format and installer branches
This commit is contained in:
kepler155c@gmail.com
@@ -14,9 +14,9 @@
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--
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--[[
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Notes:
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This lighter implementation of binary heaps, based on :
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https://github.com/Yonaba/Binary-Heaps
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Notes:
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This lighter implementation of binary heaps, based on :
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https://github.com/Yonaba/Binary-Heaps
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--]]
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if (...) then
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@@ -9,16 +9,16 @@
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--
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if (...) then
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local Node = {}
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Node.__index = Node
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local Node = {}
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Node.__index = Node
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function Node:new(x,y,z)
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return setmetatable({x = x, y = y, z = z }, Node)
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end
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function Node:new(x,y,z)
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return setmetatable({x = x, y = y, z = z }, Node)
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end
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-- Enables the use of operator '<' to compare nodes.
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-- Will be used to sort a collection of nodes in a binary heap on the basis of their F-cost
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function Node.__lt(A,B) return (A._f < B._f) end
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-- Enables the use of operator '<' to compare nodes.
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-- Will be used to sort a collection of nodes in a binary heap on the basis of their F-cost
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function Node.__lt(A,B) return (A._f < B._f) end
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function Node:getX() return self.x end
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function Node:getY() return self.y end
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@@ -33,7 +33,7 @@ if (...) then
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return self
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end
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return setmetatable(Node,
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return setmetatable(Node,
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{__call = function(_,...)
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return Node:new(...)
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end}
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@@ -8,60 +8,60 @@
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if (...) then
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local t_remove = table.remove
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local t_remove = table.remove
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local Path = {}
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Path.__index = Path
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local Path = {}
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Path.__index = Path
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function Path:new()
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return setmetatable({_nodes = {}}, Path)
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end
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function Path:new()
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return setmetatable({_nodes = {}}, Path)
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end
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--- Iterates on each single `node` along a `path`. At each step of iteration,
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-- returns the `node` plus a count value. Aliased as @{Path:nodes}
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--- Iterates on each single `node` along a `path`. At each step of iteration,
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-- returns the `node` plus a count value. Aliased as @{Path:nodes}
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-- @usage
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-- for node, count in p:iter() do
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-- ...
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-- end
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function Path:nodes()
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local i = 1
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return function()
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if self._nodes[i] then
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i = i+1
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return self._nodes[i-1],i-1
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end
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end
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end
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function Path:nodes()
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local i = 1
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return function()
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if self._nodes[i] then
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i = i+1
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return self._nodes[i-1],i-1
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end
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end
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end
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--- `Path` compression modifier. Given a `path`, eliminates useless nodes to return a lighter `path`
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-- consisting of straight moves. Does the opposite of @{Path:fill}
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-- @class function
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-- @treturn path self (the calling `path` itself, can be chained)
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-- @see Path:fill
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-- @usage p:filter()
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function Path:filter()
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local i = 2
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local xi,yi,zi,dx,dy,dz, olddx, olddy, olddz
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xi,yi,zi = self._nodes[i].x, self._nodes[i].y, self._nodes[i].z
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dx, dy,dz = xi - self._nodes[i-1].x, yi-self._nodes[i-1].y, zi-self._nodes[i-1].z
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while true do
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olddx, olddy, olddz = dx, dy, dz
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if self._nodes[i+1] then
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i = i+1
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xi, yi, zi = self._nodes[i].x, self._nodes[i].y, self._nodes[i].z
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dx, dy, dz = xi - self._nodes[i-1].x, yi - self._nodes[i-1].y, zi - self._nodes[i-1].z
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if olddx == dx and olddy == dy and olddz == dz then
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t_remove(self._nodes, i-1)
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i = i - 1
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end
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else break end
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end
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return self
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end
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--- `Path` compression modifier. Given a `path`, eliminates useless nodes to return a lighter `path`
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-- consisting of straight moves. Does the opposite of @{Path:fill}
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-- @class function
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-- @treturn path self (the calling `path` itself, can be chained)
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-- @see Path:fill
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-- @usage p:filter()
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function Path:filter()
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local i = 2
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local xi,yi,zi,dx,dy,dz, olddx, olddy, olddz
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xi,yi,zi = self._nodes[i].x, self._nodes[i].y, self._nodes[i].z
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dx, dy,dz = xi - self._nodes[i-1].x, yi-self._nodes[i-1].y, zi-self._nodes[i-1].z
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while true do
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olddx, olddy, olddz = dx, dy, dz
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if self._nodes[i+1] then
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i = i+1
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xi, yi, zi = self._nodes[i].x, self._nodes[i].y, self._nodes[i].z
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dx, dy, dz = xi - self._nodes[i-1].x, yi - self._nodes[i-1].y, zi - self._nodes[i-1].z
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if olddx == dx and olddy == dy and olddz == dz then
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t_remove(self._nodes, i-1)
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i = i - 1
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end
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else break end
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end
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return self
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end
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return setmetatable(Path,
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{__call = function(_,...)
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return Path:new(...)
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end
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})
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return setmetatable(Path,
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{__call = function(_,...)
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return Path:new(...)
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end
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})
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end
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@@ -20,19 +20,19 @@ if (...) then
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end
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-- Extract a path from a given start/end position
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local function traceBackPath(finder, node, startNode)
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local path = Path:new()
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path._grid = finder._grid
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while true do
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if node._parent then
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t_insert(path._nodes,1,node)
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node = node._parent
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else
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t_insert(path._nodes,1,startNode)
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return path
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end
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end
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end
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local function traceBackPath(finder, node, startNode)
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local path = Path:new()
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path._grid = finder._grid
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while true do
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if node._parent then
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t_insert(path._nodes,1,node)
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node = node._parent
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else
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t_insert(path._nodes,1,startNode)
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return path
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end
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end
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end
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-- Lookup for value in a table
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local indexOf = function(t,v)
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@@ -43,9 +43,9 @@ if (...) then
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end
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-- Is i out of range
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local function outOfRange(i,low,up)
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return (i< low or i > up)
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end
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local function outOfRange(i,low,up)
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return (i< low or i > up)
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end
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return {
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arraySize = arraySize,
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@@ -9,93 +9,93 @@
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if (...) then
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-- Dependencies
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local _PATH = (...):gsub('%.grid$','')
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local _PATH = (...):gsub('%.grid$','')
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-- Local references
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local Utils = require (_PATH .. '.core.utils')
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local Node = require (_PATH .. '.core.node')
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local Utils = require (_PATH .. '.core.utils')
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local Node = require (_PATH .. '.core.node')
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-- Local references
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local setmetatable = setmetatable
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-- Offsets for straights moves
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local straightOffsets = {
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{x = 1, y = 0, z = 0} --[[W]], {x = -1, y = 0, z = 0}, --[[E]]
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{x = 0, y = 1, z = 0} --[[S]], {x = 0, y = -1, z = 0}, --[[N]]
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{x = 0, y = 0, z = 1} --[[U]], {x = 0, y = -0, z = -1}, --[[D]]
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}
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-- Offsets for straights moves
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local straightOffsets = {
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{x = 1, y = 0, z = 0} --[[W]], {x = -1, y = 0, z = 0}, --[[E]]
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{x = 0, y = 1, z = 0} --[[S]], {x = 0, y = -1, z = 0}, --[[N]]
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{x = 0, y = 0, z = 1} --[[U]], {x = 0, y = -0, z = -1}, --[[D]]
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}
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local Grid = {}
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Grid.__index = Grid
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local Grid = {}
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Grid.__index = Grid
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function Grid:new(dim)
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local newGrid = { }
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newGrid._min_x, newGrid._max_x = dim.x, dim.ex
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newGrid._min_y, newGrid._max_y = dim.y, dim.ey
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newGrid._min_z, newGrid._max_z = dim.z, dim.ez
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newGrid._nodes = { }
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newGrid._width = (newGrid._max_x-newGrid._min_x)+1
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newGrid._height = (newGrid._max_y-newGrid._min_y)+1
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newGrid._length = (newGrid._max_z-newGrid._min_z)+1
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return setmetatable(newGrid,Grid)
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end
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function Grid:new(dim)
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local newGrid = { }
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newGrid._min_x, newGrid._max_x = dim.x, dim.ex
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newGrid._min_y, newGrid._max_y = dim.y, dim.ey
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newGrid._min_z, newGrid._max_z = dim.z, dim.ez
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newGrid._nodes = { }
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newGrid._width = (newGrid._max_x-newGrid._min_x)+1
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newGrid._height = (newGrid._max_y-newGrid._min_y)+1
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newGrid._length = (newGrid._max_z-newGrid._min_z)+1
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return setmetatable(newGrid,Grid)
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end
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function Grid:isWalkableAt(x, y, z)
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local node = self:getNodeAt(x,y,z)
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return node and node.walkable ~= 1
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end
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function Grid:isWalkableAt(x, y, z)
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local node = self:getNodeAt(x,y,z)
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return node and node.walkable ~= 1
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end
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function Grid:getWidth()
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return self._width
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end
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function Grid:getWidth()
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return self._width
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end
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function Grid:getHeight()
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return self._height
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end
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function Grid:getHeight()
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return self._height
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end
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function Grid:getNodes()
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return self._nodes
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end
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function Grid:getNodes()
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return self._nodes
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end
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function Grid:getBounds()
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return self._min_x, self._min_y, self._min_z, self._max_x, self._max_y, self._max_z
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end
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--- Returns neighbours. The returned value is an array of __walkable__ nodes neighbouring a given `node`.
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-- @treturn {node,...} an array of nodes neighbouring a given node
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function Grid:getNeighbours(node)
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--- Returns neighbours. The returned value is an array of __walkable__ nodes neighbouring a given `node`.
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-- @treturn {node,...} an array of nodes neighbouring a given node
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function Grid:getNeighbours(node)
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local neighbours = {}
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for i = 1,#straightOffsets do
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local n = self:getNodeAt(
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node.x + straightOffsets[i].x,
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node.y + straightOffsets[i].y,
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node.z + straightOffsets[i].z
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)
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if n and self:isWalkableAt(n.x, n.y, n.z) then
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neighbours[#neighbours+1] = n
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end
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end
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for i = 1,#straightOffsets do
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local n = self:getNodeAt(
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node.x + straightOffsets[i].x,
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node.y + straightOffsets[i].y,
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node.z + straightOffsets[i].z
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)
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if n and self:isWalkableAt(n.x, n.y, n.z) then
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neighbours[#neighbours+1] = n
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end
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end
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return neighbours
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end
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return neighbours
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end
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function Grid:getNodeAt(x,y,z)
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if not x or not y or not z then return end
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if Utils.outOfRange(x,self._min_x,self._max_x) then return end
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if Utils.outOfRange(y,self._min_y,self._max_y) then return end
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if Utils.outOfRange(z,self._min_z,self._max_z) then return end
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if not x or not y or not z then return end
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if Utils.outOfRange(x,self._min_x,self._max_x) then return end
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if Utils.outOfRange(y,self._min_y,self._max_y) then return end
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if Utils.outOfRange(z,self._min_z,self._max_z) then return end
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-- inefficient
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if not self._nodes[y] then self._nodes[y] = {} end
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if not self._nodes[y][x] then self._nodes[y][x] = {} end
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if not self._nodes[y][x][z] then self._nodes[y][x][z] = Node:new(x,y,z) end
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return self._nodes[y][x][z]
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end
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-- inefficient
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if not self._nodes[y] then self._nodes[y] = {} end
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if not self._nodes[y][x] then self._nodes[y][x] = {} end
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if not self._nodes[y][x][z] then self._nodes[y][x][z] = Node:new(x,y,z) end
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return self._nodes[y][x][z]
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end
|
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|
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return setmetatable(Grid,{
|
||||
__call = function(self,...)
|
||||
return self:new(...)
|
||||
end
|
||||
})
|
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return setmetatable(Grid,{
|
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__call = function(self,...)
|
||||
return self:new(...)
|
||||
end
|
||||
})
|
||||
|
||||
end
|
||||
|
||||
@@ -1,31 +1,16 @@
|
||||
--[[
|
||||
The following License applies to all files within the jumper directory.
|
||||
The following License applies to all files within the jumper directory.
|
||||
|
||||
Note that this is only a partial copy of the full jumper code base. Also,
|
||||
the code was modified to support 3D maps.
|
||||
Note that this is only a partial copy of the full jumper code base. Also,
|
||||
the code was modified to support 3D maps.
|
||||
--]]
|
||||
|
||||
--[[
|
||||
This work is under MIT-LICENSE
|
||||
Copyright (c) 2012-2013 Roland Yonaba.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
-- https://opensource.org/licenses/MIT
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
--]]
|
||||
|
||||
local _VERSION = ""
|
||||
@@ -33,87 +18,87 @@ local _RELEASEDATE = ""
|
||||
|
||||
if (...) then
|
||||
|
||||
-- Dependencies
|
||||
local _PATH = (...):gsub('%.pathfinder$','')
|
||||
-- Dependencies
|
||||
local _PATH = (...):gsub('%.pathfinder$','')
|
||||
local Utils = require (_PATH .. '.core.utils')
|
||||
|
||||
-- Internalization
|
||||
local pairs = pairs
|
||||
local assert = assert
|
||||
local setmetatable = setmetatable
|
||||
-- Internalization
|
||||
local pairs = pairs
|
||||
local assert = assert
|
||||
local setmetatable = setmetatable
|
||||
|
||||
--- Finders (search algorithms implemented). Refers to the search algorithms actually implemented in Jumper.
|
||||
-- <li>[A*](http://en.wikipedia.org/wiki/A*_search_algorithm)</li>
|
||||
local Finders = {
|
||||
['ASTAR'] = require (_PATH .. '.search.astar'),
|
||||
}
|
||||
local Finders = {
|
||||
['ASTAR'] = require (_PATH .. '.search.astar'),
|
||||
}
|
||||
|
||||
-- Will keep track of all nodes expanded during the search
|
||||
-- to easily reset their properties for the next pathfinding call
|
||||
local toClear = {}
|
||||
-- Will keep track of all nodes expanded during the search
|
||||
-- to easily reset their properties for the next pathfinding call
|
||||
local toClear = {}
|
||||
|
||||
-- Performs a traceback from the goal node to the start node
|
||||
-- Only happens when the path was found
|
||||
-- Performs a traceback from the goal node to the start node
|
||||
-- Only happens when the path was found
|
||||
|
||||
local Pathfinder = {}
|
||||
Pathfinder.__index = Pathfinder
|
||||
local Pathfinder = {}
|
||||
Pathfinder.__index = Pathfinder
|
||||
|
||||
function Pathfinder:new(heuristic)
|
||||
local newPathfinder = {}
|
||||
setmetatable(newPathfinder, Pathfinder)
|
||||
self._finder = Finders.ASTAR
|
||||
self._heuristic = heuristic
|
||||
return newPathfinder
|
||||
end
|
||||
function Pathfinder:new(heuristic)
|
||||
local newPathfinder = {}
|
||||
setmetatable(newPathfinder, Pathfinder)
|
||||
self._finder = Finders.ASTAR
|
||||
self._heuristic = heuristic
|
||||
return newPathfinder
|
||||
end
|
||||
|
||||
function Pathfinder:setGrid(grid)
|
||||
self._grid = grid
|
||||
return self
|
||||
end
|
||||
|
||||
--- Calculates a `path`. Returns the `path` from start to end location
|
||||
-- Both locations must exist on the collision map. The starting location can be unwalkable.
|
||||
-- @treturn path a path (array of nodes) when found, otherwise nil
|
||||
-- @usage local path = myFinder:getPath(1,1,5,5)
|
||||
function Pathfinder:getPath(startX, startY, startZ, ih, endX, endY, endZ, oh)
|
||||
self:reset()
|
||||
local startNode = self._grid:getNodeAt(startX, startY, startZ)
|
||||
local endNode = self._grid:getNodeAt(endX, endY, endZ)
|
||||
if not startNode or not endNode then
|
||||
return nil
|
||||
end
|
||||
|
||||
startNode.heading = ih
|
||||
endNode.heading = oh
|
||||
|
||||
assert(startNode, ('Invalid location [%d, %d, %d]'):format(startX, startY, startZ))
|
||||
assert(endNode and self._grid:isWalkableAt(endX, endY, endZ),
|
||||
('Invalid or unreachable location [%d, %d, %d]'):format(endX, endY, endZ))
|
||||
local _endNode = self._finder(self, startNode, endNode, toClear)
|
||||
if _endNode then
|
||||
return Utils.traceBackPath(self, _endNode, startNode)
|
||||
end
|
||||
return nil
|
||||
end
|
||||
|
||||
--- Resets the `pathfinder`. This function is called internally between
|
||||
-- successive pathfinding calls, so you should not
|
||||
-- use it explicitely, unless under specific circumstances.
|
||||
-- @class function
|
||||
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
|
||||
-- @usage local path, len = myFinder:getPath(1,1,5,5)
|
||||
function Pathfinder:reset()
|
||||
for node in pairs(toClear) do node:reset() end
|
||||
toClear = {}
|
||||
function Pathfinder:setGrid(grid)
|
||||
self._grid = grid
|
||||
return self
|
||||
end
|
||||
|
||||
-- Returns Pathfinder class
|
||||
--- Calculates a `path`. Returns the `path` from start to end location
|
||||
-- Both locations must exist on the collision map. The starting location can be unwalkable.
|
||||
-- @treturn path a path (array of nodes) when found, otherwise nil
|
||||
-- @usage local path = myFinder:getPath(1,1,5,5)
|
||||
function Pathfinder:getPath(startX, startY, startZ, ih, endX, endY, endZ, oh)
|
||||
self:reset()
|
||||
local startNode = self._grid:getNodeAt(startX, startY, startZ)
|
||||
local endNode = self._grid:getNodeAt(endX, endY, endZ)
|
||||
if not startNode or not endNode then
|
||||
return nil
|
||||
end
|
||||
|
||||
startNode.heading = ih
|
||||
endNode.heading = oh
|
||||
|
||||
assert(startNode, ('Invalid location [%d, %d, %d]'):format(startX, startY, startZ))
|
||||
assert(endNode and self._grid:isWalkableAt(endX, endY, endZ),
|
||||
('Invalid or unreachable location [%d, %d, %d]'):format(endX, endY, endZ))
|
||||
local _endNode = self._finder(self, startNode, endNode, toClear)
|
||||
if _endNode then
|
||||
return Utils.traceBackPath(self, _endNode, startNode)
|
||||
end
|
||||
return nil
|
||||
end
|
||||
|
||||
--- Resets the `pathfinder`. This function is called internally between
|
||||
-- successive pathfinding calls, so you should not
|
||||
-- use it explicitely, unless under specific circumstances.
|
||||
-- @class function
|
||||
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
|
||||
-- @usage local path, len = myFinder:getPath(1,1,5,5)
|
||||
function Pathfinder:reset()
|
||||
for node in pairs(toClear) do node:reset() end
|
||||
toClear = {}
|
||||
return self
|
||||
end
|
||||
|
||||
-- Returns Pathfinder class
|
||||
Pathfinder._VERSION = _VERSION
|
||||
Pathfinder._RELEASEDATE = _RELEASEDATE
|
||||
return setmetatable(Pathfinder,{
|
||||
__call = function(self,...)
|
||||
return self:new(...)
|
||||
end
|
||||
})
|
||||
return setmetatable(Pathfinder,{
|
||||
__call = function(self,...)
|
||||
return self:new(...)
|
||||
end
|
||||
})
|
||||
end
|
||||
|
||||
@@ -35,9 +35,9 @@ if (...) then
|
||||
end
|
||||
end
|
||||
|
||||
-- Calculates a path.
|
||||
-- Returns the path from location `<startX, startY>` to location `<endX, endY>`.
|
||||
return function (finder, startNode, endNode, toClear)
|
||||
-- Calculates a path.
|
||||
-- Returns the path from location `<startX, startY>` to location `<endX, endY>`.
|
||||
return function (finder, startNode, endNode, toClear)
|
||||
local openList = Heap()
|
||||
startNode._g = 0
|
||||
startNode._h = finder._heuristic(endNode, startNode)
|
||||
|
||||
Reference in New Issue
Block a user