CrowdField.h

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#pragma once
#include "common/Export.h"
 
 
// 连续流场：Dijkstra 积分场 + 梯度方向场 + 双线性采样。
// 与 map/FlowField 的区别：map 的流场是格级 next 指针，本类是连续方向向量，
// 供单位在格子内平滑移动、平滑转向。纯数学，零模块依赖。
 
#include <cstdint>
#include <vector>
 
namespace eve::crowd {
 
class EVENGINE_API_FOUNDATION CrowdField {
public:
    static constexpr float kUnreachable = 3.4e38f;
 
    CrowdField() = default;
 
    void resize(int width, int height, float cellSize, float originX, float originY);
 
    void clear();
 
    bool valid() const { return width_ > 0 && height_ > 0 && cellSize_ > 0.f; }
 
    int getWidth() const { return width_; }
    int getHeight() const { return height_; }
    float getCellSize() const { return cellSize_; }
    float getOriginX() const { return originX_; }
    float getOriginY() const { return originY_; }
 
    void setBlocked(int cx, int cy, bool blocked);
 
    bool isBlocked(int cx, int cy) const;
 
    void setCellCost(int cx, int cy, float cost);
 
    float getCellCost(int cx, int cy) const;
 
    void setAllCellCost(float cost);
 
    void setGoal(int gx, int gy);
 
    void addGoal(int gx, int gy);
    void clearGoals();
    int goalCount() const { return int(goals_.size() / 2); }
 
    bool isBuilt() const { return built_; }
 
    void build();
 
    float costAtCell(int cx, int cy) const;
 
    bool isReachable(int cx, int cy) const;
 
    void flowAtCell(int cx, int cy, float &dx, float &dy) const;
 
    float costAtWorld(float wx, float wy) const;
 
    void flowAtWorld(float wx, float wy, float &dx, float &dy) const;
 
    bool resolvePenetration(float &wx, float &wy, float radius) const;
 
    const std::vector<float> &integration() const { return integ_; }
    const std::vector<float> &flowX() const { return flowX_; }
    const std::vector<float> &flowY() const { return flowY_; }
 
private:
    bool inBounds(int cx, int cy) const { return cx >= 0 && cy >= 0 && cx < width_ && cy < height_; }
    int index(int cx, int cy) const { return cy * width_ + cx; }
    void worldToCell(float wx, float wy, float &fx, float &fy) const;
    void rebuildFlow();
 
    int width_ = 0;
    int height_ = 0;
    float cellSize_ = 0.f;
    float originX_ = 0.f;
    float originY_ = 0.f;
    std::vector<float> cost_;     // 地形代价（0=阻挡，>=1 可走）
    std::vector<float> integ_;    // Dijkstra 积分场
    std::vector<float> flowX_;    // 每格方向 X
    std::vector<float> flowY_;    // 每格方向 Y
    std::vector<int> goals_;      // 目标格 (x,y) 对
    bool built_ = false;
};
 
}  // namespace eve::crowd