Merge pull request #1 from Autodesk/ensure_compatibility_with_gcc

Ensure compatibility with GCC

.gitignore

@@ -400,3 +400,6 @@ FodyWeavers.xsd
 
 # JetBrains Rider
 *.sln.iml
+
+# Visual Studio Code directory
+.vscode

CMakeLists.txt

@@ -1,6 +1,6 @@
-#######################################
-# CMake File for the Central64 Examples
-#######################################
+#########################################################
+# CMake File for the Central64 Examples and Analysis Code
+#########################################################
 cmake_minimum_required(VERSION 3.10)
 project(Central64)
 
@@ -13,7 +13,7 @@ if(MSVC)
   string(REGEX REPLACE "/Z[iI7]" "" CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG}")
   set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /Z7 /bigobj")
 else()
-  set(WARNING_FLAGS "-Wall -Wextra -Wno-unused-variable -Wno-unused-parameter -Wno-sign-compare -Wno-missing-braces -Wno-ignored-attributes -Wignored-qualifiers -Woverloaded-virtual -Winline")
+  set(WARNING_FLAGS "-Wall -Wextra -Wno-unused-variable -Wno-unused-parameter -Wno-sign-compare -Wno-missing-braces -Wno-ignored-attributes -Wignored-qualifiers -Woverloaded-virtual")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -pedantic-errors -std=c++${CMAKE_CXX_STANDARD} ${WARNING_FLAGS}")
   set(CMAKE_STATIC_LINKER_FLAGS  "${CMAKE_STATIC_LINKER_FLAGS}")
 endif(MSVC)

README.md

@@ -20,7 +20,7 @@ The Central64 library is intended to be fast and flexible. All combinations of t
 - *Search Method:* Choose between **A\* Search**, **Jump Point Search**, **Bounded Jump Point Search**, **Mixed A\***, and **Mixed Jump Point Search**.
 - *Smoothing Method:* Choose between **No Smoothing**, **Greedy Smoothing**, and **Tentpole Smoothing**.
 
-The library was also designed to support an empirical comparison of these path planning techniques. Based on the results of the study, **16-Neighbor Bounded Jump Point Search with Tentpole Smoothing** is recommended as the combined method that provides the best overall balance of quality and speed. See the [Central64 Technical Report](report/00-index.md) ([PDF](report/central64-technical-report.pdf)) for details.
+The library was also designed to support an empirical comparison of these path planning techniques. Based on the results of the study, **16-Neighbor Central Bounded Jump Point Search with Tentpole Smoothing** is recommended as the combined method that provides the best overall balance of quality and speed. See the [Central64 Technical Report](report/00-index.md) ([PDF](report/central64-technical-report.pdf)) for details.
 
 ## How to Use
 
@@ -199,7 +199,9 @@ The following instructions regenerate the PDF version of the report using Visual
 
 ### Build Instructions
 
-Building the Central64 project is necessary only to run the examples or analyze the various methods. Otherwise, simply include the header files in your project as outlined in the [How to Use](#how-to-use) section. Below are instructions for building the examples and analysis code using CMake and Visual Studio 2019:
+Building the Central64 project is necessary only to run the examples or analyze the various methods. Otherwise, simply include the header files in your project as outlined in the [How to Use](#how-to-use) section. 
+
+Below are instructions for building the examples and analysis code using [CMake](https://cmake.org/) and Visual Studio 2019:
 
 * Open a command prompt and go to the root directory of the project.
 * `mkdir build`
@@ -209,6 +211,15 @@ Building the Central64 project is necessary only to run the examples or analyze
 * Build the solution.
 * Run `Debug/Central64Examples.exe` or `Release/Central64Examples.exe` to test. The output should match [results/examples.txt](results/examples.txt).
 
+Below are instructions for building the examples and analysis code using [CMake](https://cmake.org/), [Make](https://www.gnu.org/software/make/), and GCC (using 64-bit [TDM-GCC](https://jmeubank.github.io/tdm-gcc/)) on Windows:
+
+* Open a command prompt and go to the root directory of the project.
+* `mkdir build`
+* `cd build`
+* `cmake -G "MinGW Makefiles" ..`
+* `make`
+* Run `Central64Examples.exe` to test. The output should match [results/examples.txt](results/examples.txt).
+
 ### Analysis Instructions
 
 Below are additional instructions for analyzing the *Dragon Age: Origins* maps and scenarios [distributed by the Moving AI Lab](https://movingai.com/benchmarks/grids.html) with permission from [BioWare](https://www.bioware.com/). Other Moving AI Lab benchmarks can be analyzed in a similar manner.

analysis/AnalyzeBenchmarks.cpp

@@ -78,7 +78,7 @@ BenchmarkResult AnalyzeBenchmark(const std::filesystem::path& mapFilePath,
     if (!inputCells.empty() && !scenarios.empty()) {
         auto planner = PathPlanner<L>{ inputCells, alignment, searchMethod, smoothingMethod, centralize };
         if (scenarioIndex >= 0) {
-            if (scenarioIndex >= scenarios.size()) {
+            if (scenarioIndex >= int(scenarios.size())) {
                 printf("Warning: Scenario index %d must be less than number of scenarios (%d)\n", scenarioIndex, int(scenarios.size()));
                 printf("\n");
             }
@@ -111,7 +111,6 @@ BenchmarkResult AnalyzeBenchmark(const std::filesystem::path& mapFilePath,
                 int validPaths = 0;
                 int totalScenarios = 0;
                 for (const auto& scen : scenarios) {
-                    auto tA = std::chrono::steady_clock::now();
                     if (totalScenarios%25 == 0) {
                         auto tA = std::chrono::steady_clock::now();
                         planner.SearchAllNodes(scen.first);

include/central64/PathPlanner.hpp

@@ -49,7 +49,7 @@ class PathPlanner
 
     int NeighborhoodSize() const { return L; }  ///< Get the neighborhood size.
 
-    const Grid2D<L>& Grid() const { return grid_; }               ///< Obtain a const reference to the grid.
+    const Grid2D<L>& Grid() const { return searchPtr_->Grid(); }  ///< Obtain a const reference to the grid.
     AbstractSearch<L>& Search() { return *searchPtr_; }           ///< Obtain a reference to the path search object.
     AbstractSmoothing<L>& Smoothing() { return *smoothingPtr_; }  ///< Obtain a reference to the path smoothing object.
 
@@ -72,7 +72,6 @@ class PathPlanner
     PathPlanner(const PathPlanner&) = delete;
     PathPlanner& operator=(const PathPlanner&) = delete;
 
-    Grid2D<L> grid_;
     std::unique_ptr<AbstractSearch<L>> searchPtr_{};
     std::unique_ptr<AbstractSmoothing<L>> smoothingPtr_{};
     bool centralize_;
@@ -86,21 +85,21 @@ PathPlanner<L>::PathPlanner(const std::vector<std::vector<bool>>& inputCells,
                             SmoothingMethod smoothingMethod,
                             bool centralize,
                             bool fromSource)
-    : grid_{ inputCells, alignment }
-    , centralize_{ centralize }
+    : centralize_{ centralize }
     , fromSource_{ fromSource }
 {
+    Grid2D<L> grid{ inputCells, alignment };
     switch (searchMethod) {
-    case SearchMethod::AStar:            searchPtr_ = std::make_unique<         AStarSearch<L>>(grid_);              break;
-    case SearchMethod::JumpPoint:        searchPtr_ = std::make_unique<     JumpPointSearch<L>>(grid_);              break;
-    case SearchMethod::BoundedJumpPoint: searchPtr_ = std::make_unique<     JumpPointSearch<L>>(grid_, PathCost(8)); break;
-    case SearchMethod::MixedAStar:       searchPtr_ = std::make_unique<    MixedAStarSearch<L>>(grid_);              break;
-    case SearchMethod::MixedJumpPoint:   searchPtr_ = std::make_unique<MixedJumpPointSearch<L>>(grid_);              break;
+    case SearchMethod::AStar:            searchPtr_ = std::make_unique<         AStarSearch<L>>(grid);              break;
+    case SearchMethod::JumpPoint:        searchPtr_ = std::make_unique<     JumpPointSearch<L>>(grid);              break;
+    case SearchMethod::BoundedJumpPoint: searchPtr_ = std::make_unique<     JumpPointSearch<L>>(grid, PathCost(8)); break;
+    case SearchMethod::MixedAStar:       searchPtr_ = std::make_unique<    MixedAStarSearch<L>>(grid);              break;
+    case SearchMethod::MixedJumpPoint:   searchPtr_ = std::make_unique<MixedJumpPointSearch<L>>(grid);              break;
     }
     switch (smoothingMethod) {
-    case SmoothingMethod::No:       smoothingPtr_ = std::make_unique<      NoSmoothing<L>>(grid_); break;
-    case SmoothingMethod::Greedy:   smoothingPtr_ = std::make_unique<  GreedySmoothing<L>>(grid_); break;
-    case SmoothingMethod::Tentpole: smoothingPtr_ = std::make_unique<TentpoleSmoothing<L>>(grid_); break;
+    case SmoothingMethod::No:       smoothingPtr_ = std::make_unique<      NoSmoothing<L>>(grid); break;
+    case SmoothingMethod::Greedy:   smoothingPtr_ = std::make_unique<  GreedySmoothing<L>>(grid); break;
+    case SmoothingMethod::Tentpole: smoothingPtr_ = std::make_unique<TentpoleSmoothing<L>>(grid); break;
     }
     assert(searchPtr_);
     assert(smoothingPtr_);

include/central64/grid/Array2D.hpp

@@ -20,8 +20,8 @@ class Array2D
 
     void Fill(const T& value);  ///< Set every element to `value`.
 
-    Offset2D Dims() const { return dims_; }                ///< Get the dimensions.
-    Offset2D Size() const { return dims_.X()*dims_.Y(); }  ///< Get the total number of elements.
+    Offset2D Dims() const { return dims_; }           ///< Get the dimensions.
+    int Size() const { return dims_.X()*dims_.Y(); }  ///< Get the total number of elements.
 
     bool Contains(Offset2D coords) const;  ///< Check whether coordinates `coords` are within the array.
 

include/central64/grid/Grid2D.hpp

@@ -27,6 +27,10 @@ class Grid2D
     Offset2D Dims() const { return gridGraph_.Dims(); }     ///< Get the number of vertices in each dimension.
     CellAlignment Alignment() const { return alignment_; }  ///< Get the cell alignment.
 
+    const Array2D<bool>& CenterCells() { return centerCells_; }        ///< Obtain a const reference to the array of center-aligned cells.
+    const Array2D<bool>& CornerCells() { return cornerCells_; }        ///< Obtain a const reference to the array of corner-aligned cells.
+    const Array2D<Connections<L>>& GridGraph() { return gridGraph_; }  ///< Obtain a const reference to the array of sets of connections.
+
     bool CenterCell(Offset2D coords) const { return centerCells_[coords]; }  ///< Check whether the center-aligned cell at coordinates `coords` is obstructed.
     bool CornerCell(Offset2D coords) const { return cornerCells_[coords]; }  ///< Check whether the corner-aligned cell at coordinates `coords` is obstructed.
 
@@ -74,7 +78,7 @@ Grid2D<L>::Grid2D(const std::vector<std::vector<bool>>& inputCells,
         // Store the centered-aligned grid cells.
         centerCells_ = Array2D<bool>{ {nx, ny}, false };
         for (int y = 0; y < ny; ++y) {
-            assert(inputCells[y].size() == nx);
+            assert(int(inputCells[y].size()) == nx);
             for (int x = 0; x < nx; ++x) {
                 centerCells_[{x, y}] = inputCells[y][x];
             }
@@ -104,7 +108,7 @@ Grid2D<L>::Grid2D(const std::vector<std::vector<bool>>& inputCells,
         centerCells_ = Array2D<bool>{ {nx, ny}, true };
         cornerCells_ = Array2D<bool>{ {nx - 1, ny - 1}, false };
         for (int y = 0; y < ny - 1; ++y) {
-            assert(inputCells[y].size() == nx - 1);
+            assert(int(inputCells[y].size()) == nx - 1);
             for (int x = 0; x < nx - 1; ++x) {
                 cornerCells_[{x, y}] = inputCells[y][x];
                 centerCells_[{x, y}] = centerCells_[{x, y}] && inputCells[y][x];
@@ -327,7 +331,8 @@ inline std::string ToString(const Grid2D<L>& grid, const std::vector<Offset2D>&
     // Each path vertex is assigned the last digit of its index.
     // All grid vertices that are not part of the path are set to -1.
     Array2D<int> path2D{ grid.Dims(), -1 };
-    for (int i = 0; i < pathVertices.size(); ++i) {
+    int vertexCount = int(pathVertices.size());
+    for (int i = 0; i < vertexCount; ++i) {
         path2D[pathVertices[i]] = i%10;
     }