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new algorithm draft for diag moves; committed missing files

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This commit is contained in:
Maximilian Fajnberg
2022-02-03 01:11:06 +01:00
parent 2bf072e3c6
commit 1573598c2a
11 changed files with 316 additions and 85 deletions
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152
AdventureMap.cpp
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@ -36,7 +36,6 @@ void AAdventureMap::MakeGrid()
for (int r = 1; r <= GridSize; r++) {
float XOffset = 0.f;
if (r % 2 != 0) { if (r > 1) { QOffset--; } }
else { XOffset = HexWidth / 2; }
@ -45,23 +44,19 @@ void AAdventureMap::MakeGrid()
NextHexAt.Y = TileSize * 1.5f * r;
NextHexAt.Z = 0.f;
FTransform SpawnTransform = FTransform(NextHexAt);
AHexTile* Tile = World->SpawnActor<AHexTile>(BaseTileClass, SpawnTransform);
Grid.Add(Tile);
Tile->Q = q - 1 + QOffset;
Tile->R = r - 1;
}
}
for (auto& tile : Grid) {
tile->Index = GridIndex(tile->Q, tile->R);
}
bHexGridReady = true;
}
// Every Hex Tile's index within the Grid Array can be derived from its Q and R coordinates
// Every Hex Tile's index within the Grid Array can be derived from its Axial Q and R coordinates
int32 AAdventureMap::GridIndex(int32 qAxial, int32 rAxial)
{
/*
@ -78,50 +73,36 @@ AHexTile* AAdventureMap::RandomHex()
return Grid[RandHex];
}
/*
* Add two TArray<TPair<int32, int32>> members containing the Cardinal Directions
(one for immediate neighbors, one for diagonals)
{ fill them in AAdventureMap::AAdventureMap }
* This function instead returns
TMap<bool bDiag, AHexTile* Neighbor>
*/
TArray<AHexTile*> AAdventureMap::Neighbors(AHexTile* OfHex, bool bFreeOnly = false)
{
TArray<AHexTile*> Results;
for (auto& V : NeighborUnitVectors) {
int32 I = GridIndex(OfHex->Q + V.Q, OfHex->R + V.R);
if (Grid.IsValidIndex(I)) {
AHexTile* R = Grid[I];
Results.Add(Grid[I]);
if (bFreeOnly && !R->bFree) { Results.Remove(R); }
AHexTile* H = Grid[I];
if (bFreeOnly && !H->bFree) { continue; }
if (H->Distance(OfHex) == 1) { Results.Add(H); }
}
}
for (auto& R : Results) {
if (bFreeOnly && !R->bFree) { Results.Remove(R); }
}
return Results;
}
TArray<AHexTile*> AAdventureMap::FreeDiags(AHexTile* OfHex)
TArray<AHexTile*> AAdventureMap::FreeDiagonals(AHexTile* OfHex)
{
TArray<AHexTile*> Results;
for (auto& V : DiagonalUnitVectors) {
int32 I = GridIndex(OfHex->Q + V.Q, OfHex->R + V.R);
if (!Grid.IsValidIndex(I)) { continue; }
// if (!bFreeOnly) { if (Grid[I]->Distance(OfHex) == 1) { Results.Add(Grid[I]); } }
else {
bool bReachable = true;
for (auto& PotentialBlock : Neighbors(OfHex)) {
for (AHexTile* PotentialBlock : Neighbors(OfHex)) {
if (PotentialBlock->Distance(Grid[I]) != 1) { continue; }
if (!PotentialBlock->bFree) {
bReachable = false;
break;
}
}
if (bReachable) {
Results.Add(Grid[I]);
}
if (bReachable) { Results.Add(Grid[I]); }
}
}
return Results;
@ -162,7 +143,7 @@ TArray<AHexTile*> AAdventureMap::FindPathAStar(AHexTile* Start, AHexTile* Goal,
AHexTile* Candidate = ToExamine[0];
ToExamine.Remove(Candidate);
// try for Hex with lower estimatet (F)cost
for (auto& t : ToExamine) {
for (AHexTile* t : ToExamine) {
t->FCost = t->GCost + t->HCost;
if (t->FCost < Candidate->FCost || t->FCost == Candidate->FCost && t->HCost < Candidate->HCost) { Candidate = t; }
}
@ -173,42 +154,42 @@ TArray<AHexTile*> AAdventureMap::FindPathAStar(AHexTile* Start, AHexTile* Goal,
// expand frontier & adjust path data
for (AHexTile* Neighbor : Neighbors(Candidate, true)) {
if (Neighbor->Distance(Candidate) > 1) { continue; }
if (!Neighbor->bFree) { continue; }
if (Processed.Contains(Neighbor)) { continue; }
bool bInToExamine = ToExamine.Contains(Neighbor);
float NewGCost = Candidate->GCost + Neighbor->MoveCost * 10.f;
float NewGCost = Candidate->GCost + Neighbor->MoveCost;
if (NewGCost < Neighbor->GCost || !bInToExamine) {
Neighbor->GCost = NewGCost;
Neighbor->CameFrom = Candidate; // chain
Neighbor->bDiagMove = false;
if (!bInToExamine) {
Neighbor->HCost = Neighbor->Distance(Goal) * 10.f;
Neighbor->HCost = Neighbor->Distance(Goal);
ToExamine.Add(Neighbor);
}
}
} }
}
if (bDiags) { // right now the heuristic for HCost (Distance func) does NOT take diagonals into account
for (AHexTile* Diag : FreeDiags(Candidate)) {
if (Diag->Distance(Candidate) > 2) { continue; }
/*
if (bDiags) {
for (AHexTile* Diag : FreeDiagonals(Candidate)) {
if (!Diag->bFree) { continue; }
if (Processed.Contains(Diag)) { continue; }
bool bInToExamine = ToExamine.Contains(Diag);
float NewGCost = Candidate->GCost + Diag->MoveCost * 10.f;
float NewGCost = Candidate->GCost + Diag->MoveCost;
if (NewGCost < Diag->GCost || !bInToExamine) {
Diag->GCost = NewGCost;
Diag->CameFrom = Candidate; // chain
Diag->bDiagMove = true;
if (!bInToExamine) {
Diag->HCost = Diag->Distance(Goal) * 10.f;
Diag->HCost = Diag->Distance(Goal);
ToExamine.Add(Diag);
}
}
} }
}
}
}*/
}
TArray<AHexTile*> Path;
if (!IsValid(Goal->CameFrom)) { return Path; }
@ -218,5 +199,96 @@ TArray<AHexTile*> AAdventureMap::FindPathAStar(AHexTile* Start, AHexTile* Goal,
iPathNode = iPathNode->CameFrom;
}
Algo::Reverse(Path);
if (bDiags) {
Path = ShortcutAStar(Path);
}
return Path;
}
TArray<AHexTile*> AAdventureMap::ShortcutAStar(TArray<AHexTile*> Path)
{
TArray<AHexTile*> Shortcut;
int32 Len = Path.Num();
AHexTile* Milestone = Path[0];
int32 BeforeBend;
int32 AfterBend;
int32 HexIter = 1;
FHexVector pDir;
FHexVector DirA;
FHexVector DirB;
AHexTile* Current;
while (Milestone != Path[Len - 1]) {
// find Milestone (i.e. end of first curve) & determine curve data
BeforeBend = 1;
for (HexIter; HexIter < Len; HexIter++) {
pDir = FHexVector(Path[HexIter], Path[HexIter - 1]);
DirA = FHexVector(Path[HexIter + 1], Path[HexIter]);
if (DirA == pDir) { BeforeBend++; }
else { break; }
}
AfterBend = 1;
for (HexIter; HexIter < Len; HexIter++) {
pDir = FHexVector(Path[HexIter], Path[HexIter - 1]);
DirB = FHexVector(Path[HexIter + 1], Path[HexIter]);
if (DirB == pDir) { AfterBend++; }
else { break; }
}
FHexVector Diag = UnitDiagFromUnitNB(DirA, DirB); // (exact diagonal) cardinal direction for shortcut
TArray<AHexTile*> WorkingSegment;
for (int32 i = Path.Find(Milestone); i < HexIter; i++) { WorkingSegment.Add(Path[i]); }
Milestone = WorkingSegment.Last();
Current = WorkingSegment[0];
bool bFirstDiagTaken = false;
TArray<AHexTile*> NewSegment; // ideally the entire shortcut (ends at bBlock, whence we continue by A*)
// link from Current to Milestone
for (int32 i = 0; i < BeforeBend; i++) {
Current = WorkingSegment[i];
AHexTile* NewCandidate = Grid[GridIndex(Current->Q + Diag.Q, Current->R + Diag.R)];
if (!DiagIsReachable(Current, Diag) || !NewCandidate->bFree) {
if (bFirstDiagTaken) { break; }
NewSegment.Add(Current);
continue;
}
NewSegment.Add(NewCandidate);
bFirstDiagTaken = true;
}
// Check how much remains until we reach milestone and
// Connect the rest recursively via A* (with shortcuts)
// Consider whether the resulting path really is shorter
Shortcut.Append(NewSegment);
}
// Construct shortcut
return Shortcut;
}
FHexVector AAdventureMap::UnitDiagFromUnitNB(FHexVector InVecA, FHexVector InVecB) {
if (InVecA == NNW && InVecB == NNE||InVecB == NNW && InVecA == NNE) { return N; }
if (InVecA == NNE && InVecB == E ||InVecB == NNE && InVecA == E) { return ENE; }
if (InVecA == E && InVecB == SSE||InVecB == E && InVecA == SSE) { return ESE; }
if (InVecA == SSE && InVecB == SSW||InVecB == SSE && InVecA == SSW) { return S; }
if (InVecA == SSW && InVecB == W ||InVecB == SSW && InVecA == W) { return WSW; }
if (InVecA == W && InVecB == NNW||InVecB == W && InVecA == NNW) { return WNW; }
return FHexVector();
}
bool AAdventureMap::DiagIsReachable(AHexTile* InStart, FHexVector InDiagUnitVec) {
FHexVector BlockA;
FHexVector BlockB;
if (InDiagUnitVec == N) { BlockA = NNW, BlockB = NNE; }
if (InDiagUnitVec == ENE) { BlockA = NNE, BlockB = E; }
if (InDiagUnitVec == ESE) { BlockA = E, BlockB = SSE; }
if (InDiagUnitVec == S) { BlockA = SSE, BlockB = SSW; }
if (InDiagUnitVec == WSW) { BlockA = SSW, BlockB = W; }
if (InDiagUnitVec == WNW) { BlockA = W, BlockB = NNW; }
AHexTile* HexA = Grid[GridIndex(InStart->Q + BlockA.Q, InStart->R + BlockA.R)];
AHexTile* HexB = Grid[GridIndex(InStart->Q + BlockB.Q, InStart->R + BlockB.R)];
return (HexA->bFree && HexB->bFree);
}