Basic pathfinding

This commit is contained in:
2023-11-14 08:25:55 +01:00
parent b3f3d269ee
commit ab817ee03d
9 changed files with 198 additions and 39 deletions

View File

@@ -14,6 +14,8 @@ add_executable(PixelDefense
game/systems/systems.h
game/utils/building_types.h
game/utils/pathfinding.c
game/utils/pathfinding.h
game/buildings.c
game/buildings.h

View File

@@ -13,22 +13,22 @@
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@@ -384,8 +384,8 @@
"type":"",
"visible":true,
"width":10,
"x":1155.52083333333,
"y":473.416666666667
"x":1155.52,
"y":473.417
}],
"opacity":1,
"type":"objectgroup",

View File

@@ -32,6 +32,7 @@ set(BreezeSources
breeze/core/memory.c
breeze/core/module_system.c
breeze/utils/heap.c
breeze/map/map.c
breeze/map/tileset.c
@@ -47,7 +48,6 @@ set(BreezeHeaders
breeze/map/map.h
breeze/map/tileset.h
breeze/utils/heap.c
breeze/utils/heap.h
breeze/utils/string.h
breeze/utils/tokenizer.h

View File

@@ -36,6 +36,10 @@ void *_bzHeapNew(i32 startCapacity, i32 stride, i32 weightOffset) {
void _bzHeapFree(void *heap) {
bzFree(HEAP_HEAD(heap));
}
void _bzHeapReset(void *heap) {
BzHeap *head = HEAP_HEAD(heap);
head->size = 0;
}
i32 _bzHeapSize(void *heap) {
return HEAP_HEAD(heap)->size;

View File

@@ -5,6 +5,7 @@
void *_bzHeapNew(i32 startCapacity, i32 stride, i32 weightOffset);
void _bzHeapFree(void *heap);
void _bzHeapReset(void *heap);
i32 _bzHeapSize(void *heap);
bool _bzHeapIsEmpty(void *heap);
@@ -14,14 +15,15 @@ i32 _bzHeapPushTmpIdx(void *heap);
#define bzHeapNew(T, n) (T *) ((T *)_bzHeapNew((n), sizeof(T), offsetof(T, weight)))
#define bzHeapFree(heap) _bzHeapFree((void *) (heap))
#define bzHeapReset(heap) _bzHeapReset((void *) (heap))
#define bzHeapSize(heap) _bzHeapSize((void *) (heap))
#define bzHeapIsEmpty(heap) _bzHeapIsEmpty((void *) (heap))
#define bzHeapPop(heap) ((heap)[_bzHeapPop((void *) (heap))])
#define bzHeapPush(heap, item) do { \
void *h = (void *) (heap); \
(heap)[_bzHeapPushTmpIdx(h)] = (item); \
_bzHeapPush(h); \
#define bzHeapPush(heap, ...) do { \
void *h = (void *) (heap); \
(heap)[_bzHeapPushTmpIdx(h)] = (__VA_ARGS__); \
_bzHeapPush(h); \
} while(0)

View File

@@ -8,6 +8,7 @@
#include "map_layers.h"
#include "buildings.h"
#include "utils/pathfinding.h"
Game *GAME = NULL;
@@ -152,6 +153,22 @@ void render(float dt, Game *game) {
bzTileMapDraw(&game->map);
bzTileMapDrawColliders(&game->map);
Vector2 worldPos = GetScreenToWorld2D(GetMousePosition(), game->camera);
int tileX = (int) worldPos.x / 16;
int tileY = (int) worldPos.y / 16;
static PathNode *heap = NULL;
if (!heap)
heap = bzHeapNew(PathNode, game->map.width * game->map.height);
findPath(&(PathfindingDesc) {
.start=(TilePosition){57, 24},
.target=(TilePosition){tileX, tileY},
.map=&game->map,
.heap=heap,
});
ecs_progress(ECS, dt);
EndMode2D();

105
game/utils/pathfinding.c Normal file
View File

@@ -0,0 +1,105 @@
#include "pathfinding.h"
static i32 dst(TilePosition a, TilePosition b) {
//i32 dX = a.x - b.x;
//i32 dY = a.y - b.y;
//return dX * dX + dY * dY;
int dstX = a.x - b.x;
int dstY = a.y - b.y;
if (dstX < 0) dstX = -dstX;
if (dstY < 0) dstY = -dstY;
if (dstX > dstY)
return 14 * dstY + 10 * (dstX - dstY);
return 14 * dstX + 10 * (dstY - dstX);
}
bool findPath(const PathfindingDesc *desc) {
BZ_ASSERT(desc->map);
BzTileMap *map = desc->map;
typedef struct Visited {
bool visited : 1;
i8 x : 3;
i8 y : 3;
} Visited;
Visited visited[map->width * map->height] = {};
bzMemSet(visited, 0, sizeof(visited));
PathNode *heap = desc->heap;
if (!heap) heap = bzHeapNew(PathNode, map->width * map->height);
else bzHeapReset(heap);
i32 toTargetCost = dst(desc->start, desc->target);
bzHeapPush(heap, (PathNode) {toTargetCost, 0, toTargetCost, desc->start});
bool foundPath = false;
while (!bzHeapIsEmpty(heap)) {
PathNode node = bzHeapPop(heap);
if (node.pos.x == desc->target.x &&
node.pos.y == desc->target.y) {
// Found path
foundPath = true;
break;
}
visited[node.pos.y * map->width + node.pos.x].visited = true;
for (int y = node.pos.y - 1; y <= node.pos.y + 1; y++) {
for (int x = node.pos.x - 1; x <= node.pos.x + 1; x++) {
if (x == node.pos.x && y == node.pos.y)
continue;
if (y < 0 || y >= map->height ||
x < 0 || x >= map->width)
continue;
if (bzTileMapGetCollider(map, x, y).shapes[0].type != BZ_TILE_SHAPE_NONE)
continue;
Visited *curVisited = &visited[y * map->width + x];
if (curVisited->visited)
continue;
curVisited->visited = true;
TilePosition curPos = {x, y};
i32 gCost = node.gCost + dst(node.pos, curPos);
//if (gCost >= node.gCost) continue;
toTargetCost = dst(curPos, desc->target);
curVisited->x = (i8) (curPos.x - node.pos.x);
curVisited->y = (i8) (curPos.y - node.pos.y);
bzHeapPush(heap, (PathNode) {
.weight = gCost + toTargetCost,
.gCost = gCost,
.hCost = toTargetCost,
.pos = (TilePosition) {x, y}
});
}
}
}
DrawRectangle(desc->start.x * 16, desc->start.y * 16, 16, 16, BLUE);
Color color = RED;
if (foundPath) {
color = GREEN;
TilePosition pos = desc->target;
int count = 0;
while (pos.x != desc->start.x || pos.y != desc->start.y) {
Visited visit = visited[pos.y * map->width + pos.x];
BZ_ASSERT(visit.x != 0 && visit.y != 0);
pos.x -= visit.x;
pos.y -= visit.y;
DrawRectangle(pos.x * 16, pos.y * 16, 16, 16, GREEN);
count++;
}
bzLogInfo("Path length: %d", count);
}
DrawRectangle(desc->target.x * 16, desc->target.y * 16, 16, 16, color);
if (!desc->heap) {
bzHeapFree(heap);
heap = NULL;
}
return foundPath;
}

29
game/utils/pathfinding.h Normal file
View File

@@ -0,0 +1,29 @@
#ifndef PIXELDEFENSE_PATHFINDING_H
#define PIXELDEFENSE_PATHFINDING_H
#include <breeze.h>
#include "../components.h"
typedef struct PathMove {
i8 x;
i8 y;
} PathMove;
typedef struct PathNode {
i32 weight; // g + h
i32 gCost; // from start cost
i32 hCost; // to target cost
TilePosition pos;
} PathNode;
typedef struct PathfindingDesc {
TilePosition start;
TilePosition target;
BzTileMap *map;
PathNode *heap;
} PathfindingDesc;
bool findPath(const PathfindingDesc *desc);
#endif //PIXELDEFENSE_PATHFINDING_H

View File

@@ -18,22 +18,22 @@
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,191,273,273,273,273,273,273,193,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,191,273,247,2,3,1,2,3,1,245,273,273,193,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,191,247,30,28,29,30,28,29,30,28,29,30,28,245,273,273,273,193,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,191,247,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,245,273,273,193,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,191,247,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,245,273,273,193,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,191,247,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,245,193,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,191,247,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,245,273,193,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,217,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,245,193,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,191,247,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,245,193,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,217,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,245,193,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,191,247,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,245,193,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,217,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,245,193,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,191,273,192,273,273,192,273,273,193,28,29,30,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,217,56,217,55,56,217,55,56,245,273,193,57,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,217,2,217,1,2,217,1,2,3,1,245,193,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,217,29,217,28,29,217,28,29,30,28,29,217,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,191,273,273,273,273,273,273,193,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,217,56,217,55,56,217,55,190,57,55,56,217,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,191,273,247,2,3,1,2,3,1,245,273,273,193,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,191,247,2,244,1,2,217,1,217,3,1,2,217,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,191,247,30,28,29,30,28,29,30,28,29,30,28,245,273,273,273,193,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,217,28,29,30,28,29,217,28,217,30,28,29,217,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,191,247,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,245,273,273,193,55,56,57,55,56,57,55,56,57,55,56,57,55,56,217,55,56,191,193,56,217,55,217,57,55,56,217,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,191,247,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,245,273,273,193,1,2,3,1,2,3,1,2,3,1,2,217,1,272,247,217,2,217,1,217,3,1,2,217,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,191,247,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,245,193,29,30,28,29,30,28,29,30,28,29,217,28,29,30,217,29,217,28,217,30,28,29,217,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,191,247,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,245,273,193,55,56,57,55,56,57,55,56,217,55,56,57,217,56,217,55,217,57,55,56,217,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,217,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,245,193,2,3,1,2,3,1,2,218,273,274,3,217,2,217,1,217,3,1,2,217,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,191,247,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,245,193,30,28,29,30,28,29,217,28,29,30,217,29,244,28,217,30,28,29,217,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,217,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,245,193,55,56,57,55,56,217,55,56,57,217,56,57,55,217,57,55,56,217,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,191,247,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,245,193,2,3,1,2,217,1,2,3,217,2,3,1,217,3,1,2,217,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,217,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,245,193,30,28,29,245,273,273,273,246,273,273,273,246,273,273,273,247,28,29,30,28,29,30,28,29,30,28,29,
55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,217,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,245,193,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,57,55,56,
1,2,3,1,2,3,1,2,3,1,2,3,1,2,191,247,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,217,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,3,1,2,
28,29,30,28,29,30,28,29,30,28,29,30,28,29,217,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,245,193,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,30,28,29,