navigation_graph.h

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#pragma once
 
#include <engine/public/component.h>
#include <engine/public/components/ai/navigation/graph.h>
#include <engine/public/components/ai/navigation/navigation_node.h>
#include <engine/public/gameObject.h>
 
#include <unordered_map>
 
class NavigationGraph : public Component {
 public:
  NavigationGraph(int grid_size = 16, int stride = 10);
 
  void update(float dt) override{};
 
  NavigationGraph& generate_graph();
 
  NavigationGraph& clear();
 
  std::unordered_map<GraphPosition, std::reference_wrapper<NavigationNode>,
                     GraphPositionHash>&
  get_nodes();
 
  std::optional<std::reference_wrapper<NavigationNode>> get_node(
      const GraphPosition& position) const;
 
  std::optional<GraphPosition> get_position_of_node(
      const NavigationNode& node) const;
 
  GraphPosition world_to_graph_position(const Vector3& world_position) const;
 
  NavigationGraph& add_node(const GraphPosition& position,
                            NavigationNode& node);
 
  NavigationGraph& remove_node(const GraphPosition& position);
 
  std::optional<std::reference_wrapper<NavigationNode>> get_closest_node(
      const GraphPosition& position) const;
 
  std::optional<std::reference_wrapper<NavigationNode>> get_closest_node(
      const Vector3& world_position) const;
 
  int get_grid_size() const noexcept;
  int get_grid_max_x() const noexcept;
  int get_grid_max_y() const noexcept;
 
  int get_stride() const noexcept;
  NavigationGraph& stride(int stride) noexcept;
 
  int max_drop_distance() const noexcept;
  NavigationGraph& max_drop_distance(int distance) noexcept;
 
  int max_jump_distance() const noexcept;
  NavigationGraph& max_jump_distance(int distance) noexcept;
 
  std::string type_name() const override;
 
 private:
  std::unordered_map<GraphPosition, std::reference_wrapper<NavigationNode>,
                     GraphPositionHash>
      nodes_;
 
  std::unordered_map<GraphPosition, GameObject*, GraphPositionHash> tile_map_;
 
  std::unordered_map<GraphPosition, NavigationNode*, GraphPositionHash>
      node_tile_map_;
 
  int stride_{10};
  int max_drop_distance_{10};
  int max_jump_distance_{4};
  float node_vertical_offset_{16.0f};
 
  int grid_size_{16};
  int grid_max_x_{0};
  int grid_max_y_{0};
 
  void set_tile_maps(GameObject& parent);
  void generate_nodes();
  void link_nodes();
 
  std::optional<std::reference_wrapper<NavigationNode>> find_node_in_children(
      GameObject& parent) const noexcept;
};