Moved AStarPathfinder code from Thermite to PolyVox.

2010-12-08 23:06:29 +00:00
parent 30425a4d86
commit c9331c3e35
5 changed files with 748 additions and 0 deletions
--- a/library/PolyVoxCore/include/AStarPathfinder.h
+++ b/library/PolyVoxCore/include/AStarPathfinder.h
@ -0,0 +1,135 @@
+/*******************************************************************************
+Copyright (c) 2005-2009 David Williams
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+    1. The origin of this software must not be misrepresented; you must not
+    claim that you wrote the original software. If you use this software
+    in a product, an acknowledgment in the product documentation would be
+    appreciated but is not required.
+
+    2. Altered source versions must be plainly marked as such, and must not be
+    misrepresented as being the original software.
+
+    3. This notice may not be removed or altered from any source
+    distribution.
+*******************************************************************************/
+
+#ifndef __PolyVox_AStarPathfinder_H__
+#define __PolyVox_AStarPathfinder_H__
+
+#include "Array.h"
+#include "PolyVoxImpl/AStarPathfinderImpl.h"
+#include "PolyVoxForwardDeclarations.h"
+#include "Volume.h"
+#include "VolumeSampler.h"
+
+#include "PolyVoxImpl/TypeDef.h"
+
+#include <functional>
+
+namespace PolyVox
+{
+	const float sqrt_1 = 1.0f;
+	const float sqrt_2 = 1.4143f;
+	const float sqrt_3 = 1.7321f;
+
+	extern const POLYVOXCORE_API Vector3DInt16 arrayPathfinderFaces[6];
+	extern const POLYVOXCORE_API Vector3DInt16 arrayPathfinderEdges[12];
+	extern const POLYVOXCORE_API Vector3DInt16 arrayPathfinderCorners[8];
+
+	template <typename VoxelType>
+	bool aStarDefaultVoxelValidator(const Volume<VoxelType>* volData, const Vector3DInt16& v3dPos);
+
+	template <typename VoxelType>
+	struct AStarPathfinderParams
+	{
+	public:
+		AStarPathfinderParams
+		(
+			Volume<VoxelType>* volData,
+			const Vector3DInt16& v3dStart,
+			const Vector3DInt16& v3dEnd,
+			std::list<Vector3DInt16>* listResult,
+			float fHBias = 1.0,
+			uint32_t uMaxNoOfNodes = 10000,
+			Connectivity connectivity = TwentySixConnected,
+			std::function<bool (const Volume<VoxelType>*, const Vector3DInt16&)> funcIsVoxelValidForPath = &aStarDefaultVoxelValidator<VoxelType>,
+			std::function<void (float)> funcProgressCallback = 0
+		)
+			:volume(volData)
+			,start(v3dStart)
+			,end(v3dEnd)
+			,result(listResult)
+			,hBias(fHBias)
+			,connectivity(connectivity)
+			,isVoxelValidForPath(funcIsVoxelValidForPath)
+			,maxNumberOfNodes(uMaxNoOfNodes)
+			,progressCallback(funcProgressCallback)
+		{
+		}
+
+		//The volume data.
+		Volume<VoxelType>* volume;
+
+		Vector3DInt16 start;
+		Vector3DInt16 end;
+
+		//The resulting path
+		std::list<Vector3DInt16>* result;
+
+		//The requied connectivity
+		Connectivity connectivity;
+
+		//Bias applied to h()
+		float hBias;
+
+		//Max number of nodes to examine
+		uint32_t maxNumberOfNodes;
+
+		//Used to determine whether a given voxel is valid.
+		std::function<bool (const Volume<VoxelType>*, const Vector3DInt16&)> isVoxelValidForPath;
+
+		//Progress callback
+		std::function<void (float)> progressCallback;
+	};
+
+	template <typename VoxelType>
+	class AStarPathfinder
+	{
+	public:
+		AStarPathfinder(const AStarPathfinderParams<VoxelType>& params);
+
+		void execute();
+
+	private:
+		void processNeighbour(const Vector3DInt16& neighbourPos, float neighbourGVal);
+
+		float SixConnectedCost(const Vector3DInt16& a, const Vector3DInt16& b);
+		float EighteenConnectedCost(const Vector3DInt16& a, const Vector3DInt16& b);
+		float TwentySixConnectedCost(const Vector3DInt16& a, const Vector3DInt16& b);
+		float computeH(const Vector3DInt16& a, const Vector3DInt16& b);		
+
+		//Node containers
+		AllNodesContainer allNodes;
+		OpenNodesContainer openNodes;
+		ClosedNodesContainer closedNodes;
+
+		//The current node
+		AllNodesContainer::iterator current;
+		
+		float m_fProgress;
+
+		AStarPathfinderParams<VoxelType> m_params;
+	};
+}
+
+#include "AStarPathfinder.inl"
+
+#endif //__PolyVox_AStarPathfinder_H__