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@ -1,10 +1,7 @@
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#include "pathgrid.hpp"
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#include "pathgrid.hpp"
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#include "../mwbase/environment.hpp"
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#include <list>
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#include "../mwbase/world.hpp"
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#include <set>
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#include "../mwworld/cellstore.hpp"
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#include "../mwworld/esmstore.hpp"
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namespace
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namespace
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{
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{
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@ -45,20 +42,97 @@ namespace
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// return distance(a, b);
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// return distance(a, b);
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return manhattan(a, b);
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return manhattan(a, b);
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}
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}
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constexpr size_t NoIndex = static_cast<size_t>(-1);
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}
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}
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namespace MWMechanics
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namespace MWMechanics
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{
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{
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PathgridGraph::PathgridGraph(const MWWorld::CellStore* cell)
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: mCell(nullptr)
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class PathgridGraph::Builder
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, mPathgrid(nullptr)
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, mGraph(0)
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, mIsGraphConstructed(false)
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, mSCCId(0)
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, mSCCIndex(0)
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{
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{
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load(cell);
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std::vector<Node>& mGraph;
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}
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// variables used to calculate connected components
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int mSCCId = 0;
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size_t mSCCIndex = 0;
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std::vector<size_t> mSCCStack;
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std::vector<std::pair<size_t, size_t>> mSCCPoint; // first is index, second is lowlink
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// v is the pathgrid point index (some call them vertices)
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void recursiveStrongConnect(const size_t v)
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{
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mSCCPoint[v].first = mSCCIndex; // index
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mSCCPoint[v].second = mSCCIndex; // lowlink
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mSCCIndex++;
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mSCCStack.push_back(v);
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size_t w;
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for (const auto& edge : mGraph[v].edges)
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{
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w = edge.index;
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if (mSCCPoint[w].first == NoIndex) // not visited
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{
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recursiveStrongConnect(w); // recurse
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mSCCPoint[v].second = std::min(mSCCPoint[v].second, mSCCPoint[w].second);
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}
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else if (std::find(mSCCStack.begin(), mSCCStack.end(), w) != mSCCStack.end())
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mSCCPoint[v].second = std::min(mSCCPoint[v].second, mSCCPoint[w].first);
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}
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if (mSCCPoint[v].second == mSCCPoint[v].first)
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{ // new component
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do
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{
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w = mSCCStack.back();
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mSCCStack.pop_back();
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mGraph[w].componentId = mSCCId;
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} while (w != v);
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mSCCId++;
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}
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}
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public:
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/*
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* mGraph contains the strongly connected component group id's along
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* with pre-calculated edge costs.
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*
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* A cell can have disjointed pathgrids, e.g. Seyda Neen has 3
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*
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* mGraph for Seyda Neen will therefore have 3 different values. When
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* selecting a random pathgrid point for AiWander, mGraph can be checked
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* for quickly finding whether the destination is reachable.
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*
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* Otherwise, buildPath can automatically select a closest reachable end
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* pathgrid point (reachable from the closest start point).
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*
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* Using Tarjan's algorithm:
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*
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* mGraph | graph G |
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* mSCCPoint | V | derived from mPoints
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* mGraph[v].edges | E (for v) |
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* mSCCIndex | index | tracking smallest unused index
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* mSCCStack | S |
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* mGraph[v].edges[i].index | w |
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*
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*/
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explicit Builder(PathgridGraph& graph)
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: mGraph(graph.mGraph)
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{
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// both of these are set to zero in the constructor
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// mSCCId = 0; // how many strongly connected components in this cell
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// mSCCIndex = 0;
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size_t pointsSize = graph.mPathgrid->mPoints.size();
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mSCCPoint.resize(pointsSize, std::pair<size_t, size_t>(NoIndex, NoIndex));
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mSCCStack.reserve(pointsSize);
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for (size_t v = 0; v < pointsSize; ++v)
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{
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if (mSCCPoint[v].first == NoIndex) // undefined (haven't visited)
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recursiveStrongConnect(v);
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}
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}
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};
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/*
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/*
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* mGraph is populated with the cost of each allowed edge.
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* mGraph is populated with the cost of each allowed edge.
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@ -96,132 +170,38 @@ namespace MWMechanics
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* +---------------->
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* +---------------->
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* high cost
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* high cost
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*/
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*/
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bool PathgridGraph::load(const MWWorld::CellStore* cell)
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PathgridGraph::PathgridGraph(const ESM::Pathgrid& pathgrid)
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: mPathgrid(&pathgrid)
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{
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{
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if (!cell)
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return false;
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if (mIsGraphConstructed)
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return true;
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mCell = cell->getCell();
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mPathgrid = MWBase::Environment::get().getWorld()->getStore().get<ESM::Pathgrid>().search(*mCell);
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if (!mPathgrid)
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return false;
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mGraph.resize(mPathgrid->mPoints.size());
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mGraph.resize(mPathgrid->mPoints.size());
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for (int i = 0; i < static_cast<int>(mPathgrid->mEdges.size()); i++)
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for (const auto& edge : mPathgrid->mEdges)
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{
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{
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ConnectedPoint neighbour;
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ConnectedPoint neighbour;
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neighbour.cost
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neighbour.cost = costAStar(mPathgrid->mPoints[edge.mV0], mPathgrid->mPoints[edge.mV1]);
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= costAStar(mPathgrid->mPoints[mPathgrid->mEdges[i].mV0], mPathgrid->mPoints[mPathgrid->mEdges[i].mV1]);
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// forward path of the edge
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// forward path of the edge
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neighbour.index = mPathgrid->mEdges[i].mV1;
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neighbour.index = edge.mV1;
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mGraph[mPathgrid->mEdges[i].mV0].edges.push_back(neighbour);
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mGraph[edge.mV0].edges.push_back(neighbour);
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// reverse path of the edge
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// reverse path of the edge
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// NOTE: These are redundant, ESM already contains the required reverse paths
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// NOTE: These are redundant, ESM already contains the required reverse paths
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// neighbour.index = mPathgrid->mEdges[i].mV0;
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// neighbour.index = edge.mV0;
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// mGraph[mPathgrid->mEdges[i].mV1].edges.push_back(neighbour);
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// mGraph[edge.mV1].edges.push_back(neighbour);
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}
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buildConnectedPoints();
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mIsGraphConstructed = true;
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return true;
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}
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const ESM::Pathgrid* PathgridGraph::getPathgrid() const
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{
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return mPathgrid;
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}
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// v is the pathgrid point index (some call them vertices)
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void PathgridGraph::recursiveStrongConnect(int v)
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{
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mSCCPoint[v].first = mSCCIndex; // index
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mSCCPoint[v].second = mSCCIndex; // lowlink
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mSCCIndex++;
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mSCCStack.push_back(v);
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int w;
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for (int i = 0; i < static_cast<int>(mGraph[v].edges.size()); i++)
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{
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w = mGraph[v].edges[i].index;
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if (mSCCPoint[w].first == -1) // not visited
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{
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recursiveStrongConnect(w); // recurse
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mSCCPoint[v].second = std::min(mSCCPoint[v].second, mSCCPoint[w].second);
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}
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else
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{
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if (find(mSCCStack.begin(), mSCCStack.end(), w) != mSCCStack.end())
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mSCCPoint[v].second = std::min(mSCCPoint[v].second, mSCCPoint[w].first);
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}
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}
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if (mSCCPoint[v].second == mSCCPoint[v].first)
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{ // new component
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do
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{
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w = mSCCStack.back();
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mSCCStack.pop_back();
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mGraph[w].componentId = mSCCId;
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} while (w != v);
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mSCCId++;
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}
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}
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return;
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Builder(*this);
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}
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}
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/*
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const PathgridGraph PathgridGraph::sEmpty = {};
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* mGraph contains the strongly connected component group id's along
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* with pre-calculated edge costs.
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*
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* A cell can have disjointed pathgrids, e.g. Seyda Neen has 3
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*
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* mGraph for Seyda Neen will therefore have 3 different values. When
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* selecting a random pathgrid point for AiWander, mGraph can be checked
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* for quickly finding whether the destination is reachable.
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*
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* Otherwise, buildPath can automatically select a closest reachable end
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* pathgrid point (reachable from the closest start point).
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*
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* Using Tarjan's algorithm:
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*
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* mGraph | graph G |
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* mSCCPoint | V | derived from mPoints
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* mGraph[v].edges | E (for v) |
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* mSCCIndex | index | tracking smallest unused index
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* mSCCStack | S |
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* mGraph[v].edges[i].index | w |
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*
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*/
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void PathgridGraph::buildConnectedPoints()
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{
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// both of these are set to zero in the constructor
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// mSCCId = 0; // how many strongly connected components in this cell
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// mSCCIndex = 0;
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int pointsSize = static_cast<int>(mPathgrid->mPoints.size());
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mSCCPoint.resize(pointsSize, std::pair<int, int>(-1, -1));
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mSCCStack.reserve(pointsSize);
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for (int v = 0; v < pointsSize; v++)
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{
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if (mSCCPoint[v].first == -1) // undefined (haven't visited)
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recursiveStrongConnect(v);
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}
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}
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bool PathgridGraph::isPointConnected(const int start, const int end) const
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bool PathgridGraph::isPointConnected(const size_t start, const size_t end) const
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{
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{
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return (mGraph[start].componentId == mGraph[end].componentId);
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return (mGraph[start].componentId == mGraph[end].componentId);
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}
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}
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void PathgridGraph::getNeighbouringPoints(const int index, ESM::Pathgrid::PointList& nodes) const
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void PathgridGraph::getNeighbouringPoints(const size_t index, ESM::Pathgrid::PointList& nodes) const
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{
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{
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for (int i = 0; i < static_cast<int>(mGraph[index].edges.size()); i++)
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for (const auto& edge : mGraph[index].edges)
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{
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{
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int neighbourIndex = mGraph[index].edges[i].index;
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if (edge.index != index)
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if (neighbourIndex != index)
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nodes.push_back(mPathgrid->mPoints[edge.index]);
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nodes.push_back(mPathgrid->mPoints[neighbourIndex]);
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}
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}
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}
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}
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@ -252,7 +232,7 @@ namespace MWMechanics
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* pathgrid points form (currently they are converted to world
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* pathgrid points form (currently they are converted to world
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* coordinates). Essentially trading speed w/ memory.
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* coordinates). Essentially trading speed w/ memory.
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*/
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*/
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std::deque<ESM::Pathgrid::Point> PathgridGraph::aStarSearch(const int start, const int goal) const
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std::deque<ESM::Pathgrid::Point> PathgridGraph::aStarSearch(const size_t start, const size_t goal) const
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{
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{
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std::deque<ESM::Pathgrid::Point> path;
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std::deque<ESM::Pathgrid::Point> path;
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if (!isPointConnected(start, goal))
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if (!isPointConnected(start, goal))
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@ -260,20 +240,20 @@ namespace MWMechanics
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return path; // there is no path, return an empty path
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return path; // there is no path, return an empty path
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}
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}
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int graphSize = static_cast<int>(mGraph.size());
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size_t graphSize = mGraph.size();
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std::vector<float> gScore(graphSize, -1);
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std::vector<float> gScore(graphSize, -1);
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std::vector<float> fScore(graphSize, -1);
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std::vector<float> fScore(graphSize, -1);
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std::vector<int> graphParent(graphSize, -1);
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std::vector<size_t> graphParent(graphSize, NoIndex);
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// gScore & fScore keep costs for each pathgrid point in mPoints
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// gScore & fScore keep costs for each pathgrid point in mPoints
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gScore[start] = 0;
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gScore[start] = 0;
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fScore[start] = costAStar(mPathgrid->mPoints[start], mPathgrid->mPoints[goal]);
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fScore[start] = costAStar(mPathgrid->mPoints[start], mPathgrid->mPoints[goal]);
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std::list<int> openset;
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std::list<size_t> openset;
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std::list<int> closedset;
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std::set<size_t> closedset;
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openset.push_back(start);
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openset.push_back(start);
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int current = -1;
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size_t current = start;
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while (!openset.empty())
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while (!openset.empty())
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{
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{
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|
@ -283,16 +263,16 @@ namespace MWMechanics
|
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|
if (current == goal)
|
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|
if (current == goal)
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|
break;
|
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|
break;
|
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closedset.push_back(current); // remember we've been here
|
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|
closedset.insert(current); // remember we've been here
|
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|
|
// check all edges for the current point index
|
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|
|
// check all edges for the current point index
|
|
|
|
for (int j = 0; j < static_cast<int>(mGraph[current].edges.size()); j++)
|
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|
|
for (const auto& edge : mGraph[current].edges)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
if (std::find(closedset.begin(), closedset.end(), mGraph[current].edges[j].index) == closedset.end())
|
|
|
|
if (!closedset.contains(edge.index))
|
|
|
|
{
|
|
|
|
{
|
|
|
|
// not in closedset - i.e. have not traversed this edge destination
|
|
|
|
// not in closedset - i.e. have not traversed this edge destination
|
|
|
|
int dest = mGraph[current].edges[j].index;
|
|
|
|
size_t dest = edge.index;
|
|
|
|
float tentative_g = gScore[current] + mGraph[current].edges[j].cost;
|
|
|
|
float tentative_g = gScore[current] + edge.cost;
|
|
|
|
bool isInOpenSet = std::find(openset.begin(), openset.end(), dest) != openset.end();
|
|
|
|
bool isInOpenSet = std::find(openset.begin(), openset.end(), dest) != openset.end();
|
|
|
|
if (!isInOpenSet || tentative_g < gScore[dest])
|
|
|
|
if (!isInOpenSet || tentative_g < gScore[dest])
|
|
|
|
{
|
|
|
|
{
|
|
|
|
@ -303,8 +283,8 @@ namespace MWMechanics
|
|
|
|
{
|
|
|
|
{
|
|
|
|
// add this edge to openset, lowest cost goes to the front
|
|
|
|
// add this edge to openset, lowest cost goes to the front
|
|
|
|
// TODO: if this causes performance problems a hash table may help
|
|
|
|
// TODO: if this causes performance problems a hash table may help
|
|
|
|
std::list<int>::iterator it = openset.begin();
|
|
|
|
auto it = openset.begin();
|
|
|
|
for (it = openset.begin(); it != openset.end(); ++it)
|
|
|
|
for (; it != openset.end(); ++it)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
if (fScore[*it] > fScore[dest])
|
|
|
|
if (fScore[*it] > fScore[dest])
|
|
|
|
break;
|
|
|
|
break;
|
|
|
|
@ -320,7 +300,7 @@ namespace MWMechanics
|
|
|
|
return path; // for some reason couldn't build a path
|
|
|
|
return path; // for some reason couldn't build a path
|
|
|
|
|
|
|
|
|
|
|
|
// reconstruct path to return, using local coordinates
|
|
|
|
// reconstruct path to return, using local coordinates
|
|
|
|
while (graphParent[current] != -1)
|
|
|
|
while (graphParent[current] != NoIndex)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
path.push_front(mPathgrid->mPoints[current]);
|
|
|
|
path.push_front(mPathgrid->mPoints[current]);
|
|
|
|
current = graphParent[current];
|
|
|
|
current = graphParent[current];
|
|
|
|
|
psi29a
2 years ago