Call gridless pathfinder from rust code

js/pathfinding.js

@@ -4,22 +4,32 @@ import {debugGraphics} from "./main.js";
 import {settingsKey} from "./settings.js";
 import {getSnapPointForTokenObj, iterPairs} from "./util.js";
 
+import * as GridlessPathfinding from "../wasm/gridless_pathfinding.js"
+
 let cachedNodes = undefined;
 let use5105 = false;
+let gridlessPathfinder = undefined;
 
 export function isPathfindingEnabled() {
-	if (canvas.grid.type === CONST.GRID_TYPES.GRIDLESS)
-		return false;
 	if (!game.settings.get(settingsKey, "allowPathfinding"))
 		return false;
 	return game.settings.get(settingsKey, "autoPathfinding") != togglePathfinding;
 }
 
 export function findPath(from, to, token, previousWaypoints) {
+	if (canvas.grid.type === CONST.GRID_TYPES.GRIDLESS) {
+		if (!gridlessPathfinder)
+			gridlessPathfinder = GridlessPathfinding.initialize(canvas.walls.placeables);
+		paintGridlessPathfindingDebug(gridlessPathfinder);
+		const path = GridlessPathfinding.findPath(gridlessPathfinder, from, to);
+		console.warn(path);
+		return path;
+	}
+	else {
 		const lastNode = calculatePath(from, to, token, previousWaypoints);
 		if (!lastNode)
 			return null;
-	paintPathfindingDebug(lastNode, token);
+		paintGriddedPathfindingDebug(lastNode, token);
 		const path = [];
 		let currentNode = lastNode;
 		while (currentNode) {
@@ -33,6 +43,7 @@ export function findPath(from, to, token, previousWaypoints) {
 		}
 		return path;
 	}
+}
 
 export function wipePathfindingCache() {
 	cachedNodes = undefined;
@@ -135,7 +146,7 @@ function stepCollidesWithWall(from, to, token) {
 	return canvas.walls.checkCollision(new Ray(stepStart, stepEnd));
 }
 
-function paintPathfindingDebug(lastNode, token) {
+function paintGriddedPathfindingDebug(lastNode, token) {
 	if (!CONFIG.debug.dragRuler)
 		return;
 
@@ -151,3 +162,16 @@ function paintPathfindingDebug(lastNode, token) {
 		currentNode = currentNode.previous;
 	}
 }
+
+function paintGridlessPathfindingDebug(pathfinder) {
+	if (!CONFIG.debug.dragRuler)
+		return;
+
+	debugGraphics.removeChildren();
+	let graphic = new PIXI.Graphics();
+	graphic.lineStyle(2, 0x440000);
+	for (const point of GridlessPathfinding.debugGetPathfindingPoints(pathfinder)) {
+		graphic.drawCircle(point.x, point.y, 5);
+	}
+	debugGraphics.addChild(graphic);
+}

rust/src/js_api.rs

@@ -39,6 +39,26 @@ extern "C" {
 	fn c(this: &JsWallData) -> Vec<f64>;
 }
 
+#[wasm_bindgen]
+extern "C" {
+	pub type JsPoint;
+
+	#[wasm_bindgen(method, getter)]
+	fn x(this: &JsPoint) -> f64;
+
+	#[wasm_bindgen(method, getter)]
+	fn y(this: &JsPoint) -> f64;
+}
+
+impl From<JsPoint> for Point {
+	fn from(point: JsPoint) -> Self {
+		Point {
+			x: point.x(),
+			y: point.y(),
+		}
+	}
+}
+
 #[derive(Debug, Clone, Copy)]
 pub struct Wall {
 	pub p1: Point,
@@ -61,7 +81,7 @@ impl Wall {
 }
 
 #[allow(dead_code)]
-#[wasm_bindgen(js_name=buildCache)]
+#[wasm_bindgen]
 pub fn initialize(js_walls: Vec<JsValue>) -> Pathfinder {
 	let mut walls = Vec::with_capacity(js_walls.len());
 	for wall in js_walls {
@@ -79,14 +99,25 @@ pub fn free(pathfinder: Pathfinder) {
 
 #[allow(dead_code)]
 #[wasm_bindgen(js_name=findPath)]
-pub fn find_path(pathfinder: &mut Pathfinder, from: Point, to: Point) -> Option<Array> {
+pub fn find_path(pathfinder: &mut Pathfinder, from: JsPoint, to: JsPoint) -> Option<Array> {
-	if let Some(first_node) = pathfinder.find_path(from, to) {
+	if let Some(first_node) = pathfinder.find_path(from.into(), to.into()) {
 		Some(first_node.iter_path().map(JsValue::from).collect())
 	} else {
 		None
 	}
 }
 
+#[allow(dead_code)]
+#[wasm_bindgen(js_name=debugGetPathfindingPoints)]
+pub fn debug_get_pathfinding_points(pathfinder: &Pathfinder) -> Array {
+	pathfinder
+		.nodes
+		.iter()
+		.map(|node| node.borrow().point)
+		.map(JsValue::from)
+		.collect()
+}
+
 trait IteratePath {
 	fn iter_path(&self) -> PathIterator;
 }

rust/src/pathfinder.rs

@@ -83,6 +83,10 @@ impl NodeStorage {
 
 		node.borrow_mut().edges = Some(edges);
 	}
+
+	pub fn iter(&self) -> std::slice::Iter<'_, NodePtr> {
+		self.0.iter()
+	}
 }
 
 #[wasm_bindgen]