path: Separate grid into sectors.

SFTtech · Mar 17, 2024 · 6b71548 · 6b71548
1 parent 9981a7a
commit 6b71548
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Showing 8 changed files with 341 additions and 55 deletions.
diff --git a/libopenage/pathfinding/CMakeLists.txt b/libopenage/pathfinding/CMakeLists.txt
@@ -9,6 +9,7 @@ add_sources(libopenage
     integrator.cpp
 	path.cpp
 	portal.cpp
+	sector.cpp
 	tests.cpp
     types.cpp
 )

diff --git a/libopenage/pathfinding/grid.cpp b/libopenage/pathfinding/grid.cpp
@@ -2,19 +2,39 @@
 
 #include "grid.h"
 
+#include "pathfinding/sector.h"
+
 
 namespace openage::path {
 
-CostGrid::CostGrid(size_t width, size_t height, size_t field_size) :
-	width{width}, height{height}, fields{width * height, CostField{field_size}} {
+Grid::Grid(size_t width, size_t height, size_t sector_size) :
+	width{width},
+	height{height} {
+	for (size_t y = 0; y < height; y++) {
+		for (size_t x = 0; x < width; x++) {
+			this->sectors.push_back(std::make_shared<Sector>(x + y * width, sector_size));
+		}
+	}
+}
+
+Grid::Grid(size_t width,
+           size_t height,
+           std::vector<std::shared_ptr<Sector>> &&sectors) :
+	width{width},
+	height{height},
+	sectors{std::move(sectors)} {
 }
 
-std::pair<size_t, size_t> CostGrid::get_size() const {
+std::pair<size_t, size_t> Grid::get_size() const {
 	return {this->width, this->height};
 }
 
-CostField &CostGrid::get_field(size_t x, size_t y) {
-	return this->fields[y * this->width + x];
+const std::shared_ptr<Sector> &Grid::get_sector(size_t x, size_t y) {
+	return this->sectors.at(x + y * this->width);
+}
+
+const std::shared_ptr<Sector> &Grid::get_sector(sector_id_t id) const {
+	return this->sectors.at(id);
 }
 
 } // namespace openage::path
diff --git a/libopenage/pathfinding/grid.h b/libopenage/pathfinding/grid.h
@@ -3,29 +3,42 @@
 #pragma once
 
 #include <cstddef>
+#include <memory>
 #include <utility>
 #include <vector>
 
-#include "pathfinding/cost_field.h"
+#include "pathfinding/types.h"
 
 
 namespace openage::path {
+class Sector;
 
 /**
- * Grid of cost fields for flow field pathfinding.
+ * Grid for flow field pathfinding.
  */
-class CostGrid {
+class Grid {
 public:
 	/**
-	 * Create a grid with a specified size and field size.
+	 * Create a new empty grid of width x height sectors with a specified size.
 	 *
 	 * @param width Width of the grid.
 	 * @param height Height of the grid.
-	 * @param field_size Size of the cost fields.
+	 * @param sector_size Side length of each sector.
 	 */
-	CostGrid(size_t width,
-	         size_t height,
-	         size_t field_size);
+	Grid(size_t width,
+	     size_t height,
+	     size_t sector_size);
+
+	/**
+	 * Create a grid of width x height sectors from a list of existing sectors.
+	 *
+	 * @param width Width of the grid.
+	 * @param height Height of the grid.
+	 * @param sectors Existing sectors.
+	 */
+	Grid(size_t width,
+	     size_t height,
+	     std::vector<std::shared_ptr<Sector>> &&sectors);
 
 	/**
 	 * Get the size of the grid.
@@ -35,13 +48,23 @@ class CostGrid {
 	std::pair<size_t, size_t> get_size() const;
 
 	/**
-	 * Get the cost field at a specified position.
+	 * Get the sector at a specified position.
 	 *
 	 * @param x X coordinate.
 	 * @param y Y coordinate.
-	 * @return Cost field at the specified position.
+	 *
+	 * @return Sector at the specified position.
+	 */
+	const std::shared_ptr<Sector> &get_sector(size_t x, size_t y);
+
+	/**
+	 * Get the sector with a specified ID
+	 *
+	 * @param id ID of the sector.
+	 *
+	 * @return Sector with the specified ID.
 	 */
-	CostField &get_field(size_t x, size_t y);
+	const std::shared_ptr<Sector> &get_sector(sector_id_t id) const;
 
 private:
 	/**
@@ -55,9 +78,9 @@ class CostGrid {
 	size_t height;
 
 	/**
-	 * Cost fields.
+	 * Sectors of the grid.
 	 */
-	std::vector<CostField> fields;
+	std::vector<std::shared_ptr<Sector>> sectors;
 };
 
 

diff --git a/libopenage/pathfinding/portal.cpp b/libopenage/pathfinding/portal.cpp
@@ -7,27 +7,25 @@
 
 namespace openage::path {
 
-Portal::Portal(std::shared_ptr<CostField> sector0,
-               std::shared_ptr<CostField> sector1,
-               std::vector<std::shared_ptr<Portal>> sector0_exits,
-               std::vector<std::shared_ptr<Portal>> sector1_exits,
+Portal::Portal(sector_id_t sector0,
+               sector_id_t sector1,
                PortalDirection direction,
                size_t cell_start_x,
                size_t cell_start_y,
                size_t cell_end_x,
                size_t cell_end_y) :
 	sector0{sector0},
 	sector1{sector1},
-	sector0_exits{sector0_exits},
-	sector1_exits{sector1_exits},
+	sector0_exits{},
+	sector1_exits{},
 	direction{direction},
 	cell_start_x{cell_start_x},
 	cell_start_y{cell_start_y},
 	cell_end_x{cell_end_x},
 	cell_end_y{cell_end_y} {
 }
 
-const std::vector<std::shared_ptr<Portal>> &Portal::get_exits(const std::shared_ptr<CostField> &entry_sector) const {
+const std::vector<std::shared_ptr<Portal>> &Portal::get_exits(sector_id_t entry_sector) const {
 	ENSURE(entry_sector == this->sector0 || entry_sector == this->sector1, "Invalid entry sector");
 
 	if (entry_sector == this->sector0) {
@@ -36,7 +34,18 @@ const std::vector<std::shared_ptr<Portal>> &Portal::get_exits(const std::shared_
 	return this->sector0_exits;
 }
 
-const std::shared_ptr<CostField> &Portal::get_exit_sector(const std::shared_ptr<CostField> &entry_sector) const {
+void Portal::set_exits(sector_id_t sector, const std::vector<std::shared_ptr<Portal>> &exits) {
+	ENSURE(sector == this->sector0 || sector == this->sector1, "Portal does not connect to sector");
+
+	if (sector == this->sector0) {
+		this->sector0_exits = exits;
+	}
+	else {
+		this->sector1_exits = exits;
+	}
+}
+
+sector_id_t Portal::get_exit_sector(sector_id_t entry_sector) const {
 	ENSURE(entry_sector == this->sector0 || entry_sector == this->sector1, "Invalid entry sector");
 
 	if (entry_sector == this->sector0) {
@@ -45,7 +54,7 @@ const std::shared_ptr<CostField> &Portal::get_exit_sector(const std::shared_ptr<
 	return this->sector0;
 }
 
-std::pair<size_t, size_t> Portal::get_entry_start(const std::shared_ptr<CostField> &entry_sector) const {
+std::pair<size_t, size_t> Portal::get_entry_start(sector_id_t entry_sector) const {
 	ENSURE(entry_sector == this->sector0 || entry_sector == this->sector1, "Invalid entry sector");
 
 	if (entry_sector == this->sector0) {
@@ -55,7 +64,7 @@ std::pair<size_t, size_t> Portal::get_entry_start(const std::shared_ptr<CostFiel
 	return this->get_sector1_start();
 }
 
-std::pair<size_t, size_t> Portal::get_entry_end(const std::shared_ptr<CostField> &entry_sector) const {
+std::pair<size_t, size_t> Portal::get_entry_end(sector_id_t entry_sector) const {
 	ENSURE(entry_sector == this->sector0 || entry_sector == this->sector1, "Invalid entry sector");
 
 	if (entry_sector == this->sector0) {
@@ -65,7 +74,7 @@ std::pair<size_t, size_t> Portal::get_entry_end(const std::shared_ptr<CostField>
 	return this->get_sector1_end();
 }
 
-std::pair<size_t, size_t> Portal::get_exit_start(const std::shared_ptr<CostField> &entry_sector) const {
+std::pair<size_t, size_t> Portal::get_exit_start(sector_id_t entry_sector) const {
 	ENSURE(entry_sector == this->sector0 || entry_sector == this->sector1, "Invalid entry sector");
 
 	if (entry_sector == this->sector0) {
@@ -75,7 +84,7 @@ std::pair<size_t, size_t> Portal::get_exit_start(const std::shared_ptr<CostField
 	return this->get_sector0_start();
 }
 
-std::pair<size_t, size_t> Portal::get_exit_end(const std::shared_ptr<CostField> &entry_sector) const {
+std::pair<size_t, size_t> Portal::get_exit_end(sector_id_t entry_sector) const {
 	ENSURE(entry_sector == this->sector0 || entry_sector == this->sector1, "Invalid entry sector");
 
 	if (entry_sector == this->sector0) {

diff --git a/libopenage/pathfinding/portal.h b/libopenage/pathfinding/portal.h
@@ -2,10 +2,11 @@
 
 #pragma once
 
-
 #include <memory>
+#include <utility>
+#include <vector>
 
-#include "pathfinding/cost_field.h"
+#include "pathfinding/types.h"
 
 
 namespace openage::path {
@@ -45,18 +46,14 @@ class Portal {
 	 *                Must be north or east on the grid in relation to sector 1.
 	 * @param sector1 Second sector connected by the portal.
 	 *                Must be south or west on the grid in relation to sector 0.
-	 * @param sector0_exits Portals reachable from this portal in sector 0.
-	 * @param sector1_exits Portals reachable from this portal in sector 1.
 	 * @param direction Direction of the portal from sector 0 to sector 1.
 	 * @param cell_start_x Start cell x coordinate in sector 0.
 	 * @param cell_start_y Start cell y coordinate in sector 0.
 	 * @param cell_end_x End cell x coordinate in sector 0.
 	 * @param cell_end_y End cell y coordinate in sector 0.
 	 */
-	Portal(std::shared_ptr<CostField> sector0,
-	       std::shared_ptr<CostField> sector1,
-	       std::vector<std::shared_ptr<Portal>> sector0_exits,
-	       std::vector<std::shared_ptr<Portal>> sector1_exits,
+	Portal(sector_id_t sector0,
+	       sector_id_t sector1,
 	       PortalDirection direction,
 	       size_t cell_start_x,
 	       size_t cell_start_y,
@@ -72,7 +69,15 @@ class Portal {
 	 *
 	 * @return Exit portals reachable from the portal.
 	 */
-	const std::vector<std::shared_ptr<Portal>> &get_exits(const std::shared_ptr<CostField> &entry_sector) const;
+	const std::vector<std::shared_ptr<Portal>> &get_exits(sector_id_t entry_sector) const;
+
+	/**
+	 * Set the exit portals reachable for a specified sector.
+	 *
+	 * @param sector Sector for which the exit portals are set.
+	 * @param exits Exit portals reachable from the portal.
+	 */
+	void set_exits(sector_id_t sector, const std::vector<std::shared_ptr<Portal>> &exits);
 
 	/**
 	 * Get the cost field of the sector where the portal is exited.
@@ -81,7 +86,7 @@ class Portal {
 	 *
 	 * @return Cost field of the sector where the portal is exited.
 	 */
-	const std::shared_ptr<CostField> &get_exit_sector(const std::shared_ptr<CostField> &entry_sector) const;
+	sector_id_t get_exit_sector(sector_id_t entry_sector) const;
 
 	/**
 	 * Get the cost field of the sector from which the portal is entered.
@@ -90,7 +95,7 @@ class Portal {
 	 *
 	 * @return Cost field of the sector from which the portal is entered.
 	 */
-	std::pair<size_t, size_t> get_entry_start(const std::shared_ptr<CostField> &entry_sector) const;
+	std::pair<size_t, size_t> get_entry_start(sector_id_t entry_sector) const;
 
 	/**
 	 * Get the cell coordinates of the start of the portal in the entry sector.
@@ -99,7 +104,7 @@ class Portal {
 	 *
 	 * @return Cell coordinates of the start of the portal in the entry sector.
 	 */
-	std::pair<size_t, size_t> get_entry_end(const std::shared_ptr<CostField> &entry_sector) const;
+	std::pair<size_t, size_t> get_entry_end(sector_id_t entry_sector) const;
 
 	/**
 	 * Get the cell coordinates of the start of the portal in the exit sector.
@@ -108,7 +113,7 @@ class Portal {
 	 *
 	 * @return Cell coordinates of the start of the portal in the exit sector.
 	 */
-	std::pair<size_t, size_t> get_exit_start(const std::shared_ptr<CostField> &entry_sector) const;
+	std::pair<size_t, size_t> get_exit_start(sector_id_t entry_sector) const;
 
 	/**
 	 * Get the cell coordinates of the end of the portal in the exit sector.
@@ -117,7 +122,7 @@ class Portal {
 	 *
 	 * @return Cell coordinates of the end of the portal in the exit sector.
 	 */
-	std::pair<size_t, size_t> get_exit_end(const std::shared_ptr<CostField> &entry_sector) const;
+	std::pair<size_t, size_t> get_exit_end(sector_id_t entry_sector) const;
 
 private:
 	/**
@@ -149,47 +154,47 @@ class Portal {
 	std::pair<size_t, size_t> get_sector1_end() const;
 
 	/**
-	 * Sector 0
+	 * First sector connected by the portal.
 	 */
-	std::shared_ptr<CostField> sector0;
+	sector_id_t sector0;
 
 	/**
-	 * Sector 1
+	 * Second sector connected by the portal.
 	 */
-	std::shared_ptr<CostField> sector1;
+	sector_id_t sector1;
 
 	/**
-	 * Exits from sector 0
+	 * Exits in sector 0 reachable from the portal.
 	 */
 	std::vector<std::shared_ptr<Portal>> sector0_exits;
 
 	/**
-	 * Exits from sector 1
+	 * Exits in sector 1 reachable from the portal.
 	 */
 	std::vector<std::shared_ptr<Portal>> sector1_exits;
 
 	/**
-	 * Direction of the portal
+	 * Direction of the portal from sector 0 to sector 1.
 	 */
 	PortalDirection direction;
 
 	/**
-	 * Start cell x coordinate
+	 * Start cell x coordinate.
 	 */
 	size_t cell_start_x;
 
 	/**
-	 * Start cell y coordinate
+	 * Start cell y coordinate.
 	 */
 	size_t cell_start_y;
 
 	/**
-	 * End cell x coordinate
+	 * End cell x coordinate.
 	 */
 	size_t cell_end_x;
 
 	/**
-	 * End cell y coordinate
+	 * End cell y coordinate.
 	 */
 	size_t cell_end_y;
 };