1 files changed, 83 insertions, 0 deletions
diff --git a/engine-ocean/Game/Systems/Pathfinding/pathfinder.h b/engine-ocean/Game/Systems/Pathfinding/pathfinder.h
new file mode 100644
index 0000000..d9abbd6
--- /dev/null
+++ b/engine-ocean/Game/Systems/Pathfinding/pathfinder.h
@@ -0,0 +1,83 @@
+#ifndef PATHFINDER_H
+#define PATHFINDER_H
+
+#include "glm/fwd.hpp"
+#include "glm/gtx/hash.hpp"
+
+
+#include <map>
+#include <set>
+#include <vector>
+
+struct ANode{
+    glm::vec3 pos;
+    // A* related:
+    float Hcost = 0; // distance to destination
+    float Gcost = 0; // distance from start to current node (accumulative G)
+    float Fcost = Gcost+Hcost;
+    std::pair<int,int> previousV;
+    std::set<std::pair<int,int>> adjacentNodes;
+};
+
+struct TriangleEdge{
+    glm::vec3 midpoint;
+    std::set<std::pair<int,int>> adjacentEdges;
+
+    TriangleEdge(glm::vec3 v1, glm::vec3 v2):
+        midpoint(.5f*(v2+v1))
+    {}
+    // num of times it appears in the navgraph
+    int count = 1;
+};
+
+class Pathfinder
+{
+public:
+    Pathfinder(std::vector<glm::vec3> vertices, std::vector<glm::ivec3> triangles);
+    std::vector<glm::vec3> findPath(const glm::vec3 A, const glm::vec3 B);
+
+
+
+private:
+
+    void updateFCost(const std::pair<int,int> &node);
+
+
+
+
+    bool traverseAStar(const std::pair<int,int> &currNodeID, const std::set<std::pair<int,int>> &endpointNodeIDs,
+                                   std::set<std::pair<int,int>> &open, std::set<std::pair<int,int>> &closed);
+
+    std::set<std::pair<int, int>> getEnclosingTriangleEdges(glm::vec3 indices);
+
+    void initializeEdges();
+    float getDistance(glm::vec3 a, glm::vec3 b);
+    std::vector<glm::vec3> getNavigablePath(const std::pair<int,int> &start, const std::pair<int,int> &end);
+    std::pair<bool, std::set<std::pair<int, int>>> findEnclosingTriangle(glm::vec3 point);
+    bool pointInTriangle(glm::vec3 p, glm::vec3 v1, glm::vec3 v2, glm::vec3 v3);
+    bool sameSide(glm::vec3 p1, glm::vec3 p2, glm::vec3 a, glm::vec3 b);
+
+    std::set<std::vector<float>> getAdjacentNodes(const std::set<std::pair<int,int>> &id_pairs, std::map<std::pair<int,int>, TriangleEdge> &temp_data);
+
+
+    std::pair<int, int> makeOrderedPair(int i, int j);
+
+    // maps pos (midpoint of a edge) to node
+    std::map<std::pair<int,int>, ANode> m_navdata;
+    std::vector<glm::vec3> m_vertices;
+    std::vector<glm::ivec3> m_triangles;
+    glm::vec3 m_startNodePos;
+    glm::vec3 m_endNodePos;
+
+    std::pair<int,int> startNodeID = std::make_pair(0,0);
+    std::pair<int,int> endNodeID = std::make_pair(1,1);
+
+
+    float m_maxDistance = 500; // 20 meters max distance that an ai can pathfind
+
+
+
+
+};
+
+#endif // PATHFINDER_H