mirror of
https://github.com/bensuperpc/astar.git
synced 2024-10-18 14:13:24 +02:00
259 lines
10 KiB
C++
259 lines
10 KiB
C++
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#include <array> // std::array
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#include <chrono> // std::chrono::system_clock
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#include <cmath> // std::abs
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#include <cstdint> // std::uint32_t
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#include <iostream> // std::cout, std::endl
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#include <map> // std::map
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#include <memory> // std::unique_ptr
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#include <random> // std::random_device, std::mt19937, std::uniform_int_distribution
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#include <vector> // std::vector
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#include "astar/astar.hpp"
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#include "generator/generator.hpp"
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#include "raylib.h"
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#define RAYGUI_IMPLEMENTATION
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extern "C" {
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#include "src/raygui.h"
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}
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auto main() -> int {
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// Set log level for Raylib
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SetTraceLogLevel(LOG_WARNING);
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const int screenWidth = 1920;
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const int screenHeight = 1080;
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const int mapWidth = 192;
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const int mapHeight = 108;
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const uint32_t targetFPS = 120;
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const uint32_t ImageUpdatePerSecond = 30;
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SetConfigFlags(FLAG_WINDOW_RESIZABLE | FLAG_MSAA_4X_HINT);
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InitWindow(screenWidth, screenHeight, "Path finder by Bensuperpc");
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SetTargetFPS(targetFPS);
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float lacunarity = 1.6f;
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float octaves = 6;
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float gain = 3.5f;
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float frequency = 1.7f;
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float weighted_strength = 0.034f;
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float multiplier = 118;
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Generator generator_2(-972960945);
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generator_2.setLacunarity(lacunarity);
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generator_2.setOctaves((uint32_t)octaves);
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generator_2.setGain(gain);
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generator_2.setFrequency(frequency);
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generator_2.setWeightedStrength(0.0f);
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generator_2.setMultiplier((uint32_t)multiplier);
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AStar::AStar<uint32_t, false> pathFinder;
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pathFinder.setWorldSize({mapWidth, mapHeight});
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pathFinder.setHeuristic(AStar::Heuristic::manhattan);
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pathFinder.setDiagonalMovement(true);
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size_t manhattanPathSize = 0;
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size_t euclideanPathSize = 0;
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size_t euclideanNoSQRPathSize = 0;
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size_t octagonalPathSize = 0;
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size_t chebyshevPathSize = 0;
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size_t dijkstraPathSize = 0;
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std::vector<uint32_t> heightmap;
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heightmap = generator_2.generate2dMeightmap(0, 0, 0, mapWidth, 0, mapHeight);
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std::vector<uint8_t> blocks = std::vector<uint8_t>(mapWidth * mapHeight, 0);
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uint64_t framesCounter = 0;
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bool needUpdate = true;
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while (!WindowShouldClose()) {
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framesCounter++;
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if (IsKeyPressed(KEY_S)) {
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const std::string filename = "screenshot_" + std::to_string(std::chrono::system_clock::now().time_since_epoch().count()) + ".png";
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TakeScreenshot(filename.c_str());
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}
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if (IsKeyPressed(KEY_R)) {
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generator_2.randomizeSeed();
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needUpdate = true;
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}
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if (framesCounter % (targetFPS / ImageUpdatePerSecond) == 0) {
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if (needUpdate) {
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needUpdate = false;
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generator_2.setLacunarity(lacunarity);
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generator_2.setOctaves((uint32_t)octaves);
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generator_2.setGain(gain);
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generator_2.setFrequency(frequency);
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generator_2.setWeightedStrength(weighted_strength);
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generator_2.setMultiplier((uint32_t)multiplier);
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pathFinder.clear();
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heightmap = generator_2.generate2dMeightmap(0, 0, 0, screenWidth, 0, screenHeight);
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for (uint64_t x = 0; x < mapWidth; x++) {
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for (uint64_t y = 0; y < mapHeight; y++) {
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uint64_t index = x + y * mapWidth;
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uint8_t value = static_cast<uint8_t>(heightmap[index]);
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if (value < 128) {
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blocks[index] = 0;
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} else {
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blocks[index] = 1;
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pathFinder.addObstacle({static_cast<int32_t>(x), static_cast<int32_t>(y)});
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}
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}
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}
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blocks[0] = 0;
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pathFinder.removeObstacle({0, 0});
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blocks[mapWidth * mapHeight - 1] = 0;
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pathFinder.removeObstacle({mapWidth - 1, mapHeight - 1});
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pathFinder.setHeuristic(AStar::Heuristic::manhattan);
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auto start1 = std::chrono::high_resolution_clock::now();
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auto path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
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auto stop1 = std::chrono::high_resolution_clock::now();
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if (path.empty()) {
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std::cout << "Path not found" << std::endl;
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}
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auto duration1 = std::chrono::duration_cast<std::chrono::microseconds>(stop1 - start1);
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std::cout << "Path search: " << duration1.count() << " microseconds" << std::endl;
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manhattanPathSize = path.size();
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for (auto& i : path) {
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uint64_t index = i.x + i.y * mapWidth;
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blocks[index] = 2;
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}
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pathFinder.setHeuristic(AStar::Heuristic::euclidean);
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path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
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euclideanPathSize = path.size();
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for (auto& i : path) {
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uint64_t index = i.x + i.y * mapWidth;
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blocks[index] = 3;
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}
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pathFinder.setHeuristic(AStar::Heuristic::octagonal);
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path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
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octagonalPathSize = path.size();
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for (auto& i : path) {
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uint64_t index = i.x + i.y * mapWidth;
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blocks[index] = 4;
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}
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pathFinder.setHeuristic(AStar::Heuristic::chebyshev);
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path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
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chebyshevPathSize = path.size();
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for (auto& i : path) {
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uint64_t index = i.x + i.y * mapWidth;
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blocks[index] = 5;
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}
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pathFinder.setHeuristic(AStar::Heuristic::euclideanNoSQR);
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path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
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euclideanNoSQRPathSize = path.size();
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for (auto& i : path) {
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uint64_t index = i.x + i.y * mapWidth;
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blocks[index] = 6;
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}
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pathFinder.setHeuristic(AStar::Heuristic::dijkstra);
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path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
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dijkstraPathSize = path.size();
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for (auto& i : path) {
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uint64_t index = i.x + i.y * mapWidth;
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blocks[index] = 7;
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}
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}
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}
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ClearBackground(RAYWHITE);
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BeginDrawing();
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// Draw white if blocks[index] == 0 else black
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int size = 10;
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for (uint64_t x = 0; x < mapWidth; x++) {
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for (uint64_t y = 0; y < mapHeight; y++) {
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uint64_t index = x + y * mapWidth;
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if (blocks[index] == 0) {
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DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, WHITE);
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} else if (blocks[index] == 1) {
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DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, BLACK);
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} else if (blocks[index] == 2) {
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DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, RED);
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} else if (blocks[index] == 3) {
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DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, GREEN);
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} else if (blocks[index] == 4) {
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DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, BLUE);
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} else if (blocks[index] == 5) {
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DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, YELLOW);
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} else if (blocks[index] == 6) {
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DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, ORANGE);
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} else if (blocks[index] == 7) {
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DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, PURPLE);
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}
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}
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}
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// display FPS
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DrawRectangle(screenWidth - 90, 10, 80, 20, Fade(SKYBLUE, 0.95f));
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DrawText(TextFormat("FPS: %02d", GetFPS()), screenWidth - 80, 15, 15, DARKGRAY);
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DrawRectangle(0, 0, 275, 200, Fade(SKYBLUE, 0.95f));
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DrawRectangleLines(0, 0, 275, 200, BLUE);
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GuiSlider((Rectangle){70, 10, 165, 20}, "Lacunarity", TextFormat("%2.3f", lacunarity), &lacunarity, -0.0f, 5.0f);
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GuiSlider((Rectangle){70, 40, 165, 20}, "Octaves", TextFormat("%2.3f", octaves), &octaves, 1, 12);
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GuiSlider((Rectangle){70, 70, 165, 20}, "Gain", TextFormat("%2.3f", gain), &gain, -0.0f, 16.0f);
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GuiSlider((Rectangle){70, 100, 165, 20}, "Frequency", TextFormat("%2.3f", frequency), &frequency, -0.0f, 10.0f);
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GuiSlider((Rectangle){70, 130, 165, 20}, "Weight", TextFormat("%2.3f", weighted_strength), &weighted_strength, -5.0f, 5.0f);
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GuiSlider((Rectangle){70, 160, 165, 20}, "Multiplier", TextFormat("%2.3f", multiplier), &multiplier, 1, 512);
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// display info each color for each heuristic
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DrawRectangle(0, 200, 275, 190, Fade(SKYBLUE, 0.95f));
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DrawRectangleLines(0, 200, 275, 190, BLUE);
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std::string manhattanText = "Manhattan: " + std::to_string(manhattanPathSize);
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DrawRectangle(10, 210, 20, 20, RED);
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DrawText(manhattanText.c_str(), 40, 210, 20, DARKGRAY);
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std::string euclideanText = "Euclidean: " + std::to_string(euclideanPathSize);
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DrawRectangle(10, 240, 20, 20, GREEN);
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DrawText(euclideanText.c_str(), 40, 240, 20, DARKGRAY);
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std::string octagonalText = "Octagonal: " + std::to_string(octagonalPathSize);
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DrawRectangle(10, 270, 20, 20, BLUE);
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DrawText(octagonalText.c_str(), 40, 270, 20, DARKGRAY);
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std::string chebyshevText = "Chebyshev: " + std::to_string(chebyshevPathSize);
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DrawRectangle(10, 300, 20, 20, YELLOW);
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DrawText(chebyshevText.c_str(), 40, 300, 20, DARKGRAY);
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std::string euclideanNoSQRText = "EuclideanNoSQR: " + std::to_string(euclideanNoSQRPathSize);
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DrawRectangle(10, 330, 20, 20, ORANGE);
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DrawText(euclideanNoSQRText.c_str(), 40, 330, 20, DARKGRAY);
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std::string dijkstraText = "Dijkstra: " + std::to_string(dijkstraPathSize);
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DrawRectangle(10, 360, 20, 20, PURPLE);
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DrawText(dijkstraText.c_str(), 40, 360, 20, DARKGRAY);
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EndDrawing();
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}
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CloseWindow();
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return 0;
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}
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