projects/blackout
1
0
Fork 0
Code Pull Requests Projects Releases Wiki Activity

Add ability to store path cost modifiers as a component.
Some checks failed
continuous-integration/drone/push Build is failing
Details

Browse Source
This commit is contained in:
Nolan Darilek 2022-09-06 17:25:14 -05:00
parent c980854663
commit 0f78ed421d
1 changed files with 47 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
src/pathfinding.rs
View File

@ -39,10 +39,38 @@ pub struct NoPath;
#[reflect(Component)]
pub struct Path(pub Vec<(i32, i32)>);
#[derive(Component, Clone, Debug, Default, Reflect)]
#[reflect(Component)]
pub struct CostMap {
width: usize,
costs: Vec<f32>,
}
impl CostMap {
pub fn new(width: usize, height: usize) -> Self {
let count = width * height;
Self {
width,
costs: vec![1.; count],
}
}
pub fn modifier(&self, x: usize, y: usize) -> Option<&f32> {
let idx = (y as usize) * self.width + (x as usize);
self.costs.get(idx)
}
pub fn set_modifier(&mut self, x: usize, y: usize, cost: f32) {
let idx = (y as usize) * self.width + (x as usize);
self.costs[idx] = cost;
}
}
pub fn find_path<D: 'static + Clone + Default + Send + Sync>(
start: &dyn PointLike,
destination: &dyn PointLike,
map: &Map<D>,
cost_map: &Option<CostMap>,
) -> Option<(Vec<(i32, i32)>, u32)> {
astar(
&start.into(),
@ -51,7 +79,13 @@ pub fn find_path<D: 'static + Clone + Default + Send + Sync>(
if let Some(tile) = map.at(p.0 as usize, p.1 as usize) {
if tile.is_walkable() {
for tile in map.get_available_exits(p.0 as usize, p.1 as usize) {
successors.push(((tile.0 as i32, tile.1 as i32), (tile.2 * 100.) as u32));
let mut cost = tile.2 * 100.;
if let Some(cost_map) = cost_map {
if let Some(modifier) = cost_map.modifier(tile.0, tile.1) {
cost *= modifier;
}
}
successors.push(((tile.0 as i32, tile.1 as i32), cost as u32));
}
}
}
@ -67,6 +101,7 @@ fn find_path_for_shape<D: 'static + Clone + Default + Send + Sync>(
start: Transform,
destination: Destination,
map: Map<D>,
cost_map: &Option<CostMap>,
query_pipeline: QueryPipeline,
collider_set: ColliderSet,
rigid_body_set: RigidBodySet,
@ -97,8 +132,14 @@ fn find_path_for_shape<D: 'static + Clone + Default + Send + Sync>(
},
);
if should_push {
let mut cost = tile.2 * 100.;
if let Some(cost_map) = cost_map {
if let Some(modifier) = cost_map.modifier(tile.0, tile.1) {
cost *= modifier;
}
}
successors
.push(((tile.0 as i32, tile.1 as i32), (tile.2 * 100.) as u32));
.push(((tile.0 as i32, tile.1 as i32), cost as u32));
}
}
}
@ -126,12 +167,13 @@ fn calculate_path<D: 'static + Clone + Default + Send + Sync>(
&Destination,
&Transform,
&Collider,
Option<&CostMap>,
),
Changed<Destination>,
>,
map: Query<&Map<D>>,
) {
for (entity, handle, destination, coordinates, shape) in query.iter() {
for (entity, handle, destination, coordinates, shape, cost_map) in &query {
if coordinates.i32() == **destination {
commands
.entity(entity)
@ -147,6 +189,7 @@ fn calculate_path<D: 'static + Clone + Default + Send + Sync>(
let destination_clone = *destination;
let query_pipeline = rapier_context.query_pipeline.clone();
let map_clone = map.clone();
let cost_map_clone = cost_map.cloned();
let handle_clone = *handle;
let mut collider_set = rapier_context.colliders.clone();
let mut to_remove = vec![];
@ -170,6 +213,7 @@ fn calculate_path<D: 'static + Clone + Default + Send + Sync>(
coordinates_clone,
destination_clone,
map_clone,
&cost_map_clone,
query_pipeline,
collider_set,
bodies,