More work on pathfinding support

lib/cyberarm_engine/pathfinding/graph.rb

@@ -1,14 +1,47 @@
 module CyberarmEngine
   module Pathfinding
     class Graph
-      Location = Data.define(:x, :y, :z, :cost)
+      class Node
+        KEY_FORMAT = "%s:%s:%s".freeze
 
-      def initialize(edges: {})
+        attr_reader :x, :y, :z, :cost, :key, :edge_nodes
-        @edges = edges
+
+        def initialize(x:, y:, z: 0, cost: 0)
+          @x = x
+          @y = y
+          @z = z
+          @cost = cost
+
+          @key = format(KEY_FORMAT, @x, @y, @z)
+
+          @edge_nodes = []
         end
 
-      def neighbors(location)
+        def add_edge_node(node)
-        @edges[location]
+          index = @edge_nodes.find_index { |n| n.key == node.key }
+
+          if index
+            @edge_nodes[index] = node
+          else
+            @edge_nodes.push(node)
+          end
+        end
+
+        def remove_edge_node(node)
+          index = @edge_nodes.find_index { |n| n.key == node.key }
+
+          return unless index
+
+          @edge_nodes.delete(index)
+        end
+      end
+
+      def initialize(nodes: {})
+        @nodes = nodes
+      end
+
+      def neighbors(node)
+        node.edge_nodes
       end
     end
   end

lib/cyberarm_engine/pathfinding/graph_searches/bread_first_search.rb

@@ -6,17 +6,17 @@ module CyberarmEngine
         came_from = {}
 
         frontier.put(start)
-        came_from[start] = start
+        came_from[start.key] = start
 
         while(current = frontier.shift)
           # early exit if we reach our goal
           break if current == goal
 
           graph.neighbors(current).each do |neighbor|
-            next if came_from[neighbor]
+            next if came_from[neighbor.key]
 
             frontier.put(neighbor)
-            came_from[neighbor] = current
+            came_from[neighbor.key] = current
           end
         end
 

lib/cyberarm_engine/pathfinding/graphs/grid.rb

@@ -1,32 +1,45 @@
 module CyberarmEngine
   module Pathfinding
     class Grid < Graph
-      Cell = Data.define(:location, :blocker, :cost)
 
-      # nodes: a 2d array of nodes to convert to list of edges
+      def add_node(x:, y:, z: 0, cost: 0, replace: false)
-      def self.edges_from_world_grid(nodes:)
+        key = format(Node::KEY_FORMAT, x, y, z)
-        edges = {}
+        node = @node[key]
 
-        nodes.each_index do |y, y_index|
+        raise "Node at: #{key} already exists! (#{node})" if node && !replace
-          y.each_with_index do |x_index|
-            node = nodes[y_index][x_index]
-            next unless node
 
-            left = nodes[y_index]&.[x_index - 1]
+        node = Node.new(x: x, y: y, z: z, cost: cost)
-            right = nodes[y_index]&.[x_index + 1]
+        @nodes[key] = node
-            top = nodes[y_index - 1]&.[x_index]
-            bottom = nodes[y_index + 1]&.[x_index]
 
-            location = Location.new(x_index, y_index, 0, 0)
+        update_node_edge_nodes(node)
-            edges[location] = []
-            edges[location].push(Location.new(x_index - 1, y_index, 0, 0)) if left
-            edges[location].push(Location.new(x_index + 1, y_index, 0, 0)) if right
-            edges[location].push(Location.new(x_index, y_index - 1, 0, 0)) if top
-            edges[location].push(Location.new(x_index, y_index + 1, 0, 0)) if bottom
-          end
       end
 
-        new(edges: edges)
+      def remove_node(node)
+        update_node_edge_nodes(node, remove_node: true)
+
+        @nodes.delete(node.key)
+      end
+
+      def update_node_edge_nodes(node, remove_node: false)
+        x = node.x
+        y = node.y
+        z = node.z
+
+        # add node to neighbors
+        # 2D
+        left = @nodes[format(Node::KEY_FORMAT, x - 1, y, z)]
+        right = @nodes[format(Node::KEY_FORMAT, x + 1, y, z)]
+        top = @nodes[format(Node::KEY_FORMAT, x, y - 1, z)]
+        bottom = @nodes[format(Node::KEY_FORMAT, x, y + 1, z)]
+        # 3D
+        front = @nodes[format(Node::KEY_FORMAT, x, y, z - 1)]
+        back = @nodes[format(Node::KEY_FORMAT, x, y, z + 1)]
+
+        if remove_node
+          [left, right, top, bottom, front, back].remove_edge_node(node)
+        else
+          [left, right, top, bottom, front, back].add_edge_node(node)
+        end
       end
     end
   end