Update example, header and screenshot

Signed-off-by: Bensuperpc <bensuperpc@gmail.com>

README.md

@@ -12,6 +12,8 @@ It is an [astar algorithm](https://en.wikipedia.org/wiki/A*_search_algorithm), t
 
 ![astar](resources/Screenshot_20240128_093812.png)
 
+![astar](resources/Screenshot_20240213_000512.png)
+
 # Features
 
 * [x] Header-only library C++20

cmake/lib/raygui.cmake

@@ -12,6 +12,6 @@ if (NOT raygui_FOUND)
         GIT_TAG 4.0
     )
     FetchContent_MakeAvailable(raygui)
-    include_directories(${raygui_SOURCE_DIR})
-    include_directories(${raygui_SOURCE_DIR}/src)
+    include_directories(SYSTEM ${raygui_SOURCE_DIR})
+    include_directories(SYSTEM ${raygui_SOURCE_DIR}/src)
 endif()

include/astar/astar.hpp

@@ -1,3 +1,8 @@
+/*
+ * Header only library of A* algorithm by Bensuperpc
+ * MIT License
+ */
+
 #pragma once
 
 #include <algorithm>

test/CMakeLists.txt

@@ -14,10 +14,19 @@ endif()
 
 
 function(test_bench_generator TEST_BENCH_NAME IS_TEST ADD_TO_TEST)
+
+  set(SOURCES
+    "source/generator/generator.cpp"
+    )
+  
+  set(HEADERS
+    "source/generator/generator.hpp"
+    )
+
   if (IS_TEST)
-    add_executable("${TEST_BENCH_NAME}" "source/test/${TEST_BENCH_NAME}.cpp" source/generator/generator.cpp source/generator/generator.hpp)
+    add_executable("${TEST_BENCH_NAME}" "source/test/${TEST_BENCH_NAME}.cpp" ${SOURCES} ${HEADERS})
   else()
-    add_executable("${TEST_BENCH_NAME}" "source/benchmark/${TEST_BENCH_NAME}.cpp" source/generator/generator.cpp source/generator/generator.hpp)
+    add_executable("${TEST_BENCH_NAME}" "source/benchmark/${TEST_BENCH_NAME}.cpp" ${SOURCES} ${HEADERS})
   endif()
 
 
@@ -74,7 +83,8 @@ if(NOT WIN32)
 
   test_bench_generator(astar_test true true)
   test_bench_generator(astar_bench false true)
-  test_bench_generator(path_finder false false)
+  test_bench_generator(path_finder_compare false false)
+  test_bench_generator(path_finder_visual false false)
 endif()
 
 # ---- End-of-file commands ----

test/source/benchmark/astar_bench.cpp

@@ -9,7 +9,7 @@
 
 static constexpr int64_t multiplier = 4;
 static constexpr int64_t minRange = 16;
-static constexpr int64_t maxRange = 256;
+static constexpr int64_t maxRange = 1024;
 static constexpr int64_t minThreadRange = 1;
 static constexpr int64_t maxThreadRange = 1;
 static constexpr int64_t repetitions = 1;

test/source/benchmark/path_finder_visual.cpp

@@ -0,0 +1,211 @@
+#include <array>     // std::array
+#include <chrono>    // std::chrono::system_clock
+#include <cmath>     // std::abs
+#include <cstdint>   // std::uint32_t
+#include <iostream>  // std::cout, std::endl
+#include <map>       // std::map
+#include <memory>    // std::unique_ptr
+#include <random>    // std::random_device, std::mt19937, std::uniform_int_distribution
+#include <vector>    // std::vector
+
+#include "astar/astar.hpp"
+#include "generator/generator.hpp"
+
+#include "raylib.h"
+
+#define RAYGUI_IMPLEMENTATION
+extern "C" {
+#include "src/raygui.h"
+}
+
+auto main() -> int {
+    // Set log level for Raylib
+    SetTraceLogLevel(LOG_WARNING);
+
+    const int screenWidth = 1920;
+    const int screenHeight = 1080;
+
+    const int mapWidth = 192;
+    const int mapHeight = 108;
+
+    const uint32_t targetFPS = 120;
+
+    const uint32_t ImageUpdatePerSecond = 30;
+
+    SetConfigFlags(FLAG_WINDOW_RESIZABLE | FLAG_MSAA_4X_HINT);
+    InitWindow(screenWidth, screenHeight, "Path finder by Bensuperpc");
+
+    SetTargetFPS(targetFPS);
+
+    float lacunarity = 1.6f;
+    float octaves = 6;
+    float gain = 3.5f;
+    float frequency = 1.7f;
+    float weighted_strength = 0.034f;
+    float multiplier = 118;
+
+    Generator generator_2(-972960945);
+    generator_2.setLacunarity(lacunarity);
+    generator_2.setOctaves((uint32_t)octaves);
+    generator_2.setGain(gain);
+    generator_2.setFrequency(frequency);
+    generator_2.setWeightedStrength(0.0f);
+    generator_2.setMultiplier((uint32_t)multiplier);
+
+    AStar::AStar<uint32_t, true> pathFinder;
+    pathFinder.setWorldSize({mapWidth, mapHeight});
+    pathFinder.setHeuristic(AStar::Heuristic::manhattan);
+    pathFinder.setDiagonalMovement(true);
+
+    size_t pathSize = 0;
+
+    std::vector<uint32_t> heightmap;
+
+    heightmap = generator_2.generate2dMeightmap(0, 0, 0, mapWidth, 0, mapHeight);
+
+    std::vector<uint8_t> blocks = std::vector<uint8_t>(mapWidth * mapHeight, 0);
+
+    uint64_t framesCounter = 0;
+
+    bool needUpdate = true;
+
+    while (!WindowShouldClose()) {
+        framesCounter++;
+        if (IsKeyPressed(KEY_S)) {
+            const std::string filename = "screenshot_" + std::to_string(std::chrono::system_clock::now().time_since_epoch().count()) + ".png";
+            TakeScreenshot(filename.c_str());
+        }
+        if (IsKeyPressed(KEY_R)) {
+            generator_2.randomizeSeed();
+            needUpdate = true;
+        }
+
+        if (framesCounter % (targetFPS / ImageUpdatePerSecond) == 0) {
+            if (needUpdate) {
+                needUpdate = false;
+                generator_2.setLacunarity(lacunarity);
+                generator_2.setOctaves((uint32_t)octaves);
+                generator_2.setGain(gain);
+                generator_2.setFrequency(frequency);
+                generator_2.setWeightedStrength(weighted_strength);
+                generator_2.setMultiplier((uint32_t)multiplier);
+
+                pathFinder.clear();
+
+                heightmap = generator_2.generate2dMeightmap(0, 0, 0, screenWidth, 0, screenHeight);
+
+                for (uint64_t x = 0; x < mapWidth; x++) {
+                    for (uint64_t y = 0; y < mapHeight; y++) {
+                        uint64_t index = x + y * mapWidth;
+                        uint8_t value = static_cast<uint8_t>(heightmap[index]);
+
+                        if (value < 128) {
+                            blocks[index] = 0;
+                        } else {
+                            blocks[index] = 1;
+                            pathFinder.addObstacle({static_cast<int32_t>(x), static_cast<int32_t>(y)});
+                        }
+                    }
+                }
+                blocks[0] = 0;
+                pathFinder.removeObstacle({0, 0});
+                blocks[mapWidth * mapHeight - 1] = 0;
+                pathFinder.removeObstacle({mapWidth - 1, mapHeight - 1});
+
+                pathFinder.setHeuristic(AStar::Heuristic::euclidean);
+
+                std::function<void(const AStar::Node<uint32_t>* node)> debugCurrentNode = [&](const AStar::Node<uint32_t>* node) {
+                    uint64_t index = node->pos.x + node->pos.y * mapWidth;
+                    blocks[index] = 3;
+                };
+
+                pathFinder.setDebugCurrentNode(debugCurrentNode);
+
+                std::function<void(const AStar::Node<uint32_t>* node)> debugOpenNode = [&](const AStar::Node<uint32_t>* node) {
+                    uint64_t index = node->pos.x + node->pos.y * mapWidth;
+                    blocks[index] = 4;
+                };
+
+                pathFinder.setDebugOpenNode(debugOpenNode);
+
+                auto start1 = std::chrono::high_resolution_clock::now();
+                auto path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
+                auto stop1 = std::chrono::high_resolution_clock::now();
+                if (path.empty()) {
+                    std::cout << "Path not found" << std::endl;
+                }
+                auto duration1 = std::chrono::duration_cast<std::chrono::microseconds>(stop1 - start1);
+                std::cout << "Path search: " << duration1.count() << " microseconds" << std::endl;
+
+                pathSize = path.size();
+                for (auto& i : path) {
+                    uint64_t index = i.x + i.y * mapWidth;
+                    blocks[index] = 2;
+                }
+            }
+        }
+
+        ClearBackground(RAYWHITE);
+        BeginDrawing();
+
+        // Draw white if blocks[index] == 0 else black
+        int size = 10;
+        for (uint64_t x = 0; x < mapWidth; x++) {
+            for (uint64_t y = 0; y < mapHeight; y++) {
+                uint64_t index = x + y * mapWidth;
+                if (blocks[index] == 0) {
+                    DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, WHITE);
+                } else if (blocks[index] == 1) {
+                    DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, BLACK);
+                } else if (blocks[index] == 2) {
+                    DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, RED);
+                } else if (blocks[index] == 3) {
+                    DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, GREEN);
+                } else if (blocks[index] == 4) {
+                    DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, BLUE);
+                } else if (blocks[index] == 5) {
+                    DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, YELLOW);
+                } else if (blocks[index] == 6) {
+                    DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, ORANGE);
+                } else if (blocks[index] == 7) {
+                    DrawRectangle(static_cast<float>(x * size), static_cast<float>(y * size), size, size, PURPLE);
+                }
+            }
+        }
+
+        // display FPS
+        DrawRectangle(screenWidth - 90, 10, 80, 20, Fade(SKYBLUE, 0.95f));
+        DrawText(TextFormat("FPS: %02d", GetFPS()), screenWidth - 80, 15, 15, DARKGRAY);
+
+        DrawRectangle(0, 0, 275, 200, Fade(SKYBLUE, 0.95f));
+        DrawRectangleLines(0, 0, 275, 200, BLUE);
+        GuiSlider((Rectangle){70, 10, 165, 20}, "Lacunarity", TextFormat("%2.3f", lacunarity), &lacunarity, -0.0f, 5.0f);
+        GuiSlider((Rectangle){70, 40, 165, 20}, "Octaves", TextFormat("%2.3f", octaves), &octaves, 1, 12);
+        GuiSlider((Rectangle){70, 70, 165, 20}, "Gain", TextFormat("%2.3f", gain), &gain, -0.0f, 16.0f);
+        GuiSlider((Rectangle){70, 100, 165, 20}, "Frequency", TextFormat("%2.3f", frequency), &frequency, -0.0f, 10.0f);
+        GuiSlider((Rectangle){70, 130, 165, 20}, "Weight", TextFormat("%2.3f", weighted_strength), &weighted_strength, -5.0f, 5.0f);
+        GuiSlider((Rectangle){70, 160, 165, 20}, "Multiplier", TextFormat("%2.3f", multiplier), &multiplier, 1, 512);
+
+        // display info each color for each heuristic
+        DrawRectangle(0, 200, 275, 190, Fade(SKYBLUE, 0.95f));
+        DrawRectangleLines(0, 200, 275, 190, BLUE);
+
+        std::string pathText = "Path: " + std::to_string(pathSize);
+        DrawRectangle(10, 210, 20, 20, RED);
+        DrawText(pathText.c_str(), 40, 210, 20, DARKGRAY);
+
+        std::string testedNodesText = "Tested nodes";
+        DrawRectangle(10, 240, 20, 20, GREEN);
+        DrawText(testedNodesText.c_str(), 40, 240, 20, DARKGRAY);
+
+        std::string openNodesText = "Open nodes";
+        DrawRectangle(10, 270, 20, 20, BLUE);
+        DrawText(openNodesText.c_str(), 40, 270, 20, DARKGRAY);
+
+        EndDrawing();
+    }
+
+    CloseWindow();
+
+    return 0;
+}