The autowalker now uses the GOAP AI system to walk the map and do its thing. The code needs a big cleanup, so I might just do a full rewrite based on what I know now.
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constexpr const float SCORE_MAX = std::numeric_limits<float>::max() |
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using AStarPath = std::deque<Point>; |
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void update_map(Matrix& map, std::deque<Point>& total_path) { |
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for(auto &point : total_path) { |
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map[point.y][point.x] = 10; |
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} |
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} |
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AStarPath reconstruct_path(std::unordered_map<Point, Point>& came_from, Point current) { |
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std::deque<Point> total_path{current}; |
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while(came_from.contains(current)) { |
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current = came_from[current]; |
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total_path.push_front(current); |
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} |
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return total_path; |
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} |
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inline float h(Point from, Point to) { |
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return std::hypot(float(from.x) - float(to.x), |
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float(from.y) - float(to.y)); |
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} |
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inline float d(Point current, Point neighbor) { |
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return std::hypot(float(current.x) - float(neighbor.x), |
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float(current.y) - float(neighbor.y)); |
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} |
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inline Point find_lowest(std::unordered_map<Point, float>& open_set) { |
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dbc::check(!open_set.empty(), "open set can't be empty in find_lowest"); |
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Point result; |
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float lowest_score = SCORE_MAX; |
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for(auto [point, score] : open_set) { |
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if(score < lowest_score) { |
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lowest_score = score; |
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result = point; |
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} |
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} |
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return result; |
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} |
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std::optional<AStarPath> path_to_player(Matrix& map, Point start, Point goal) { |
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std::unordered_map<Point, float> open_set; |
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std::unordered_map<Point, Point> came_from; |
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std::unordered_map<Point, float> g_score; |
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g_score[start] = 0; |
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open_set[start] = g_score[start] + h(start, goal); |
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while(!open_set.empty()) { |
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auto current = find_lowest(open_set); |
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if(current == goal) { |
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return std::make_optional<AStarPath>(reconstruct_path(came_from, current)); |
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} |
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open_set.erase(current); |
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for(matrix::compass it{map, current.x, current.y}; it.next();) { |
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Point neighbor{it.x, it.y}; |
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float d_score = d(current, neighbor) + map[it.y][it.x] * SCORE_MAX; |
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float tentative_g_score = g_score[current] + d_score; |
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float neighbor_g_score = g_score.contains(neighbor) ? g_score[neighbor] : SCORE_MAX; |
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if(tentative_g_score < neighbor_g_score) { |
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came_from[neighbor] = current; |
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g_score[neighbor] = tentative_g_score; |
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// open_set gets the fScore
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open_set[neighbor] = tentative_g_score + h(neighbor, goal); |
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} |
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} |
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} |
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return std::nullopt; |
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} |
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