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Reduce memory usage for edges in A* and add tests

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This commit is contained in:
Shiqing
2019-07-16 01:01:50 +08:00
parent add0004a78
commit c2b824687d
3 changed files with 202 additions and 36 deletions
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75
core/math/a_star.cpp
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@@ -164,22 +164,24 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
}
Segment s(p_id, p_with_id);
s.from_point = a;
s.to_point = b;
segments.insert(s);
if (bidirectional) s.direction = Segment::BIDIRECTIONAL;
if (bidirectional) {
SWAP(s.from, s.to);
SWAP(s.from_point, s.to_point);
segments.insert(s);
Set<Segment>::Element *element = segments.find(s);
if (element != NULL) {
s.direction |= element->get().direction;
if (s.direction == Segment::BIDIRECTIONAL) {
// Both are neighbours of each other now
a->unlinked_neighbours.remove(b->id);
b->unlinked_neighbours.remove(a->id);
}
segments.erase(element);
}
segments.insert(s);
}
void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
Segment s(p_id, p_with_id);
Segment t(p_with_id, p_id);
Point *a;
bool a_exists = points.lookup(p_id, a);
CRASH_COND(!a_exists);
@@ -188,23 +190,32 @@ void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
bool b_exists = points.lookup(p_with_id, b);
CRASH_COND(!b_exists);
bool warned = false;
Segment s(p_id, p_with_id);
int remove_direction = bidirectional ? (int)Segment::BIDIRECTIONAL : s.direction;
Set<Segment>::Element *element = segments.find(s);
if (element != NULL) {
// s is the new segment
// Erase the directions to be removed
s.direction = (element->get().direction & ~remove_direction);
if (segments.has(s)) {
segments.erase(s);
a->neighbours.remove(b->id);
b->unlinked_neighbours.remove(a->id);
} else {
warned = true;
WARN_PRINT("The edge to be removed does not exist.");
}
if (bidirectional) {
b->neighbours.remove(a->id);
if (element->get().direction != Segment::BIDIRECTIONAL) {
a->unlinked_neighbours.remove(b->id);
b->unlinked_neighbours.remove(a->id);
}
} else {
if (s.direction == Segment::NONE)
b->unlinked_neighbours.remove(a->id);
else
a->unlinked_neighbours.set(b->id, b);
}
if (bidirectional && segments.has(t)) {
segments.erase(t);
b->neighbours.remove(a->id);
a->unlinked_neighbours.remove(b->id);
} else if (bidirectional && !warned) {
WARN_PRINT("The reverse edge to be removed does not exist.");
segments.erase(element);
if (s.direction != Segment::NONE)
segments.insert(s);
}
}
@@ -242,8 +253,10 @@ PoolVector<int> AStar::get_point_connections(int p_id) {
bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
Segment s(p_id, p_with_id);
Segment t(p_with_id, p_id);
return segments.has(s) || (bidirectional && segments.has(t));
const Set<Segment>::Element *element = segments.find(s);
return element != NULL &&
(bidirectional || (element->get().direction & s.direction) == s.direction);
}
void AStar::clear() {
@@ -297,13 +310,17 @@ Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
for (const Set<Segment>::Element *E = segments.front(); E; E = E->next()) {
if (!(E->get().from_point->enabled && E->get().to_point->enabled)) {
Point *from_point = nullptr, *to_point = nullptr;
points.lookup(E->get().u, from_point);
points.lookup(E->get().v, to_point);
if (!(from_point->enabled && to_point->enabled)) {
continue;
}
Vector3 segment[2] = {
E->get().from_point->pos,
E->get().to_point->pos,
from_point->pos,
to_point->pos,
};
Vector3 p = Geometry::get_closest_point_to_segment(p_point, segment);