PulseStudio/VoxelEngine
PulseStudio/VoxelEngine
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add 'mayBeIncomplete' parameter

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This commit is contained in:
MihailRis 2025-08-02 23:03:40 +03:00
parent caab689731
commit be3fb8346f
4 changed files with 82 additions and 42 deletions
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51
src/graphics/render/WorldRenderer.cpp
View File

@ -387,33 +387,42 @@ void WorldRenderer::renderFrame(
skybox->draw(ctx, camera, assets, worldInfo.daytime, clouds);
// In-world lines
for (const auto& [_, agent] : level.pathfinding->getAgents()) {
const auto& route = agent.route;
if (!route.found)
continue;
for (int i = 1; i < route.nodes.size(); i++) {
const auto& a = route.nodes.at(i - 1);
const auto& b = route.nodes.at(i);
if (debug) {
for (const auto& [_, agent] : level.pathfinding->getAgents()) {
const auto& route = agent.route;
if (!route.found)
continue;
for (const auto& blocked : route.visited) {
lines->pushLine(
glm::vec3(blocked) + glm::vec3(0.5f),
glm::vec3(blocked) + glm::vec3(0.5f, 1.0f, 0.5f),
glm::vec4(1, 0, 0, 1)
);
}
for (int i = 1; i < route.nodes.size(); i++) {
const auto& a = route.nodes.at(i - 1);
const auto& b = route.nodes.at(i);
if (i == 1) {
lines->pushLine(
glm::vec3(a.pos) + glm::vec3(0.5f),
glm::vec3(a.pos) + glm::vec3(0.5f, 1.0f, 0.5f),
glm::vec4(1, 1, 1, 1)
);
}
if (i == 1) {
lines->pushLine(
glm::vec3(a.pos) + glm::vec3(0.5f),
glm::vec3(a.pos) + glm::vec3(0.5f, 1.0f, 0.5f),
glm::vec3(b.pos) + glm::vec3(0.5f),
glm::vec4(1, 0, 1, 1)
);
lines->pushLine(
glm::vec3(b.pos) + glm::vec3(0.5f),
glm::vec3(b.pos) + glm::vec3(0.5f, 1.0f, 0.5f),
glm::vec4(1, 1, 1, 1)
);
}
lines->pushLine(
glm::vec3(a.pos) + glm::vec3(0.5f),
glm::vec3(b.pos) + glm::vec3(0.5f),
glm::vec4(1, 0, 1, 1)
);
lines->pushLine(
glm::vec3(b.pos) + glm::vec3(0.5f),
glm::vec3(b.pos) + glm::vec3(0.5f, 1.0f, 0.5f),
glm::vec4(1, 1, 1, 1)
);
}
}

8
src/logic/scripting/lua/libs/libpathfinding.cpp
View File

@ -46,10 +46,18 @@ static int l_make_route(lua::State* L) {
return 0;
}
static int l_set_max_visited_blocks(lua::State* L) {
if (auto agent = get_agent(L)) {
agent->maxVisitedBlocks = lua::tointeger(L, 2);
}
return 0;
}
const luaL_Reg pathfindinglib[] = {
{"create_agent", lua::wrap<l_create_agent>},
{"set_enabled", lua::wrap<l_set_enabled>},
{"is_enabled", lua::wrap<l_is_enabled>},
{"make_route", lua::wrap<l_make_route>},
{"set_max_visited", lua::wrap<l_set_max_visited_blocks>},
{NULL, NULL}
};

55
src/voxels/Pathfinding.cpp
View File

@ -1,10 +1,6 @@
#include "Pathfinding.hpp"
#define GLM_ENABLE_EXPERIMENTAL
#include <glm/gtx/hash.hpp>
#include <queue>
#include <unordered_set>
#include <unordered_map>
#include "world/Level.hpp"
@ -13,6 +9,8 @@
#include "voxels/blocks_agent.hpp"
#include "content/Content.hpp"
inline constexpr float SQRT2 = 1.4142135623730951f; // sqrt(2)
using namespace voxels;
struct Node {
@ -28,7 +26,7 @@ struct NodeLess {
}
};
static float distance(const glm::ivec3& a, const glm::ivec3& b) {
static float heuristic(const glm::ivec3& a, const glm::ivec3& b) {
return glm::distance(glm::vec3(a), glm::vec3(b));
}
@ -60,10 +58,10 @@ static bool check_passability(
static void restore_route(
Route& route,
const Node& node,
const glm::ivec3& lastPos,
const std::unordered_map<glm::ivec3, Node>& parents
) {
auto pos = node.pos;
auto pos = lastPos;
while (true) {
const auto& found = parents.find(pos);
if (found == parents.end()) {
@ -89,7 +87,7 @@ Route Pathfinding::perform(
Route route {};
std::priority_queue<Node, std::vector<Node>, NodeLess> queue;
queue.push({start, {}, 0, distance(start, end)});
queue.push({start, {}, 0, heuristic(start, end)});
std::unordered_set<glm::ivec3> blocked;
std::unordered_map<glm::ivec3, Node> parents;
@ -97,18 +95,31 @@ Route Pathfinding::perform(
const auto& chunks = *level.chunks;
int height = std::max(agent.height, 1);
glm::ivec3 nearest = start;
float minHScore = heuristic(start, end);
while (!queue.empty()) {
if (blocked.size() == agent.maxVisitedBlocks) {
if (agent.mayBeIncomplete) {
restore_route(route, nearest, parents);
route.nodes.push_back({start});
route.found = true;
route.visited = std::move(blocked);
return route;
}
break;
}
auto node = queue.top();
queue.pop();
if (node.pos.x == end.x && glm::abs((node.pos.y - end.y) / height) == 0 && node.pos.z == end.z) {
restore_route(route, node, parents);
if (node.pos.x == end.x &&
glm::abs((node.pos.y - end.y) / height) == 0 &&
node.pos.z == end.z) {
restore_route(route, node.pos, parents);
route.nodes.push_back({start});
route.found = true;
break;
route.visited = std::move(blocked);
return route;
}
blocked.emplace(node.pos);
@ -128,6 +139,9 @@ Route Pathfinding::perform(
}
pos.y = surface;
auto point = pos + glm::ivec3(offset.x, 0, offset.y);
if (blocked.find(point) != blocked.end()) {
continue;
}
if (is_obstacle_at(chunks, pos.x, pos.y + agent.height / 2, pos.z)) {
continue;
@ -135,18 +149,21 @@ Route Pathfinding::perform(
if (!check_passability(agent, chunks, node, offset, i >= 4)) {
continue;
}
if (blocked.find(point) != blocked.end()) {
continue;
}
int score = glm::abs(node.pos.y - pos.y);
int score = glm::abs(node.pos.y - pos.y) * 10;
float sum = glm::abs(offset.x) + glm::abs(offset.y);
float gScore =
node.gScore + glm::abs(offset.x) + glm::abs(offset.y) + score;
node.gScore + glm::max(sum, SQRT2) * 0.5f + sum * 0.5f + score;
const auto& found = parents.find(point);
if (found == parents.end() || gScore < found->second.gScore) {
float hScore = distance(point, end);
if (found == parents.end()) {
float hScore = heuristic(point, end);
if (hScore < minHScore) {
minHScore = hScore;
nearest = point;
}
float fScore = gScore + hScore;
Node nNode {point, node.pos, gScore, fScore};
parents[point] = Node {node.pos, node.parent, gScore, fScore};
parents[point] = node;
queue.push(nNode);
}
}

10
src/voxels/Pathfinding.hpp
View File

@ -1,10 +1,14 @@
#pragma once
#define GLM_ENABLE_EXPERIMENTAL
#include <glm/gtx/hash.hpp>
#include <vector>
#include <memory>
#include <glm/vec2.hpp>
#include <glm/vec3.hpp>
#include <unordered_map>
#include <unordered_set>
class Level;
class GlobalChunks;
@ -17,12 +21,14 @@ namespace voxels {
struct Route {
bool found;
std::vector<RouteNode> nodes;
std::unordered_set<glm::ivec3> visited;
};
struct Agent {
bool enabled = false;
int height = 1;
int maxVisitedBlocks = 1e5;
bool mayBeIncomplete = true;
int height = 2;
int maxVisitedBlocks = 1e3;
glm::ivec3 start;
glm::ivec3 target;
Route route;