TEST_SUITE(PathfinderTest);
CPPUNIT_TEST(testFindPath);
CPPUNIT_TEST(testFindBigPath);
CPPUNIT_TEST_SUITE_END();
public:
PathfinderTest(){}
void testFindPath();
void setUp();
void tearDown();
private:
Pathfinder *pathfinder = nullptr;
};
public:
PathfinderTest(){}
void testFindPath();
void testFindBigPath();
void setUp();
void tearDown();
private:
Pathfinder *pathfinder = nullptr;
std::vector<Map::Cell> cells;
std::vector<Map::Cell> generateCellGraph(int);
int calcPathLength(std::vector<int>&);
};
}
#endif