✨ 寻路功能实现
This commit is contained in:
kercylan98
parent
ce77f513a4
commit
2add117daa
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package path
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type h []*Node
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func (slf *h) Len() int {
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return len(*slf)
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}
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func (slf *h) Less(i, j int) bool {
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return (*slf)[i].cost < (*slf)[j].cost
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}
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func (slf *h) Swap(i, j int) {
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(*slf)[i], (*slf)[j] = (*slf)[j], (*slf)[i]
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}
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func (slf *h) Push(x any) {
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*slf = append(*slf, x.(*Node))
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}
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func (slf *h) Pop() any {
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old := *slf
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n := len(old)
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x := old[n-1]
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*slf = old[0 : n-1]
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return x
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}
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package path
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import (
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"github.com/kercylan98/minotaur/utils/g2d"
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)
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func NewLandform(pos int, features ...*LandformFeature) *Landform {
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if len(features) == 0 {
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panic("path landforms without any features")
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}
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pl := &Landform{
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pos: pos,
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features: features,
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}
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return pl
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}
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// Landform 路径地貌表示路径地图上的一个点
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// - 末尾特征将决定该路径地貌是否可行走
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type Landform struct {
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width int // 所在路径覆盖宽度
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pos int // 位置
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features []*LandformFeature // 地貌特征
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original []*LandformFeature // 原始地貌
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totalCost float64 // 总消耗
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}
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// GetCoordinate 获取这个路径地貌指向的 x 和 y 坐标
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// - 建议通过 GetPos 来进行获取，这样可以避免一次转换
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func (slf *Landform) GetCoordinate() (x, y int) {
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return g2d.PosToCoordinate(slf.width, slf.pos)
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}
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// GetPos 获取这个路径地貌指向的 pos 位置
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func (slf *Landform) GetPos() int {
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return slf.pos
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}
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// GetTotalCost 获取这个路径地貌的总特征消耗
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func (slf *Landform) GetTotalCost() float64 {
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return slf.totalCost
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}
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// Walkable 指示了该路径地貌是否可以在上面行走或者应该避免在上面行走
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func (slf *Landform) Walkable() bool {
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return slf.features[len(slf.features)-1].Walkable()
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}
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// GetFeatures 获取这个路径地貌的特征
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func (slf *Landform) GetFeatures() []*LandformFeature {
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return slf.features
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}
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// SetFeatures 设置这个路径地貌的特征
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func (slf *Landform) SetFeatures(features ...*LandformFeature) {
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slf.features = features
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slf.original = nil
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slf.totalCost = 0
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for _, feature := range slf.features {
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slf.totalCost += feature.GetCost()
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}
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}
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// SetFeaturesWithRecoverable 通过可恢复的方式设置这个路径地貌的特征
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// - 使用该函数设置地貌特征后续也应该继续使用该函数进行地貌特征修改，如果中途使用 SetFeatures 修改地貌特征后将导致 Recover 不可用
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func (slf *Landform) SetFeaturesWithRecoverable(features ...*LandformFeature) {
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if slf.original == nil {
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slf.original = slf.features
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}
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slf.features = features
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slf.totalCost = 0
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for _, feature := range slf.features {
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slf.totalCost += feature.GetCost()
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}
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}
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// Recover 恢复这个路径地貌的特征
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func (slf *Landform) Recover() {
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if slf.original == nil {
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return
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}
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slf.features = slf.original
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slf.original = nil
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slf.totalCost = 0
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for _, feature := range slf.features {
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slf.totalCost += feature.GetCost()
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}
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}
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package path
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var (
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LandformFeatureRoad = NewLandformFeature(1, true) // 道路
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LandformFeatureWater = NewLandformFeature(1.75, true) // 水
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)
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// NewLandformFeature 返回一个新的路径地貌特征， cost 将表示在该地貌上行走的消耗，walkable 则表示了该地貌是否支持行走
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// - 在基于 Terrain 使用时， LandformFeature 必须被声明为全局变量后再进行使用，例如 LandformFeatureRoad
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func NewLandformFeature(cost float64, walkable bool) *LandformFeature {
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return &LandformFeature{cost: cost, walkable: walkable}
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}
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// LandformFeature 表示了路径地貌的特征
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type LandformFeature struct {
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cost float64 // 移动消耗
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walkable bool // 适宜步行
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}
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// GetCost 获取在该路径地貌行走的消耗，这影响了该路径地貌是否是理想的选择
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func (slf *LandformFeature) GetCost() float64 {
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return slf.cost
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}
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// Walkable 指示了该路径地貌是否可以在上面行走或者应该避免在上面行走
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func (slf *LandformFeature) Walkable() bool {
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return slf.walkable
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}
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package path
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type Node struct {
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landform *Landform
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parent *Node
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cost float64
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}
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package path
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type Path struct {
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points []*Landform
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currentIndex int
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}
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func (slf *Path) GetPoints() []*Landform {
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return slf.points
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}
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func (slf *Path) GetCurrentIndex() int {
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return slf.currentIndex
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}
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@ -0,0 +1,196 @@
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package path
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import (
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"container/heap"
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"github.com/kercylan98/minotaur/utils/g2d"
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)
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// NewTerrain 返回一个大小为 width 和 height 的新的路径覆盖信息，landformWidth 和 landformHeight 将对每
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// 个路径地貌的尺寸进行描述，用于世界位置的转化，例如当 landformWidth 和 landformHeight 为 2, 2 时，路径
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// 地貌位于 2, 3 的情况下，它的世界位置将是 4, 6
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// - 地貌特征将默认统一为 PathLandformFeatureRoad
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func NewTerrain(width, height, landformWidth, landformHeight int) *Terrain {
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path := &Terrain{
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features: map[*LandformFeature]map[int]struct{}{},
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width: width,
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height: height,
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landformWidth: landformWidth,
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landformHeight: landformHeight,
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}
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path.matrix = make([]*Landform, width*height)
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for pos := 0; pos < len(path.matrix); pos++ {
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path.matrix[pos] = NewLandform(pos, LandformFeatureRoad)
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}
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path.refreshFeatures()
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return path
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}
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// NewPathWithMatrix 基于特定的 matrix 返回一个新的路径覆盖信息
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// - 可参照于 NewTerrain
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func NewPathWithMatrix(matrix []*Landform, width, height, landformWidth, landformHeight int) *Terrain {
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path := &Terrain{
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matrix: matrix,
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width: width,
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height: height,
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landformWidth: landformWidth,
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landformHeight: landformHeight,
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}
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path.refreshFeatures()
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return path
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}
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type Terrain struct {
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matrix []*Landform // 矩阵
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width, height int // 矩阵宽高
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landformWidth, landformHeight int // 地貌宽高
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features map[*LandformFeature]map[int]struct{} // 标注了特定特征的路径地貌位置
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}
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// Get 返回 x 和 y 指向的地貌信息
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// - 通常更建议使用 GetWithPos 进行获取，因为这样可以减少一次转换
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func (slf *Terrain) Get(x, y int) *Landform {
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return slf.matrix[g2d.CoordinateToPos(slf.width, x, y)]
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}
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// GetWithPos 返回 pos 指向的地貌信息
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func (slf *Terrain) GetWithPos(pos int) *Landform {
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return slf.matrix[pos]
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}
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// GetHeight 返回这个路径覆盖的范围高度
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func (slf *Terrain) GetHeight() int {
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return slf.height
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}
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// GetWidth 返回这个路径覆盖的范围宽度
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func (slf *Terrain) GetWidth() int {
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return slf.width
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}
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// GetAll 获取所有地貌信息
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func (slf *Terrain) GetAll() []*Landform {
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return slf.matrix
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}
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// GetPath 返回一个从起点位置到目标位置的路径
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// - 可以通过参数 diagonals 控制是否支持沿对角线进行移动
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// - 可以通过参数 wallsBlockDiagonals 控制在进行对角线移动时是否允许穿越不可通行的区域
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func (slf *Terrain) GetPath(startPos, endPos int, diagonals, wallsBlockDiagonals bool) *Path {
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start, end := slf.GetWithPos(startPos), slf.GetWithPos(endPos)
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var nodes h
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var checkedLandforms = make(map[int]struct{})
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var path = new(Path)
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heap.Push(&nodes, &Node{landform: end, cost: end.GetTotalCost()})
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if !start.Walkable() || !end.Walkable() {
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return nil
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}
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for {
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if len(nodes) == 0 {
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break
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}
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node := heap.Pop(&nodes).(*Node)
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if node.landform == start {
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var t = node
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for true {
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path.points = append(path.points, t.landform)
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t = t.parent
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if t == nil {
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break
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}
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}
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break
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}
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for _, adjacent := range g2d.GetAdjacentTranslatePos(slf.matrix, slf.width, node.landform.pos) {
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landform := slf.GetWithPos(adjacent)
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n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost}
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if _, exist := checkedLandforms[adjacent]; n.landform.Walkable() && !exist {
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heap.Push(&nodes, n)
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checkedLandforms[adjacent] = struct{}{}
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}
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}
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if diagonals {
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var up, down, left, right bool
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if upPos := node.landform.pos - slf.width; upPos >= 0 {
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up = slf.GetWithPos(upPos).Walkable()
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}
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if downPos := node.landform.pos + slf.width; downPos < len(slf.matrix) {
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down = slf.GetWithPos(downPos).Walkable()
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}
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row := node.landform.pos / slf.width
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if leftPos := node.landform.pos - 1; row == (leftPos / slf.width) {
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left = slf.GetWithPos(leftPos).Walkable()
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}
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if rightPos := node.landform.pos + 1; row == (rightPos / slf.width) {
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right = slf.GetWithPos(rightPos).Walkable()
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}
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diagonalCost := .414
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size := len(slf.matrix)
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currentRow := node.landform.pos / slf.width
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if topLeft := node.landform.pos - slf.width - 1; topLeft >= 0 && currentRow-1 == (topLeft/slf.width) {
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landform := slf.GetWithPos(topLeft)
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n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost + diagonalCost}
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if _, exist := checkedLandforms[topLeft]; n.landform.Walkable() && !exist && (!wallsBlockDiagonals || (left && up)) {
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heap.Push(&nodes, n)
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checkedLandforms[topLeft] = struct{}{}
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}
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}
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if topRight := node.landform.pos - slf.width + 1; topRight >= 0 && currentRow-1 == (topRight/slf.width) {
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landform := slf.GetWithPos(topRight)
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n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost + diagonalCost}
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if _, exist := checkedLandforms[topRight]; n.landform.Walkable() && !exist && (!wallsBlockDiagonals || (right && up)) {
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heap.Push(&nodes, n)
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checkedLandforms[topRight] = struct{}{}
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}
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}
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if bottomLeft := node.landform.pos + slf.width - 1; bottomLeft < size && currentRow+1 == (bottomLeft/slf.width) {
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landform := slf.GetWithPos(bottomLeft)
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n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost + diagonalCost}
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if _, exist := checkedLandforms[bottomLeft]; n.landform.Walkable() && !exist && (!wallsBlockDiagonals || (left && down)) {
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heap.Push(&nodes, n)
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checkedLandforms[bottomLeft] = struct{}{}
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}
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}
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if bottomRight := node.landform.pos + slf.width + 1; bottomRight < size && currentRow+1 == (bottomRight/slf.width) {
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landform := slf.GetWithPos(bottomRight)
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n := &Node{landform: landform, parent: node, cost: landform.GetTotalCost() + node.cost + diagonalCost}
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if _, exist := checkedLandforms[bottomRight]; n.landform.Walkable() && !exist && (!wallsBlockDiagonals || (right && down)) {
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heap.Push(&nodes, n)
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checkedLandforms[bottomRight] = struct{}{}
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}
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}
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}
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}
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return path
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}
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// 刷新地貌特征标注信息
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// - 冗余：已使用过的地貌特征类型在未使用后不会被删除
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func (slf *Terrain) refreshFeatures() {
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for _, positions := range slf.features {
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for pos := range positions {
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delete(positions, pos)
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}
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}
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for pos, landform := range slf.matrix {
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for _, feature := range landform.GetFeatures() {
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positions, exist := slf.features[feature]
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if !exist {
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positions = map[int]struct{}{}
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slf.features[feature] = positions
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}
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positions[pos] = struct{}{}
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}
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}
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}
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