|
|
@ -1,14 +1,26 @@ |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
-- this is a single file with no dependencies which is meant to perform a bunch of mathy stuff |
|
|
|
|
|
-- related to hexagons, grids of them, and pathfinding on them |
|
|
|
|
|
-- |
|
|
|
|
|
-- it basically owes its entire existence to this resource: https://www.redblobgames.com/grids/hexagons/ |
|
|
|
|
|
-- it uses some datatypes internal to the amulet game engine: http://www.amulet.xyz/ |
|
|
|
|
|
-- (vec2, mat2) |
|
|
|
|
|
-- and some utility functions not present in your standard lua, like: |
|
|
|
|
|
-- table.append |
|
|
|
|
|
|
|
|
if not math.round then |
|
|
if not math.round then |
|
|
math.round = function(n) return math.floor(n + 0.5) end |
|
|
math.round = function(n) return math.floor(n + 0.5) end |
|
|
else |
|
|
else |
|
|
log("clobbering a math.round function.") |
|
|
|
|
|
|
|
|
error("clobbering a math.round function, oopsie!") |
|
|
|
|
|
end |
|
|
|
|
|
|
|
|
|
|
|
if not table.append then |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
-- wherever 'orientation' appears as an argument, use one of these two, or set a default just below |
|
|
-- wherever 'orientation' appears as an argument, use one of these two, or set a default just below |
|
|
ORIENTATION = { |
|
|
|
|
|
|
|
|
HEX_ORIENTATION = { |
|
|
-- Forward & Inverse Matrices used for the Flat Orientation |
|
|
-- Forward & Inverse Matrices used for the Flat Orientation |
|
|
FLAT = { |
|
|
FLAT = { |
|
|
M = mat2(3.0/2.0, 0.0, 3.0^0.5/2.0, 3.0^0.5 ), |
|
|
M = mat2(3.0/2.0, 0.0, 3.0^0.5/2.0, 3.0^0.5 ), |
|
|
@ -23,70 +35,71 @@ ORIENTATION = { |
|
|
} |
|
|
} |
|
|
} |
|
|
} |
|
|
|
|
|
|
|
|
-- whenver |orientation| appears as an argument, if it isn't provided, this is used instead. |
|
|
|
|
|
local DEFAULT_ORIENTATION = ORIENTATION.FLAT |
|
|
|
|
|
|
|
|
-- whenever |orientation| appears as an argument, if it isn't provided, this is used instead. |
|
|
|
|
|
-- this is useful because most of the time you will only care about one orientation |
|
|
|
|
|
local HEX_DEFAULT_ORIENTATION = HEX_ORIENTATION.FLAT |
|
|
|
|
|
|
|
|
-- whenever |size| for a hexagon appears as an argument, if it isn't provided, use this |
|
|
-- whenever |size| for a hexagon appears as an argument, if it isn't provided, use this |
|
|
-- 'size' here is distance from the centerpoint to any vertex in pixel |
|
|
-- 'size' here is distance from the centerpoint to any vertex in pixel |
|
|
local DEFAULT_HEX_SIZE = vec2(20) |
|
|
|
|
|
|
|
|
local HEX_DEFAULT_SIZE = vec2(20) |
|
|
|
|
|
|
|
|
-- actual width (longest contained horizontal line) of the hexagon |
|
|
-- actual width (longest contained horizontal line) of the hexagon |
|
|
function hex_width(size, orientation) |
|
|
function hex_width(size, orientation) |
|
|
local orientation = orientation or DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
if orientation == ORIENTATION.FLAT then |
|
|
|
|
|
|
|
|
if orientation == HEX_ORIENTATION.FLAT then |
|
|
return size * 2 |
|
|
return size * 2 |
|
|
|
|
|
|
|
|
elseif orientation == ORIENTATION.POINTY then |
|
|
|
|
|
|
|
|
elseif orientation == HEX_ORIENTATION.POINTY then |
|
|
return math.sqrt(3) * size |
|
|
return math.sqrt(3) * size |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- actual height (tallest contained vertical line) of the hexagon |
|
|
-- actual height (tallest contained vertical line) of the hexagon |
|
|
function hex_height(size, orientation) |
|
|
function hex_height(size, orientation) |
|
|
local orientation = orientation or DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
if orientation == ORIENTATION.FLAT then |
|
|
|
|
|
|
|
|
if orientation == HEX_ORIENTATION.FLAT then |
|
|
return math.sqrt(3) * size |
|
|
return math.sqrt(3) * size |
|
|
|
|
|
|
|
|
elseif orientation == ORIENTATION.POINTY then |
|
|
|
|
|
|
|
|
elseif orientation == HEX_ORIENTATION.POINTY then |
|
|
return size * 2 |
|
|
return size * 2 |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- returns actual width and height of a hexagon given it's |size| which is the distance from the centerpoint to any vertex in pixels |
|
|
-- returns actual width and height of a hexagon given it's |size| which is the distance from the centerpoint to any vertex in pixels |
|
|
function hex_dimensions(size, orientation) |
|
|
function hex_dimensions(size, orientation) |
|
|
local orientation = orientation or DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
return vec2(hex_width(size, orientation), hex_height(size, orientation)) |
|
|
return vec2(hex_width(size, orientation), hex_height(size, orientation)) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- distance between two horizontally adjacent hexagon centerpoints |
|
|
-- distance between two horizontally adjacent hexagon centerpoints |
|
|
function hex_horizontal_spacing(size, orientation) |
|
|
function hex_horizontal_spacing(size, orientation) |
|
|
local orientation = orientation or DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
if orientation == ORIENTATION.FLAT then |
|
|
|
|
|
|
|
|
if orientation == HEX_ORIENTATION.FLAT then |
|
|
return hex_width(size, orientation) * 3/4 |
|
|
return hex_width(size, orientation) * 3/4 |
|
|
|
|
|
|
|
|
elseif orientation == ORIENTATION.POINTY then |
|
|
|
|
|
|
|
|
elseif orientation == HEX_ORIENTATION.POINTY then |
|
|
return hex_height(size, orientation) |
|
|
return hex_height(size, orientation) |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- distance between two vertically adjacent hexagon centerpoints |
|
|
-- distance between two vertically adjacent hexagon centerpoints |
|
|
function hex_vertical_spacing(size, orientation) |
|
|
function hex_vertical_spacing(size, orientation) |
|
|
local orientation = orientation or DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
if orientation == ORIENTATION.FLAT then |
|
|
|
|
|
|
|
|
if orientation == HEX_ORIENTATION.FLAT then |
|
|
return hex_height(size, orientation) |
|
|
return hex_height(size, orientation) |
|
|
|
|
|
|
|
|
elseif orientation == ORIENTATION.POINTY then |
|
|
|
|
|
|
|
|
elseif orientation == HEX_ORIENTATION.POINTY then |
|
|
return hex_width(size, orientation) * 3/4 |
|
|
return hex_width(size, orientation) * 3/4 |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- returns the distance between adjacent hexagon centers in a grid |
|
|
-- returns the distance between adjacent hexagon centers in a grid |
|
|
function hex_spacing(size, orientation) |
|
|
function hex_spacing(size, orientation) |
|
|
local orientation = orientation or DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
return vec2(hex_horizontal_spacing(size, orientation), hex_vertical_spacing(size, orientation)) |
|
|
return vec2(hex_horizontal_spacing(size, orientation), hex_vertical_spacing(size, orientation)) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
@ -137,19 +150,19 @@ end |
|
|
|
|
|
|
|
|
-- Hex to Screen -- Orientation Must be Either POINTY or FLAT |
|
|
-- Hex to Screen -- Orientation Must be Either POINTY or FLAT |
|
|
function hex_to_pixel(hex, size, orientation) |
|
|
function hex_to_pixel(hex, size, orientation) |
|
|
local M = orientation and orientation.M or DEFAULT_ORIENTATION.M |
|
|
|
|
|
|
|
|
local M = orientation and orientation.M or HEX_DEFAULT_ORIENTATION.M |
|
|
|
|
|
|
|
|
local x = (M[1][1] * hex[1] + M[1][2] * hex[2]) * (size and size[1] or DEFAULT_HEX_SIZE[1]) |
|
|
|
|
|
local y = (M[2][1] * hex[1] + M[2][2] * hex[2]) * (size and size[2] or DEFAULT_HEX_SIZE[2]) |
|
|
|
|
|
|
|
|
local x = (M[1][1] * hex[1] + M[1][2] * hex[2]) * (size and size[1] or HEX_DEFAULT_SIZE[1]) |
|
|
|
|
|
local y = (M[2][1] * hex[1] + M[2][2] * hex[2]) * (size and size[2] or HEX_DEFAULT_SIZE[2]) |
|
|
|
|
|
|
|
|
return vec2(x, y) |
|
|
return vec2(x, y) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- Screen to Hex -- Orientation Must be Either POINTY or FLAT |
|
|
-- Screen to Hex -- Orientation Must be Either POINTY or FLAT |
|
|
function pixel_to_hex(pix, size, orientation) |
|
|
function pixel_to_hex(pix, size, orientation) |
|
|
local W = orientation and orientation.W or DEFAULT_ORIENTATION.W |
|
|
|
|
|
|
|
|
local W = orientation and orientation.W or HEX_DEFAULT_ORIENTATION.W |
|
|
|
|
|
|
|
|
local pix = pix / (size or vec2(DEFAULT_HEX_SIZE)) |
|
|
|
|
|
|
|
|
local pix = pix / (size or vec2(HEX_DEFAULT_SIZE)) |
|
|
|
|
|
|
|
|
local x = W[1][1] * pix[1] + W[1][2] * pix[2] |
|
|
local x = W[1][1] * pix[1] + W[1][2] * pix[2] |
|
|
local y = W[2][1] * pix[1] + W[2][2] * pix[2] |
|
|
local y = W[2][1] * pix[1] + W[2][2] * pix[2] |
|
|
@ -159,14 +172,14 @@ end |
|
|
|
|
|
|
|
|
-- TODO test, learn am.draw |
|
|
-- TODO test, learn am.draw |
|
|
function hex_corner_offset(corner, size, orientation) |
|
|
function hex_corner_offset(corner, size, orientation) |
|
|
local orientation = orientation or DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
local angle = 2.0 * math.pi * orientation.angle + corner / 6 |
|
|
local angle = 2.0 * math.pi * orientation.angle + corner / 6 |
|
|
return vec2(size[1] * math.cos(angle), size[2] * math.sin(angle)) |
|
|
return vec2(size[1] * math.cos(angle), size[2] * math.sin(angle)) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- TODO test this thing |
|
|
-- TODO test this thing |
|
|
function hex_corners(hex, size, orientation) |
|
|
function hex_corners(hex, size, orientation) |
|
|
local orientation = orientation or DEFAULT_ORIENTATION |
|
|
|
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
local corners = {} |
|
|
local corners = {} |
|
|
local center = hex_to_pixel(hex, size, orientation) |
|
|
local center = hex_to_pixel(hex, size, orientation) |
|
|
for i = 0, 5 do |
|
|
for i = 0, 5 do |
|
|
@ -220,7 +233,7 @@ end |
|
|
-- MAPS & STORAGE |
|
|
-- MAPS & STORAGE |
|
|
|
|
|
|
|
|
-- Returns Ordered Ring-Shaped Map of |radius| from |center| |
|
|
-- Returns Ordered Ring-Shaped Map of |radius| from |center| |
|
|
function ring_map(center, radius) |
|
|
|
|
|
|
|
|
function hex_ring_map(center, radius) |
|
|
local map = {} |
|
|
local map = {} |
|
|
|
|
|
|
|
|
local walk = center + HEX_DIRECTIONS[6] * radius |
|
|
local walk = center + HEX_DIRECTIONS[6] * radius |
|
|
@ -235,21 +248,21 @@ function ring_map(center, radius) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- Returns Ordered Spiral Hexagonal Map of |radius| Rings from |center| |
|
|
-- Returns Ordered Spiral Hexagonal Map of |radius| Rings from |center| |
|
|
function spiral_map(center, radius) |
|
|
|
|
|
|
|
|
function hex_spiral_map(center, radius) |
|
|
local map = { center } |
|
|
local map = { center } |
|
|
|
|
|
|
|
|
for i = 1, radius do |
|
|
for i = 1, radius do |
|
|
table.append(map, ring_map(center, i)) |
|
|
|
|
|
|
|
|
table.append(map, hex_ring_map(center, i)) |
|
|
end |
|
|
end |
|
|
return setmetatable(map, {__index={center=center, radius=radius}}) |
|
|
return setmetatable(map, {__index={center=center, radius=radius}}) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
local function map_get(map, hex, y) |
|
|
|
|
|
|
|
|
function hex_map_get(map, hex, y) |
|
|
if y then return map[hex] and map[hex][y] end |
|
|
if y then return map[hex] and map[hex][y] end |
|
|
return map[hex.x] and map[hex.x][hex.y] |
|
|
return map[hex.x] and map[hex.x][hex.y] |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
local function map_set(map, hex, y, v) |
|
|
|
|
|
|
|
|
function hex_map_set(map, hex, y, v) |
|
|
if v then |
|
|
if v then |
|
|
if map[hex] then |
|
|
if map[hex] then |
|
|
map[hex][y] = v |
|
|
map[hex][y] = v |
|
|
@ -268,7 +281,7 @@ local function map_set(map, hex, y, v) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- Returns Unordered Parallelogram-Shaped Map of |width| and |height| with Simplex Noise |
|
|
-- Returns Unordered Parallelogram-Shaped Map of |width| and |height| with Simplex Noise |
|
|
function parallelogram_map(width, height, seed) |
|
|
|
|
|
|
|
|
function hex_parallelogram_map(width, height, seed) |
|
|
local seed = seed or math.random(width * height) |
|
|
local seed = seed or math.random(width * height) |
|
|
|
|
|
|
|
|
local map = {} |
|
|
local map = {} |
|
|
@ -296,14 +309,14 @@ function parallelogram_map(width, height, seed) |
|
|
seed = seed, |
|
|
seed = seed, |
|
|
neighbours = function(hex) |
|
|
neighbours = function(hex) |
|
|
return table.filter(hex_neighbours(hex), function(_hex) |
|
|
return table.filter(hex_neighbours(hex), function(_hex) |
|
|
return map_get(map, _hex) |
|
|
|
|
|
|
|
|
return hex_map_get(map, _hex) |
|
|
end) |
|
|
end) |
|
|
end |
|
|
end |
|
|
}}) |
|
|
}}) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- Returns Unordered Triangular (Equilateral) Map of |size| with Simplex Noise |
|
|
-- Returns Unordered Triangular (Equilateral) Map of |size| with Simplex Noise |
|
|
function triangular_map(size, seed) |
|
|
|
|
|
|
|
|
function hex_triangular_map(size, seed) |
|
|
local seed = seed or math.random(size * math.cos(size) / 2) |
|
|
local seed = seed or math.random(size * math.cos(size) / 2) |
|
|
|
|
|
|
|
|
local map = {} |
|
|
local map = {} |
|
|
@ -330,14 +343,14 @@ function triangular_map(size, seed) |
|
|
seed = seed, |
|
|
seed = seed, |
|
|
neighbours = function(hex) |
|
|
neighbours = function(hex) |
|
|
return table.filter(hex_neighbours(hex), function(_hex) |
|
|
return table.filter(hex_neighbours(hex), function(_hex) |
|
|
return map_get(map, _hex) |
|
|
|
|
|
|
|
|
return hex_map_get(map, _hex) |
|
|
end) |
|
|
end) |
|
|
end |
|
|
end |
|
|
}}) |
|
|
}}) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- Returns Unordered Hexagonal Map of |radius| with Simplex Noise |
|
|
-- Returns Unordered Hexagonal Map of |radius| with Simplex Noise |
|
|
function hexagonal_map(radius, seed) |
|
|
|
|
|
|
|
|
function hex_hexagonal_map(radius, seed) |
|
|
local seed = seed or math.random(radius * 2 * math.pi) |
|
|
local seed = seed or math.random(radius * 2 * math.pi) |
|
|
|
|
|
|
|
|
local map = {} |
|
|
local map = {} |
|
|
@ -369,7 +382,7 @@ function hexagonal_map(radius, seed) |
|
|
seed = seed, |
|
|
seed = seed, |
|
|
neighbours = function(hex) |
|
|
neighbours = function(hex) |
|
|
return table.filter(hex_neighbours(hex), function(_hex) |
|
|
return table.filter(hex_neighbours(hex), function(_hex) |
|
|
return map_get(map, _hex.x, _hex.y) |
|
|
|
|
|
|
|
|
return hex_map_get(map, _hex.x, _hex.y) |
|
|
end) |
|
|
end) |
|
|
end |
|
|
end |
|
|
}}) |
|
|
}}) |
|
|
@ -377,15 +390,17 @@ end |
|
|
|
|
|
|
|
|
-- Returns Unordered Rectangular Map of |width| and |height| with Simplex Noise |
|
|
-- Returns Unordered Rectangular Map of |width| and |height| with Simplex Noise |
|
|
-- @TODO - this doesn't work for pointy orientations |
|
|
-- @TODO - this doesn't work for pointy orientations |
|
|
function rectangular_map(width, height, seed) |
|
|
|
|
|
|
|
|
function hex_rectangular_map(width, height, orientation, seed) |
|
|
|
|
|
local orientation = orientation or HEX_DEFAULT_ORIENTATION |
|
|
local seed = seed or math.random(width * height) |
|
|
local seed = seed or math.random(width * height) |
|
|
|
|
|
|
|
|
local map = {} |
|
|
local map = {} |
|
|
|
|
|
if orientation == HEX_ORIENTATION.FLAT then |
|
|
for i = 0, width - 1 do |
|
|
for i = 0, width - 1 do |
|
|
map[i] = {} |
|
|
map[i] = {} |
|
|
for j = 0, height - 1 do |
|
|
for j = 0, height - 1 do |
|
|
|
|
|
|
|
|
-- Begin to Calculate Noise |
|
|
|
|
|
|
|
|
-- begin to calculate noise |
|
|
local idelta = i / width |
|
|
local idelta = i / width |
|
|
local jdelta = j / height |
|
|
local jdelta = j / height |
|
|
local noise = 0 |
|
|
local noise = 0 |
|
|
@ -401,13 +416,17 @@ function rectangular_map(width, height, seed) |
|
|
map[i][j] = noise |
|
|
map[i][j] = noise |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
|
|
|
elseif orientation == HEX_ORIENTATION.POINTY then |
|
|
|
|
|
error("don't use this, it's broken") |
|
|
|
|
|
end |
|
|
|
|
|
|
|
|
return setmetatable(map, { __index = { |
|
|
return setmetatable(map, { __index = { |
|
|
width = width, |
|
|
width = width, |
|
|
height = height, |
|
|
height = height, |
|
|
seed = seed, |
|
|
seed = seed, |
|
|
neighbours = function(hex) |
|
|
neighbours = function(hex) |
|
|
return table.filter(hex_neighbours(hex), function(_hex) |
|
|
return table.filter(hex_neighbours(hex), function(_hex) |
|
|
return map_get(map, _hex) |
|
|
|
|
|
|
|
|
return hex_map_get(map, _hex) |
|
|
end) |
|
|
end) |
|
|
end |
|
|
end |
|
|
}}) |
|
|
}}) |
|
|
@ -415,25 +434,30 @@ end |
|
|
|
|
|
|
|
|
--============================================================================ |
|
|
--============================================================================ |
|
|
-- PATHFINDING |
|
|
-- PATHFINDING |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
function breadth_first(map, start) |
|
|
|
|
|
|
|
|
-- note: |
|
|
|
|
|
-- i kinda feel like after implementing these and making the game, there are tons of reasons |
|
|
|
|
|
-- why you might want to specialize pathfinding, like you would any other kind of algorithm |
|
|
|
|
|
-- |
|
|
|
|
|
-- so, while (in theory) these algorithms work with the maps in this file, your maps and game |
|
|
|
|
|
-- will have lots of other data which you may want your pathfinding algorithms to care about in some way, |
|
|
|
|
|
-- that these don't. |
|
|
|
|
|
-- |
|
|
|
|
|
function hex_breadth_first(map, start) |
|
|
local frontier = {} |
|
|
local frontier = {} |
|
|
frontier[1] = start |
|
|
frontier[1] = start |
|
|
|
|
|
|
|
|
local distance = {} |
|
|
local distance = {} |
|
|
distance[start.x] = {} |
|
|
|
|
|
distance[start.x][start.y] = 0 |
|
|
|
|
|
|
|
|
hex_map_set(distance, start, 0) |
|
|
|
|
|
|
|
|
while not (#frontier == 0) do |
|
|
while not (#frontier == 0) do |
|
|
local current = table.remove(frontier, 1) |
|
|
local current = table.remove(frontier, 1) |
|
|
|
|
|
|
|
|
for _,neighbour in pairs(map.neighbours(current)) do |
|
|
for _,neighbour in pairs(map.neighbours(current)) do |
|
|
local d = map_get(distance, neighbour.x, neighbour.y) |
|
|
|
|
|
|
|
|
local d = hex_map_get(distance, neighbour.x, neighbour.y) |
|
|
if not d then |
|
|
if not d then |
|
|
table.insert(frontier, neighbour) |
|
|
table.insert(frontier, neighbour) |
|
|
local current_distance = map_get(distance, current.x, current.y) |
|
|
|
|
|
map_set(distance, neighbour.x, neighbour.y, current_distance + 1) |
|
|
|
|
|
|
|
|
local current_distance = hex_map_get(distance, current.x, current.y) |
|
|
|
|
|
hex_map_set(distance, neighbour.x, neighbour.y, current_distance + 1) |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
@ -441,17 +465,15 @@ function breadth_first(map, start) |
|
|
return distance |
|
|
return distance |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
function dijkstra(map, start, goal, cost_f, neighbour_f) |
|
|
|
|
|
|
|
|
function hex_dijkstra(map, start, goal, cost_f, neighbour_f) |
|
|
local frontier = {} |
|
|
local frontier = {} |
|
|
frontier[1] = { hex = start, priority = 0 } |
|
|
frontier[1] = { hex = start, priority = 0 } |
|
|
|
|
|
|
|
|
local came_from = {} |
|
|
local came_from = {} |
|
|
came_from[start.x] = {} |
|
|
|
|
|
came_from[start.x][start.y] = false |
|
|
|
|
|
|
|
|
hex_map_set(came_from, start, false) |
|
|
|
|
|
|
|
|
local cost_so_far = {} |
|
|
local cost_so_far = {} |
|
|
cost_so_far[start.x] = {} |
|
|
|
|
|
cost_so_far[start.x][start.y] = 0 |
|
|
|
|
|
|
|
|
hex_map_set(cost_so_far, start, 0) |
|
|
|
|
|
|
|
|
while not (#frontier == 0) do |
|
|
while not (#frontier == 0) do |
|
|
local current = table.remove(frontier, 1) |
|
|
local current = table.remove(frontier, 1) |
|
|
@ -461,14 +483,14 @@ function dijkstra(map, start, goal, cost_f, neighbour_f) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
for _,neighbour in pairs(neighbour_f(map, current.hex)) do |
|
|
for _,neighbour in pairs(neighbour_f(map, current.hex)) do |
|
|
local new_cost = map_get(cost_so_far, current.hex) + cost_f(map, current.hex, neighbour) |
|
|
|
|
|
local neighbour_cost = map_get(cost_so_far, neighbour) |
|
|
|
|
|
|
|
|
local new_cost = hex_map_get(cost_so_far, current.hex) + cost_f(map, current.hex, neighbour) |
|
|
|
|
|
local neighbour_cost = hex_map_get(cost_so_far, neighbour) |
|
|
|
|
|
|
|
|
if not neighbour_cost or (new_cost < neighbour_cost) then |
|
|
if not neighbour_cost or (new_cost < neighbour_cost) then |
|
|
map_set(cost_so_far, neighbour, new_cost) |
|
|
|
|
|
|
|
|
hex_map_set(cost_so_far, neighbour, new_cost) |
|
|
local priority = new_cost + math.distance(start, neighbour) |
|
|
local priority = new_cost + math.distance(start, neighbour) |
|
|
table.insert(frontier, { hex = neighbour, priority = priority }) |
|
|
table.insert(frontier, { hex = neighbour, priority = priority }) |
|
|
map_set(came_from, neighbour, current) |
|
|
|
|
|
|
|
|
hex_map_set(came_from, neighbour, current) |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
@ -476,7 +498,7 @@ function dijkstra(map, start, goal, cost_f, neighbour_f) |
|
|
return came_from |
|
|
return came_from |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
-- generic A* pathfinding |
|
|
|
|
|
|
|
|
-- A* pathfinding |
|
|
-- |
|
|
-- |
|
|
-- |heuristic| has the form: |
|
|
-- |heuristic| has the form: |
|
|
-- function(source, target) -- source and target are vec2's |
|
|
-- function(source, target) -- source and target are vec2's |
|
|
@ -486,20 +508,15 @@ end |
|
|
-- function (from, to) -- from and to are vec2's |
|
|
-- function (from, to) -- from and to are vec2's |
|
|
-- return some numeric value |
|
|
-- return some numeric value |
|
|
-- |
|
|
-- |
|
|
-- returns a map that has map[hex.x][hex.y] = { hex = vec2, priority = number }, |
|
|
|
|
|
-- where the hex is the spot it thinks you should go to from the indexed hex, and priority is the cost of that decision, |
|
|
|
|
|
-- as well as 'made_it' a bool that tells you if we were successful in reaching |goal| |
|
|
|
|
|
function Astar(map, start, goal, heuristic, cost_f) |
|
|
|
|
|
|
|
|
function hex_Astar(map, start, goal, heuristic, cost_f) |
|
|
local path = {} |
|
|
local path = {} |
|
|
path[start.x] = {} |
|
|
|
|
|
path[start.x][start.y] = false |
|
|
|
|
|
|
|
|
hex_map_set(path, start, false) |
|
|
|
|
|
|
|
|
local frontier = {} |
|
|
local frontier = {} |
|
|
frontier[1] = { hex = start, priority = 0 } |
|
|
frontier[1] = { hex = start, priority = 0 } |
|
|
|
|
|
|
|
|
local path_so_far = {} |
|
|
local path_so_far = {} |
|
|
path_so_far[start.x] = {} |
|
|
|
|
|
path_so_far[start.x][start.y] = 0 |
|
|
|
|
|
|
|
|
hex_map_set(path_so_far, start, 0) |
|
|
|
|
|
|
|
|
local made_it = false |
|
|
local made_it = false |
|
|
while not (#frontier == 0) do |
|
|
while not (#frontier == 0) do |
|
|
@ -511,14 +528,14 @@ function Astar(map, start, goal, heuristic, cost_f) |
|
|
end |
|
|
end |
|
|
|
|
|
|
|
|
for _,next_ in pairs(map.neighbours(current.hex)) do |
|
|
for _,next_ in pairs(map.neighbours(current.hex)) do |
|
|
local new_cost = map_get(path_so_far, current.hex.x, current.hex.y) + cost_f(map, current.hex, next_) |
|
|
|
|
|
local next_cost = map_get(path_so_far, next_.x, next_.y) |
|
|
|
|
|
|
|
|
local new_cost = hex_map_get(path_so_far, current.hex.x, current.hex.y) + cost_f(map, current.hex, next_) |
|
|
|
|
|
local next_cost = hex_map_get(path_so_far, next_.x, next_.y) |
|
|
|
|
|
|
|
|
if not next_cost or new_cost < next_cost then |
|
|
if not next_cost or new_cost < next_cost then |
|
|
map_set(path_so_far, next_.x, next_.y, new_cost) |
|
|
|
|
|
|
|
|
hex_map_set(path_so_far, next_.x, next_.y, new_cost) |
|
|
local priority = new_cost + heuristic(goal, next_) |
|
|
local priority = new_cost + heuristic(goal, next_) |
|
|
table.insert(frontier, { hex = next_, priority = priority }) |
|
|
table.insert(frontier, { hex = next_, priority = priority }) |
|
|
map_set(path, next_.x, next_.y, current) |
|
|
|
|
|
|
|
|
hex_map_set(path, next_.x, next_.y, current) |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
end |
|
|
|
