Remove entities

Feature/positional container

.clang-format

@@ -0,0 +1,297 @@
+---
+Language:        Cpp
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignArrayOfStructures: None
+AlignConsecutiveAssignments:
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+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLambdasOnASingleLine: All
+AllowShortLoopsOnASingleLine: false
+AllowShortNamespacesOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AttributeMacros:
+  - __capability
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+BinPackLongBracedList: true
+BinPackParameters: BinPack
+BitFieldColonSpacing: Both
+BracedInitializerIndentWidth: -1
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: Never
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+  AfterExternBlock: false
+  AfterFunction:   false
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+  BeforeWhile:     false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakAdjacentStringLiterals: true
+BreakAfterAttributes: Leave
+BreakAfterJavaFieldAnnotations: false
+BreakAfterReturnType: None
+BreakArrays:     true
+BreakBeforeBinaryOperators: None
+BreakBeforeConceptDeclarations: Always
+BreakBeforeBraces: Attach
+BreakBeforeInlineASMColon: OnlyMultiline
+BreakBeforeTemplateCloser: false
+BreakBeforeTernaryOperators: true
+BreakBinaryOperations: Never
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+BreakInheritanceList: BeforeColon
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+BreakTemplateDeclarations: MultiLine
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
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+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
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+DerivePointerAlignment: false
+DisableFormat:   false
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
+EnumTrailingComma: Leave
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IfMacros:
+  - KJ_IF_MAYBE
+IncludeBlocks:   Preserve
+IncludeCategories:
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+    SortPriority:    0
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+  - Regex:           '.*'
+    Priority:        1
+    SortPriority:    0
+    CaseSensitive:   false
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+IndentPPDirectives: None
+IndentRequiresClause: true
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+  HexMinDigits:    0
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
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+  AtStartOfBlock:  true
+  AtStartOfFile:   true
+KeepFormFeed:    false
+LambdaBodyIndentation: Signature
+LineEnding:      DeriveLF
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MainIncludeChar: Quote
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+OneLineFormatOffRegex: ''
+PackConstructorInitializers: BinPack
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+PointerAlignment: Right
+PPIndentWidth:   -1
+QualifierAlignment: Leave
+ReferenceAlignment: Pointer
+ReflowComments:  Always
+RemoveBracesLLVM: false
+RemoveEmptyLinesInUnwrappedLines: false
+RemoveParentheses: Leave
+RemoveSemicolon: false
+RequiresClausePosition: OwnLine
+RequiresExpressionIndentation: OuterScope
+SeparateDefinitionBlocks: Leave
+ShortNamespaceLines: 1
+SkipMacroDefinitionBody: false
+SortIncludes:
+  Enabled:         true
+  IgnoreCase:      false
+SortJavaStaticImport: Before
+SortUsingDeclarations: LexicographicNumeric
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterOperatorKeyword: false
+SpaceAfterTemplateKeyword: true
+SpaceAroundPointerQualifiers: Default
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeJsonColon: false
+SpaceBeforeParens: ControlStatements
+SpaceBeforeParensOptions:
+  AfterControlStatements: true
+  AfterForeachMacros: true
+  AfterFunctionDefinitionName: false
+  AfterFunctionDeclarationName: false
+  AfterIfMacros:   true
+  AfterNot:        false
+  AfterOverloadedOperator: false
+  AfterPlacementOperator: true
+  AfterRequiresInClause: false
+  AfterRequiresInExpression: false
+  BeforeNonEmptyParentheses: false
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
+SpaceInEmptyBlock: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  Never
+SpacesInContainerLiterals: true
+SpacesInLineCommentPrefix:
+  Minimum:         1
+  Maximum:         -1
+SpacesInParens:  Never
+SpacesInParensOptions:
+  ExceptDoubleParentheses: false
+  InCStyleCasts:   false
+  InConditionalStatements: false
+  InEmptyParentheses: false
+  Other:           false
+SpacesInSquareBrackets: false
+Standard:        Latest
+StatementAttributeLikeMacros:
+  - Q_EMIT
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TableGenBreakInsideDAGArg: DontBreak
+TabWidth:        8
+UseTab:          Never
+VerilogBreakBetweenInstancePorts: true
+WhitespaceSensitiveMacros:
+  - BOOST_PP_STRINGIZE
+  - CF_SWIFT_NAME
+  - NS_SWIFT_NAME
+  - PP_STRINGIZE
+  - STRINGIZE
+WrapNamespaceBodyWithEmptyLines: Leave
+...
+

.clang-uml

@@ -0,0 +1,26 @@
+# When configuring with cmake, use:
+# cmake -B build -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug
+compilation_database_dir: build
+
+# Path to system header needs to be specified,
+# you will probably need to modify this
+add_compile_flags:
+  - '-I/usr/lib/clang/21/include'
+
+output_directory: docs/diagrams
+diagrams:
+  class_diagram:
+    type: class
+    glob:
+      - cpp/src/**/*.cpp
+      - cpp/src/**/*.hpp
+  include_diagram:
+    type: include
+    glob:
+      - cpp/src/**/*.cpp
+    # Include also external system headers
+    #generate_system_headers: true
+    include:
+      # Include only files belonging to these paths
+      paths:
+        - cpp/src

.gitignore

@@ -1,5 +1,8 @@
-tags
-python/.ipynb_checkpoints
-cpp/build
-cpp/pathfinding
-.aider*
+tags
+python/.ipynb_checkpoints
+cpp/build
+cpp/pathfinding
+.aider*
+build
+.vscode
+docs/diagrams/*puml

.gitmodules

@@ -1,9 +0,0 @@
-[submodule "vs/SDL"]
-	path = vs/SDL
-	url = https://github.com/libsdl-org/SDL.git
-[submodule "vs/glew"]
-	path = vs/glew
-	url = gitea@gitea.veleslabs.org:jan.mrna/glew.git
-[submodule "vs/SDL_image"]
-	path = vs/SDL_image
-	url = https://github.com/libsdl-org/SDL_image.git

CMakeLists.txt

@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 3.20)
+
+# Vcpkg integration for Windows
+if(WIN32)
+    # Try to find vcpkg automatically
+    if(DEFINED ENV{VCPKG_ROOT})
+        set(CMAKE_TOOLCHAIN_FILE "$ENV{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake"
+            CACHE STRING "Vcpkg toolchain file")
+        message(STATUS "Using vcpkg from: $ENV{VCPKG_ROOT}")
+    elseif(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/vcpkg/scripts/buildsystems/vcpkg.cmake")
+        set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_SOURCE_DIR}/vcpkg/scripts/buildsystems/vcpkg.cmake"
+            CACHE STRING "Vcpkg toolchain file")
+        message(STATUS "Using local vcpkg installation")
+    else()
+        message(WARNING "vcpkg not found. Please set VCPKG_ROOT environment variable or install vcpkg locally.")
+        message(STATUS "To install dependencies with vcpkg:")
+        message(STATUS "  vcpkg install sdl3 sdl3-image glew opengl gtest")
+    endif()
+endif()
+
+project(PathfindingDemo)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Platform-specific package finding
+if(WIN32)
+    # Windows: Use vcpkg-compatible find_package with CONFIG
+    find_package(SDL3 CONFIG REQUIRED)
+    find_package(SDL3_image CONFIG REQUIRED)
+    find_package(OpenGL REQUIRED)
+    find_package(GLEW REQUIRED)
+    find_package(GTest CONFIG REQUIRED)
+    
+    # Set vcpkg target names for consistent linking
+    set(SDL3_TARGET SDL3::SDL3)
+    set(SDL3_IMAGE_TARGET $<IF:$<TARGET_EXISTS:SDL3_image::SDL3_image-shared>,SDL3_image::SDL3_image-shared,SDL3_image::SDL3_image-static>)
+    set(GLEW_TARGET GLEW::GLEW)
+else()
+    # Linux/Unix: Use pkg-config
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(SDL3 REQUIRED sdl3)
+    pkg_check_modules(SDL3_image REQUIRED sdl3-image)
+    find_package(OpenGL REQUIRED)
+    find_package(GLEW REQUIRED)
+    find_package(GTest REQUIRED)
+    
+    # Set target names for Unix systems
+    set(SDL3_TARGET ${SDL3_LIBRARIES})
+    set(SDL3_IMAGE_TARGET ${SDL3_image_LIBRARIES})
+    set(GLEW_TARGET GLEW::GLEW)
+
+    # Enable clang-tidy
+    set(CMAKE_CXX_CLANG_TIDY "clang-tidy")
+endif()
+
+# Include directories
+include_directories(cpp/src)
+
+# Source files for the main executable
+set(MAIN_SOURCES
+    cpp/src/main.cpp
+    cpp/src/camera.cpp
+    cpp/src/entities.cpp
+    cpp/src/gameloop.cpp
+    cpp/src/map.cpp
+    cpp/src/pathfinder/base.cpp
+    cpp/src/pathfinder/bfs.cpp
+    cpp/src/pathfinder/dijkstra.cpp
+    cpp/src/pathfinder/gbfs.cpp
+    cpp/src/pathfinder/utils.cpp
+    cpp/src/pathfindingdemo.cpp
+    cpp/src/sprite.cpp
+    cpp/src/tile.cpp
+    cpp/src/user_input.cpp
+    cpp/src/window.cpp
+)
+
+# Header files (for IDE support)
+set(HEADERS
+    cpp/src/array.hpp
+    cpp/src/camera.hpp
+    cpp/src/entities.hpp
+    cpp/src/gameloop.hpp
+    cpp/src/log.hpp
+    cpp/src/map.hpp
+    cpp/src/math.hpp
+    cpp/src/pathfinder/base.hpp
+    cpp/src/pathfinder/bfs.hpp
+    cpp/src/pathfinder/dijkstra.hpp
+    cpp/src/pathfinder/gbfs.hpp
+    cpp/src/pathfinder/utils.hpp
+    cpp/src/pathfindingdemo.hpp
+    cpp/src/sprite.hpp
+    cpp/src/tile.hpp
+    cpp/src/user_input.hpp
+    cpp/src/window.hpp
+)
+
+# Create main executable
+add_executable(pathfinding_demo ${MAIN_SOURCES} ${HEADERS})
+
+# Platform-specific linking
+if(WIN32)
+    # Windows: Use vcpkg targets
+    target_link_libraries(pathfinding_demo 
+        ${SDL3_TARGET}
+        ${SDL3_IMAGE_TARGET}
+        OpenGL::GL
+        ${GLEW_TARGET}
+    )
+
+    # Add compile flags for Windows (vcpkg handles most of this automatically)
+    if(MSVC)
+        if(SDL3_CFLAGS_OTHER)
+            target_compile_options(pathfinding_demo PRIVATE ${SDL3_CFLAGS_OTHER})
+        endif()
+    endif()
+else()
+    # Unix/Linux: Use pkg-config variables
+    target_link_libraries(pathfinding_demo 
+        ${SDL3_TARGET}
+        ${SDL3_IMAGE_TARGET}
+        OpenGL::GL
+        ${GLEW_TARGET}
+    )
+    
+    # Add compile flags for Unix/Linux
+    target_compile_options(pathfinding_demo PRIVATE ${SDL3_CFLAGS_OTHER})
+endif()
+
+
+# Copy resources after build
+add_custom_command(TARGET pathfinding_demo POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E copy_directory
+    ${CMAKE_SOURCE_DIR}/cpp/resources
+    $<TARGET_FILE_DIR:pathfinding_demo>/resources
+)
+
+# Unit tests executable
+add_executable(unit_tests 
+    cpp/test/test.cpp
+)
+if(WIN32)
+    target_link_libraries(unit_tests GTest::gtest GTest::gtest_main GTest::gmock GTest::gmock_main)
+else()
+    target_link_libraries(unit_tests GTest::gtest GTest::gtest_main)
+endif()
+
+# Performance tests executable
+add_executable(performance_tests 
+    cpp/test/collision_performance.cpp
+)
+if(WIN32)
+    target_link_libraries(performance_tests GTest::gtest GTest::gtest_main GTest::gmock GTest::gmock_main)
+else()
+    target_link_libraries(performance_tests GTest::gtest GTest::gtest_main)
+endif()
+
+# Enable testing
+enable_testing()
+add_test(NAME unit_tests COMMAND unit_tests)
+add_test(NAME performance_tests COMMAND performance_tests)
+
+# Compiler-specific options with MSVC support
+if(MSVC)
+    # MSVC-specific flags: disable permissive mode, enable high warning level
+    target_compile_options(pathfinding_demo PRIVATE /W4 /permissive-)
+    target_compile_options(unit_tests PRIVATE /W4 /permissive-)
+    target_compile_options(performance_tests PRIVATE /W4 /permissive-)
+    
+    # Additional MSVC flags for C++23 and modern standards
+    target_compile_options(pathfinding_demo PRIVATE /Zc:__cplusplus /Zc:preprocessor)
+    target_compile_options(unit_tests PRIVATE /Zc:__cplusplus /Zc:preprocessor)
+    target_compile_options(performance_tests PRIVATE /Zc:__cplusplus /Zc:preprocessor)
+elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    # GCC/Clang flags
+    target_compile_options(pathfinding_demo PRIVATE -Wall -Wextra -Wpedantic)
+    target_compile_options(unit_tests PRIVATE -Wall -Wextra -Wpedantic)
+    target_compile_options(performance_tests PRIVATE -Wall -Wextra -Wpedantic)
+endif()
+
+# Platform-specific build configurations
+if(MSVC)
+    # MSVC flags
+    set(CMAKE_CXX_FLAGS_DEBUG "/Od /Zi /RTC1")
+    set(CMAKE_CXX_FLAGS_RELEASE "/O2 /DNDEBUG")
+    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/O2 /Zi /DNDEBUG")
+    set(CMAKE_CXX_FLAGS_MINSIZEREL "/O1 /DNDEBUG")
+else()
+    # GCC/Clang flags with extended debugging symbols
+    set(CMAKE_CXX_FLAGS_DEBUG "-ggdb3 -O0")
+    set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
+    # Formatting target (clang only)
+    add_custom_target(format
+    COMMAND clang-format -i ${MAIN_SOURCES} ${HEADERS}
+)
+endif()
+
+
+list(TRANSFORM MAIN_SOURCES PREPEND "${CMAKE_SOURCE_DIR}/")
+list(TRANSFORM HEADERS PREPEND "${CMAKE_SOURCE_DIR}/")
+

CMakePresets.json

@@ -0,0 +1,13 @@
+{
+  "version": 2,
+  "configurePresets": [
+    {
+      "name": "vcpkg",
+      "generator": "Ninja",
+      "binaryDir": "${sourceDir}/build",
+      "cacheVariables": {
+        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake"
+      }
+    }
+  ]
+}

README.md

@@ -1,18 +1,18 @@
 # Pathfinding demo
 
-![C++ pathfinding demo](./docs/img/screenshot_1.png)
-
-**Work in progress**
-
 This is a demo of pathfinding on a 2D grid. It consists of 2 main parts:
 
-* python notes and implementation
-    * jupyter notebook file
-    * standalone python script
-* C++ interactive demo
+* Notes and Python implementation
+    * jupyter notebook file: [`python/pathfinding_demo.ipynb`](./python/pathfinding_demo.ipynb)
+    * standalone python script: [`./python/pathfinding_demo.py`](./python/pathfinding_demo.py)
+* C++ interactive demo: [`cpp`](./cpp/)
 
 ## Python
 
+Plots a path from one end of the map to the other. Black tiles represent low-cost path, white tiles have high-cost.
+
+![Python pathfinding demo](./docs/img/py_screenshot.png)
+
 ### Standalone script
 
 Run `python pathfinding_demo.py`. Requires numpy and matplotlib to be installed.
@@ -23,32 +23,82 @@ Contains the same demo as the standalone script and some notes. Since Github sup
 
 ## C++
 
-Work in progress. At the moment Linux build only.
+Interactive demo of entities moving on a simple map with terrains of varying cost. Draw left-mouse button over entities to select them, right-mouse button to send them to selected destination. Simple collision checks are implemented.
 
-### Build
+Uses some C++20 features. Latest generated architecture drawing is available in [`docs/diagrams/class_diagram.svg`](./docs/diagrams/class_diagram.svg)
 
-#### Install prerequisities
+![C++ pathfinding demo](./docs/img/screenshot_1.png)
+
+### Windows
+
+#### Dependencies
+
+* `vcpkg` needs to be installed and `VCPKG_ROOT` set. See the [installation instructions](https://learn.microsoft.com/en-us/vcpkg/get_started/get-started?pivots=shell-powershell).
+* Visual Studio with Desktop development with C++ workload (or MSVC Build Tools)
+
+#### Build
+
+Run "Developer Command Prompt for VS 20xx":
+
+```cmd
+cmake --preset=vcpkg
+cmake --build build
+```
+
+Run the `pathfinding.exe` binary in the `build` folder.
+
+### Linux
+
+#### Dependencies
 
 * SDL3
 * SDL3-image
 * GLEW
+* gtest
 
 e.g. on Archlinux:
 
 ```
-pacman -S glew sdl3 sdl3_image
+pacman -S glew sdl3 sdl3_image gtest
 ```
 
-#### Compile
+Optional dependencies for generating class and include diagrams:
 
-In the [cpp](./cpp/) folder, run [make](./cpp/Makefile)
+* plantuml
+* [clang-uml](https://github.com/bkryza/clang-uml)
 
-```
-cd cpp/
-make -j $(nproc)
+clang-uml needs to be either installed from [AUR](https://aur.archlinux.org/packages/clang-uml) or built manually 
+
+#### Build
+
+```bash
+cmake -B build
+cmake --build build -j 16
 ```
 
-### Run
+Optionally you can also use options:
 
-Run the `pathfinding` binary in the [cpp](./cpp/) folder.
+* `-DCMAKE_EXPORT_COMPILE_COMMANDS=ON` to enable compile database export (needed for class diagram generation)
+* `-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++` to use clang
+
+```
+cmake -B build -DCMAKE_EXPORT_COMPILE_COMMANDS=O  -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+```
+
+Run the `pathfinding` binary in the `build` folder.
+
+#### Generate architecture diagrams
+
+Build with `-DCMAKE_EXPORT_COMPILE_COMMANDS=ON`. Then in the root folder run:
+
+```
+clang-uml
+plantuml -tsvg docs/diagrams/*.puml
+```
+
+The resulting svg files are located in [docs/diagrams/](./docs/diagrams/).
+
+## Acknowledgments
+
+Entity sprite comes from the Bomberman game, taken from [archive.org](https://archive.org/details/bombermansprites/Custom%20Edited%20-%20Bomberman%20Customs%20-%20Bomberman%20Super%20Bomberman%202-Style.png)
 

cpp/Makefile

@@ -1,42 +0,0 @@
-# ---------------------------------
-# Generated by Kimi K2
-#---------- configurable ----------
-CXX      := g++
-CXXFLAGS := -Isrc -std=c++23 -Wall -Wextra -Wpedantic -ggdb3
-LDFLAGS  :=
-LDLIBS   := -lSDL3 -lSDL3_image -lGLEW -lGL
-
-SRC_DIR  := src
-BUILD_DIR:= build
-TARGET   := pathfinding
-TEST_TARGET := unittest
-
-#----------------------------------
-SOURCES := $(shell find $(SRC_DIR) -name '*.cpp')
-OBJECTS := $(SOURCES:$(SRC_DIR)/%.cpp=$(BUILD_DIR)/%.o)
-
-#----------------------------------
-.PHONY: all clean test
-
-all: $(TARGET)
-
-test: $(TEST_TARGET)
-	./$(TEST_TARGET)
-
-$(TEST_TARGET): test/test.cpp
-	$(CXX) -std=c++23 -lgtest -Isrc -o $@ $<
-
-# link step
-$(TARGET): $(OBJECTS)
-	$(CXX) $(LDFLAGS) -o $@ $^ $(LDLIBS)
-
-# compile step
-$(BUILD_DIR)/%.o: $(SRC_DIR)/%.cpp | $(BUILD_DIR)
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXXFLAGS) -c -o $@ $<
-
-$(BUILD_DIR):
-	mkdir -p $@
-
-clean:
-	rm -rf $(BUILD_DIR) $(TARGET) $(TEST_TARGET)

cpp/src/array.hpp

@@ -4,7 +4,7 @@
 #include <stack>
 #include <stdexcept>
 
-namespace array { // TODO rename to container or something
+namespace array {
 
 template <typename U>
 concept Deletable = requires(U u) {
@@ -148,7 +148,6 @@ public:
 
 private:
   pair_t *m_Pool = nullptr;
-  // TODO use unique_ptr
   std::stack<size_t> m_FreeIdx;
 
   size_t m_Capacity = 0;

cpp/src/camera.cpp

@@ -1,45 +1,35 @@
 #include "camera.hpp"
-#include "math.hpp"
 #include "log.hpp"
+#include "math.hpp"
 
 // for now only pass-through placeholder functions,
-// since we draw the whole map 
+// since we draw the whole map
 
+void Camera::Pan(const WorldPos &delta) { m_Pan += (delta / m_Zoom); }
 
-void Camera::Pan(const WorldPos& delta)
-{
-  m_Pan += (delta / m_Zoom);
-}
-
-void Camera::Zoom(float delta)
-{
+void Camera::Zoom(float delta) {
   constexpr float ZOOM_SCALE = 0.1f;
   m_Zoom += delta * ZOOM_SCALE;
   LOG_DEBUG("Zoom: ", m_Zoom);
 }
 
-WindowPos Camera::WorldToWindow(WorldPos world) const
-{
-  const auto& v = world + m_Pan;
+WindowPos Camera::WorldToWindow(WorldPos world) const {
+  const auto &v = world + m_Pan;
   return WindowPos{v[0], v[1]} * m_Zoom;
 }
 
-WorldPos Camera::WindowToWorld(WindowPos window) const
-{
+WorldPos Camera::WindowToWorld(WindowPos window) const {
   window /= m_Zoom;
   return WorldPos{window[0], window[1]} - m_Pan;
 }
 
-
-WindowSize Camera::WorldToWindowSize(WorldSize world) const
-{
-  const auto& v = world;
+WindowSize Camera::WorldToWindowSize(WorldSize world) const {
+  const auto &v = world;
   // no zoom yet, just pass-through
   return WindowSize{v[0], v[1]} * m_Zoom;
 }
 
-WorldSize Camera::WindowToWorldSize(WindowSize window) const
-{
-    window /= m_Zoom;
-    return WorldSize{window[0], window[1]};
+WorldSize Camera::WindowToWorldSize(WindowSize window) const {
+  window /= m_Zoom;
+  return WorldSize{window[0], window[1]};
 }

cpp/src/camera.hpp

@@ -2,22 +2,32 @@
 
 #include "math.hpp"
 
-class Camera
-{
+class Camera {
 public:
-  void Pan(const WorldPos& delta);
+  void Pan(const WorldPos &delta);
   void Zoom(float delta);
 
   WorldPos GetPan() const { return m_Pan; }
   float GetZoom() const { return m_Zoom; }
 
-  WindowPos  WorldToWindow(WorldPos)       const;
-  WorldPos   WindowToWorld(WindowPos)      const;
-  WindowSize WorldToWindowSize(WorldSize)  const;
-  WorldSize  WindowToWorldSize(WindowSize) const;
+  WindowPos WorldToWindow(WorldPos) const;
+  WorldPos WindowToWorld(WindowPos) const;
+  WindowSize WorldToWindowSize(WorldSize) const;
+  WorldSize WindowToWorldSize(WindowSize) const;
+
+  template <typename T>
+    requires std::floating_point<T>
+  T WindowToWorldSize(T window_size) const {
+    return window_size / static_cast<T>(m_Zoom);
+  }
+
+  template <typename T>
+    requires std::floating_point<T>
+  T WorldToWindowSize(T world_size) const {
+    return world_size * static_cast<T>(m_Zoom);
+  }
 
 private:
-  // TODO this should be replaced with a matrix
   float m_Zoom = 1.0f;
   WorldPos m_Pan;
 };

cpp/src/entities.cpp

@@ -30,7 +30,8 @@ void Entity::ZeroActualVelocityInDirection(WorldPos direction) {
 
   // q1 * e1 + q2 * e2 = v, from this follows:
   auto &v = GetActualVelocity();
-  float q2 = (v.y() * e1.x() - v.x() * e1.y()) / (e2.y() * e1.x() - e2.x() * e1.y());
+  float q2 =
+      (v.y() * e1.x() - v.x() * e1.y()) / (e2.y() * e1.x() - e2.x() * e1.y());
   float q1 = (v.x() - q2 * e2.x()) / e1.x();
 
   // We then zero-out the q1, but only if it's positive - meaning
@@ -46,6 +47,43 @@ void Entity::Update(float time_delta) {
   m_Position += m_ActualVelocity * time_delta;
 }
 
+std::optional<WorldPos> Entity::GetMoveTarget() {
+  auto &path = GetPath();
+  if (path.empty()) {
+    return {};
+  }
+
+  WorldPos current_pos = GetPosition();
+  WorldPos next_pos = path.front();
+
+  if (current_pos.DistanceTo(next_pos) > 1.0) {
+    // target not reached yet
+    return next_pos;
+  }
+  // target reached, pop it
+  // m_MoveQueue.pop();
+  path.erase(path.begin());
+  // return nothing - if there's next point in the queue,
+  // we'll get it in the next iteration
+  return {};
+}
+
+bool Entity::CollidesWith(const Entity &other) const {
+  const auto &A = *this;
+  const auto &B = other;
+
+  auto position_A = A.GetPosition();
+  auto position_B = B.GetPosition();
+  auto distance_sq = position_A.DistanceSquared(position_B);
+  auto collision_distance_sq =
+      A.GetCollisionRadiusSquared() + B.GetCollisionRadiusSquared() +
+      2 * A.GetCollisionRadius() * B.GetCollisionRadius();
+  if (distance_sq < collision_distance_sq) {
+    return true;
+  }
+  return false;
+}
+
 Player::Player() {
   LOG_DEBUG(".");
   if (m_Sprite == nullptr) {

cpp/src/entities.hpp

@@ -4,10 +4,12 @@
 #include <cstdint>
 #include <iostream>
 #include <memory>
+#include <optional>
 #include <string_view>
 
 #include "log.hpp"
 #include "math.hpp"
+#include "pathfinder/base.hpp"
 #include "sprite.hpp"
 
 class Entity {
@@ -56,14 +58,29 @@ public:
 
   void ZeroActualVelocityInDirection(WorldPos direction);
 
+  const pathfinder::Path &GetPath() const { return m_Path; }
+  pathfinder::Path &GetPath() { return m_Path; }
+  void SetPath(pathfinder::Path &path) { m_Path = path; }
+  std::optional<WorldPos> GetMoveTarget();
+
+  bool CollidesWith(const Entity &other) const;
+
+  bool IsCollisionBoxVisible() const { return m_CollisionBoxVisible; }
+
+  void Select() { m_Selected = true; }
+  void Deselect() { m_Selected = false; }
+  bool IsSelected() const { return m_Selected; }
+
 protected:
   WorldPos m_Position;
   WorldPos m_ActualVelocity;
   WorldPos m_RequestedVelocity;
+  pathfinder::Path m_Path;
 
 private:
   bool m_FlagExpired = false;
-  static constexpr float m_CollisionRadiusSq = 1000.0f;
+  bool m_CollisionBoxVisible = true;
+  bool m_Selected = false;
 };
 
 class Player final : public Entity {
@@ -75,7 +92,7 @@ public:
   constexpr Entity::Type GetType() const override {
     return Entity::Type::PLAYER;
   }
-  constexpr float GetCollisionRadius() const override { return 50.0f; }
+  constexpr float GetCollisionRadius() const override { return 25.0f; }
   bool IsMovable() const override { return true; }
   bool IsCollidable() const override { return true; }
 

cpp/src/gameloop.cpp

@@ -21,37 +21,54 @@ void GameLoop::Draw() {
           TilePos{static_cast<int32_t>(row), static_cast<int32_t>(col)}));
       const auto &size = camera.WorldToWindowSize(map.GetTileSize());
       // LOG_DEBUG("Drawing rect (", row, ", ", col, ")");
-      m_Window->DrawRect(position, size, tiles[row][col]->R, tiles[row][col]->G,
-                         tiles[row][col]->B, tiles[row][col]->A);
+      m_Window->DrawFilledRect(position, size, tiles[row][col]->R,
+                               tiles[row][col]->G, tiles[row][col]->B,
+                               tiles[row][col]->A);
     }
   }
 
   // draw the path, if it exists
-  WorldPos start_pos = m_Game->GetPlayer()->GetPosition();
-  for (const auto &next_pos : m_Game->GetPath()) {
-    const auto &camera = m_Game->GetCamera();
-    m_Window->DrawLine(camera.WorldToWindow(start_pos),
-                       camera.WorldToWindow(next_pos));
-    start_pos = next_pos;
+
+  for (const auto &entity : m_Game->GetEntities()) {
+    WorldPos start_pos = entity->GetPosition();
+    for (const auto &next_pos : entity->GetPath()) {
+      const auto &camera = m_Game->GetCamera();
+      m_Window->DrawLine(camera.WorldToWindow(start_pos),
+                         camera.WorldToWindow(next_pos));
+      start_pos = next_pos;
+    }
   }
 
   // draw all the entities (player etc)
   for (auto &entity : m_Game->GetEntities()) {
     const auto &camera = m_Game->GetCamera();
-    m_Window->DrawSprite(camera.WorldToWindow(entity->GetPosition()),
-                         entity->GetSprite(), camera.GetZoom());
+    auto entity_pos = camera.WorldToWindow(entity->GetPosition());
+    m_Window->DrawSprite(entity_pos, entity->GetSprite(), camera.GetZoom());
+    if (entity->IsCollisionBoxVisible()) {
+      float collision_radius =
+          camera.WorldToWindowSize(entity->GetCollisionRadius());
+      m_Window->DrawCircle(entity_pos, collision_radius, 255, 0, 0);
+    }
+    if (entity->IsSelected()) {
+      float collision_radius =
+          camera.WorldToWindowSize(entity->GetCollisionRadius());
+      m_Window->DrawCircle(entity_pos, collision_radius, 0, 255, 0);
+    }
+  }
+
+  // draw the selection box, if present
+  if (m_Game->IsSelectionBoxActive()) {
+    const auto &[corner_pos, size] = m_Game->GetSelectionBoxPosSize();
+    m_Window->DrawRect(corner_pos, size, 200, 20, 20);
   }
 }
 
-// TODO rethink coupling and dependencies in the game loop class
-
 void GameLoop::Run() {
   LOG_INFO("Running the game");
   while (!m_Game->IsExitRequested()) {
     m_Game->HandleActions(m_UserInput->GetActions());
-    m_Game->UpdatePlayerVelocity();
+    m_Game->UpdateWorld();
 
-    // TODO measure fps, draw only if delay for target fps was reached
     m_Window->ClearWindow();
     Draw();
     m_Window->Flush();

cpp/src/gameloop.hpp

@@ -3,24 +3,22 @@
 #include <memory>
 
 #include "pathfindingdemo.hpp"
-#include "window.hpp"
 #include "user_input.hpp"
+#include "window.hpp"
 
 class GameLoop {
 public:
   GameLoop() = default;
   ~GameLoop() = default;
 
-  GameLoop(const GameLoop&) = delete;
-  GameLoop(GameLoop&&) = delete;
-  GameLoop& operator=(const GameLoop&) = delete;
-  GameLoop& operator=(GameLoop&&) = delete;
- 
+  GameLoop(const GameLoop &) = delete;
+  GameLoop(GameLoop &&) = delete;
+  GameLoop &operator=(const GameLoop &) = delete;
+  GameLoop &operator=(GameLoop &&) = delete;
+
   void Run();
 
-  void SetGame(std::unique_ptr<PathFindingDemo> x) {
-    m_Game = std::move(x);
-  }
+  void SetGame(std::unique_ptr<PathFindingDemo> x) { m_Game = std::move(x); }
   void SetWindow(std::unique_ptr<Window> x) { m_Window = std::move(x); }
   void SetUserInput(std::unique_ptr<UserInput> x) {
     m_UserInput = std::move(x);

cpp/src/log.hpp

@@ -3,11 +3,11 @@
 #include <iostream>
 
 #if defined(__GNUC__) || defined(__clang__)
-#   define PRETTY_FUNC __PRETTY_FUNCTION__
+#define PRETTY_FUNC __PRETTY_FUNCTION__
 #elif defined(_MSC_VER)
-#   define PRETTY_FUNC __FUNCTION__
+#define PRETTY_FUNC __FUNCTION__
 #else
-#   define PRETTY_FUNC __func__
+#define PRETTY_FUNC __func__
 #endif
 
 #define LOG_CRITICAL(...) Log::critical(PRETTY_FUNC, ": ", __VA_ARGS__)

cpp/src/map.cpp

@@ -11,21 +11,22 @@ Map::Map(int rows, int cols) : m_Cols(cols), m_Rows(rows) {
   for (size_t row = 0; row < m_Rows; row++) {
     m_Tiles.push_back(std::vector<const Tile *>{});
     for (size_t col = 0; col < m_Cols; col++) {
-        m_Tiles[row].push_back(&tile_types.at(TileType::GRASS));
+      m_Tiles[row].push_back(&tile_types.at(TileType::GRASS));
     }
   }
 }
 
 WorldPos Map::TileToWorld(TilePos p) const {
-  return WorldPos{(p.x() + 0.5f) * TILE_SIZE, (p.y() + 0.5f) * TILE_SIZE}; 
+  return WorldPos{(p.x() + 0.5f) * TILE_SIZE, (p.y() + 0.5f) * TILE_SIZE};
 }
 
 WorldPos Map::TileEdgeToWorld(TilePos p) const {
-  return WorldPos{p.x() * TILE_SIZE, p.y() * TILE_SIZE}; 
+  return WorldPos{p.x() * TILE_SIZE, p.y() * TILE_SIZE};
 }
 
 TilePos Map::WorldToTile(WorldPos p) const {
-  return TilePos{static_cast<int32_t>(p.x() / TILE_SIZE), static_cast<int32_t>(p.y() / TILE_SIZE)};
+  return TilePos{static_cast<int32_t>(p.x() / TILE_SIZE),
+                 static_cast<int32_t>(p.y() / TILE_SIZE)};
 }
 
 WorldSize Map::GetTileSize() const { return WorldSize{TILE_SIZE, TILE_SIZE}; }
@@ -51,40 +52,38 @@ bool Map::IsTilePosValid(TilePos p) const {
   return row < m_Tiles.size() && col < m_Tiles[0].size();
 }
 
-
-std::vector<TilePos> Map::GetNeighbors(TilePos center) const
-{
+std::vector<TilePos> Map::GetNeighbors(TilePos center) const {
   std::vector<TilePos> neighbours;
   neighbours.reserve(4);
 
   std::array<TilePos, 4> candidates = {
-    center + TilePos{ 1,  0},
-    center + TilePos{-1,  0},
-    center + TilePos{ 0,  1},
-    center + TilePos{ 0, -1},
+      center + TilePos{1, 0},
+      center + TilePos{-1, 0},
+      center + TilePos{0, 1},
+      center + TilePos{0, -1},
   };
 
-  for (const auto& c : candidates) {
+  for (const auto &c : candidates) {
     if (IsTilePosValid(c))
-        neighbours.push_back(c);
+      neighbours.push_back(c);
   }
   return neighbours;
 }
 
-
-void Map::PaintCircle(TilePos center, unsigned radius, TileType tile_type)
-{
+void Map::PaintCircle(TilePos center, unsigned radius, TileType tile_type) {
   // get rectangle that wraps the circle
-  TilePos corner1 = TilePos{center.x() - static_cast<int32_t>(radius), center.y() - static_cast<int32_t>(radius)};
-  TilePos corner2 = TilePos{center.x() + static_cast<int32_t>(radius), center.y() + static_cast<int32_t>(radius)};
+  TilePos corner1 = TilePos{center.x() - static_cast<int32_t>(radius),
+                            center.y() - static_cast<int32_t>(radius)};
+  TilePos corner2 = TilePos{center.x() + static_cast<int32_t>(radius),
+                            center.y() + static_cast<int32_t>(radius)};
   // iterate through all valid points, setting the type
-  const unsigned radius_squared = radius * radius; 
+  const unsigned radius_squared = radius * radius;
   for (int x = corner1.x(); x < corner2.x(); x++) {
     for (int y = corner1.y(); y < corner2.y(); y++) {
-      TilePos current_tile = {x, y}; 
-      unsigned distance_squared = static_cast<unsigned>(center.DistanceTo(current_tile) * center.DistanceTo(current_tile));
-      if (IsTilePosValid(current_tile) && distance_squared < radius_squared)
-      {
+      TilePos current_tile = {x, y};
+      unsigned distance_squared = static_cast<unsigned>(
+          center.DistanceTo(current_tile) * center.DistanceTo(current_tile));
+      if (IsTilePosValid(current_tile) && distance_squared < radius_squared) {
         // y is row, x is col
         m_Tiles[y][x] = &tile_types.at(tile_type);
       }
@@ -92,19 +91,24 @@ void Map::PaintCircle(TilePos center, unsigned radius, TileType tile_type)
   }
 }
 
-void Map::PaintLine(TilePos start_tile, TilePos stop_tile, double width, TileType tile_type)
-{
-  const vec<double, 2> start{static_cast<double>(start_tile.x()), static_cast<double>(start_tile.y())};
-  const vec<double, 2> stop{static_cast<double>(stop_tile.x()), static_cast<double>(stop_tile.y())};
+void Map::PaintLine(TilePos start_tile, TilePos stop_tile, double width,
+                    TileType tile_type) {
+  const vec<double, 2> start{static_cast<double>(start_tile.x()),
+                             static_cast<double>(start_tile.y())};
+  const vec<double, 2> stop{static_cast<double>(stop_tile.x()),
+                            static_cast<double>(stop_tile.y())};
   const double line_length = start.DistanceTo(stop);
   const vec<double, 2> step = (stop - start) / line_length;
   const vec<double, 2> ortho = step.GetOrthogonal();
   LOG_DEBUG("step = ", step, " ortho = ", ortho);
 
+  // NOLINTNEXTLINE(clang-analyzer-security.FloatLoopCounter)
   for (double t = 0; t < line_length; t += 1.0) {
+    // NOLINTNEXTLINE(clang-analyzer-security.FloatLoopCounter)
     for (double ortho_t = 0; ortho_t < width; ortho_t += 0.1) {
       auto tile_pos = start + step * t + ortho * ortho_t;
-      TilePos tile_pos_int{static_cast<int32_t>(tile_pos.x()), static_cast<int32_t>(tile_pos.y())};
+      TilePos tile_pos_int{static_cast<int32_t>(tile_pos.x()),
+                           static_cast<int32_t>(tile_pos.y())};
       if (IsTilePosValid(tile_pos_int)) {
         size_t row = static_cast<size_t>(tile_pos.x());
         size_t col = static_cast<size_t>(tile_pos.y());
@@ -114,15 +118,14 @@ void Map::PaintLine(TilePos start_tile, TilePos stop_tile, double width, TileTyp
   }
 }
 
-
-void Map::PaintRectangle(TilePos first_corner, TilePos second_corner, TileType tile_type)
-{
+void Map::PaintRectangle(TilePos first_corner, TilePos second_corner,
+                         TileType tile_type) {
   std::initializer_list<int> xvals = {first_corner.x(), second_corner.x()};
   std::initializer_list<int> yvals = {first_corner.y(), second_corner.y()};
   for (int x = std::min(xvals); x < std::max(xvals); x++) {
     for (int y = std::min(yvals); y < std::max(yvals); y++) {
-      TilePos tile_pos{x,y};
-      LOG_DEBUG("tile_pos = ", tile_pos); 
+      TilePos tile_pos{x, y};
+      LOG_DEBUG("tile_pos = ", tile_pos);
       if (IsTilePosValid(tile_pos)) {
         size_t row = static_cast<size_t>(tile_pos.x());
         size_t col = static_cast<size_t>(tile_pos.y());

cpp/src/map.hpp

@@ -14,10 +14,10 @@ public:
   Map(int rows, int cols);
   Map() : Map(0, 0) {}
 
-  Map(const Map&) = delete;
-  Map(Map&&) = delete;
-  Map& operator=(const Map&) = delete;
-  Map& operator=(Map&&) = delete;
+  Map(const Map &) = delete;
+  Map(Map &&) = delete;
+  Map &operator=(const Map &) = delete;
+  Map &operator=(Map &&) = delete;
 
   const TileGrid &GetMapTiles() const { return m_Tiles; }
 
@@ -25,7 +25,7 @@ public:
   WorldPos TileToWorld(TilePos p) const;
   WorldPos TileEdgeToWorld(TilePos p) const;
   TilePos WorldToTile(WorldPos p) const;
-  
+
   WorldSize GetTileSize() const;
   const Tile *GetTileAt(TilePos p) const;
   const Tile *GetTileAt(WorldPos p) const;
@@ -35,7 +35,8 @@ public:
   // methods for drawing on the map
   void PaintCircle(TilePos center, unsigned radius, TileType tile_type);
   void PaintLine(TilePos start, TilePos stop, double width, TileType tile_type);
-  void PaintRectangle(TilePos first_corner, TilePos second_corner, TileType tile_type);
+  void PaintRectangle(TilePos first_corner, TilePos second_corner,
+                      TileType tile_type);
 
   std::vector<TilePos> GetNeighbors(TilePos center) const;
   float GetCost(TilePos pos) const { return GetTileAt(pos)->cost; }

cpp/src/math.hpp

@@ -4,18 +4,13 @@
 #include <cassert>
 #include <cmath>
 #include <concepts>
+#include <functional>
 #include <initializer_list>
 #include <iostream>
+#include <numbers>
 #include <numeric>
 #include <ranges>
 #include <utility>
-#include <functional>
-
-#ifdef _WIN32
-#include <numbers>
-#define M_PI std::numbers::pi
-// TODO use std::numbers::pi instead of M_PI
-#endif
 
 template <typename T>
   requires std::floating_point<T>
@@ -37,6 +32,10 @@ static inline bool equalEpsilon(const T &a, const T &b) {
 struct Any {};
 
 template <typename T, size_t N, typename Tag = Any> class vec {
+
+  // Friend declaration for move constructor from different tag types
+  template <typename U, size_t M, typename OtherTag> friend class vec;
+
 public:
   vec() : m_Array{} {}
 
@@ -44,6 +43,11 @@ public:
     requires(std::same_as<ArgsT, T> && ...) && (sizeof...(ArgsT) == N)
   vec(ArgsT... args) : m_Array{args...} {}
 
+  vec(std::array<T, N> array) : m_Array{array} {}
+
+  template <typename OtherTag>
+  vec(vec<T, N, OtherTag> &&other) : m_Array{std::move(other.m_Array)} {}
+
   //
   // Access to elements & data
   //
@@ -67,20 +71,20 @@ public:
     return os;
   }
 
-  std::array<T,N>& Data() { return m_Array; }
+  std::array<T, N> &Data() { return m_Array; }
 
   //
   // binary operators
   //
 
   friend bool operator==(const vec &a, const vec &b)
-    requires (std::is_integral_v<T>)
+    requires(std::is_integral_v<T>)
   {
     return std::ranges::equal(a.m_Array, b.m_Array);
   }
 
   friend bool operator==(const vec &a, const vec &b)
-    requires (std::is_floating_point_v<T>)
+    requires(std::is_floating_point_v<T>)
   {
     for (const auto &[u, v] : std::views::zip(a.m_Array, b.m_Array)) {
       if (!equalEpsilon(u, v)) {
@@ -99,6 +103,13 @@ public:
     return c;
   }
 
+  friend vec operator+(const vec &a, T b) {
+    vec<T, N, Tag> c;
+    std::ranges::transform(a.m_Array, std::views::repeat(b), c.m_Array.begin(),
+                           std::plus{});
+    return c;
+  }
+
   friend vec operator-(const vec &a, const vec &b) {
     vec<T, N, Tag> c;
     std::ranges::transform(a.m_Array, b.m_Array, c.m_Array.begin(),
@@ -106,6 +117,13 @@ public:
     return c;
   }
 
+  friend vec operator-(const vec &a, T b) {
+    vec<T, N, Tag> c;
+    std::ranges::transform(a.m_Array, std::views::repeat(b), c.m_Array.begin(),
+                           std::minus{});
+    return c;
+  }
+
   friend vec operator*(const vec &a, const T &scalar) {
     vec<T, N, Tag> c;
     std::ranges::transform(a.m_Array, std::views::repeat(scalar),
@@ -122,6 +140,13 @@ public:
     return c;
   }
 
+  friend vec operator/(const vec &a, const vec &b) {
+    vec<T, N, Tag> c;
+    std::ranges::transform(a.m_Array, b.m_Array, c.m_Array.begin(),
+                           std::divides{});
+    return c;
+  }
+
   //
   // compound-assignment operators
   //
@@ -140,12 +165,10 @@ public:
     return a;
   }
 
-  vec& operator/=(float scalar)
-  {
-    vec& a = *this;
+  vec &operator/=(float scalar) {
+    vec &a = *this;
     auto b = std::views::repeat(scalar);
     std::ranges::transform(a.m_Array, b, a.m_Array.begin(), std::divides{});
-    // TODO check all of this, could be done better with views instead of ranges?
     return a;
   }
 
@@ -165,6 +188,11 @@ public:
     return (a - b).Length();
   }
 
+  T DistanceSquared(const vec &b) const {
+    const vec &a = *this;
+    return (a - b).LengthSquared();
+  }
+
   //
   // In-place vector operations
   //
@@ -198,16 +226,14 @@ public:
     return tmp;
   }
 
-  static T DotProduct(const vec& a, const vec& b)
-  {
-    return std::inner_product(
-        a.m_Array.begin(), a.m_Array.end(), b.m_Array.begin(), 
-        T{}, std::plus{}, std::multiplies{});
+  static T DotProduct(const vec &a, const vec &b) {
+    return std::inner_product(a.m_Array.begin(), a.m_Array.end(),
+                              b.m_Array.begin(), T{}, std::plus{},
+                              std::multiplies{});
   }
 
-  T DotProduct(const vec& b) const
-  {
-    const auto& a = *this;
+  T DotProduct(const vec &b) const {
+    const auto &a = *this;
     return DotProduct(a, b);
   }
 
@@ -251,6 +277,29 @@ public:
     return m_Array[2];
   }
 
+  template <typename TargetTag> vec<T, N, TargetTag> ChangeTag() const & {
+    return vec<T, N, TargetTag>(m_Array);
+  }
+
+  template <typename TargetTag> vec<T, N, TargetTag> ChangeTag() && {
+    return vec<T, N, TargetTag>(std::move(*this));
+  }
+
+  // Structured binding support for N == 2
+  template <size_t I>
+  const T &get() const
+    requires(N == 2 && I < 2)
+  {
+    return m_Array[I];
+  }
+
+  template <size_t I>
+  T &get()
+    requires(N == 2 && I < 2)
+  {
+    return m_Array[I];
+  }
+
 private:
   std::array<T, N> m_Array;
 };
@@ -306,92 +355,101 @@ struct TilePosHash {
 //
 
 // Collumn major square matrix
-template <typename T, size_t N, typename Tag = Any>
-class Matrix {
+template <typename T, size_t N, typename Tag = Any> class Matrix {
 
-using vec_type = vec<T, N, Tag>;
+  using vec_type = vec<T, N, Tag>;
 
 public:
-    Matrix() = default;
+  Matrix() = default;
 
-    // Initialization using flat array of N*N elements
-    template <typename Tarr, size_t M>
-    requires (M == N*N && std::same_as<Tarr, T>)
-    Matrix(std::array<Tarr,M> array) : m_Array{}
-    {
-        std::size_t idx = 0;
-        for (auto col : array | std::views::chunk(N))
-        {
-            std::ranges::copy(col, m_Array[idx++].Data().begin());
-        }
+  // Initialization using flat array of N*N elements
+  template <typename Tarr, size_t M>
+    requires(M == N * N && std::same_as<Tarr, T>)
+  Matrix(std::array<Tarr, M> array) : m_Array{} {
+    std::size_t idx = 0;
+    for (auto col : array | std::views::chunk(N)) {
+      std::ranges::copy(col, m_Array[idx++].Data().begin());
     }
+  }
 
-    const vec_type& operator[](size_t index) const { return m_Array[index]; }
-    vec_type& operator[](size_t index) { return m_Array[index]; }
+  const vec_type &operator[](size_t index) const { return m_Array[index]; }
+  vec_type &operator[](size_t index) { return m_Array[index]; }
 
-    friend std::ostream &operator<<(std::ostream &os, const Matrix &obj)
-    {
-        os << "( ";
-        for (const auto &element : obj.m_Array) {
-        os << element << " ";
-        }
-        os << ")";
-        return os;
+  friend std::ostream &operator<<(std::ostream &os, const Matrix &obj) {
+    os << "( ";
+    for (const auto &element : obj.m_Array) {
+      os << element << " ";
     }
+    os << ")";
+    return os;
+  }
 
+  friend Matrix operator+(const Matrix &A, const Matrix &B) {
+    Matrix C;
+    std::ranges::transform(A.m_Array, B.m_Array, C.m_Array.begin(),
+                           std::plus{});
+    return C;
+  }
 
-    friend Matrix operator+(const Matrix& A, const Matrix& B)
-    {
-        Matrix C;
-        std::ranges::transform(A.m_Array, B.m_Array, C.m_Array.begin(), std::plus{});
-        return C;
+  friend Matrix operator-(const Matrix &A, const Matrix &B) {
+    Matrix C;
+    std::ranges::transform(A.m_Array, B.m_Array, C.m_Array.begin(),
+                           std::minus{});
+    return C;
+  }
+
+  friend Matrix operator*(const Matrix &A, const Matrix &B) {
+    Matrix C;
+
+    for (size_t i = 0; i < N; i++) {
+      for (size_t j = 0; j < N; j++) {
+        T sum = 0;
+        for (size_t k = 0; k < N; ++k)
+          sum += A[i][k] * B[k][j];
+        C[i][j] = sum;
+      }
     }
+    return C;
+  }
 
-    friend Matrix operator-(const Matrix& A, const Matrix& B)
-    {
-        Matrix C;
-        std::ranges::transform(A.m_Array, B.m_Array, C.m_Array.begin(), std::minus{});
-        return C;
+  friend vec_type operator*(const Matrix &A, const vec_type &b) {
+    // we assume that b is row vector
+    vec_type c;
+    for (size_t i = 0; i < N; i++) {
+      c[i] = b.DotProduct(A[i]);
     }
+    return c;
+  }
 
-    friend Matrix operator*(const Matrix& A, const Matrix& B)
-    {
-        Matrix C;
-
-        for (size_t i = 0; i < N; i++)
-        {
-            for (size_t j = 0; j < N; j++)
-            {
-                T sum = 0;
-                for (size_t k = 0; k < N; ++k) sum += A[i][k] * B[k][j];
-                C[i][j] = sum;
-            }
-        }
-        return C;
+  static constexpr Matrix Eye() {
+    Matrix E;
+    for (size_t i = 0; i < N; i++) {
+      E[i][i] = T{1};
     }
-
-    friend vec_type operator*(const Matrix& A, const vec_type& b)
-    {
-        // we assume that b is row vector
-        vec_type c;
-        for (size_t i = 0; i < N; i++)
-        {
-            c[i] = b.DotProduct(A[i]);
-        }
-        return c;
-    }
-
-    static constexpr Matrix Eye()
-    {
-        Matrix E;
-        for (size_t i = 0; i < N; i++)
-        {
-            E[i][i] = T{1};
-        }
-        return E;
-    }
-
+    return E;
+  }
 
 private:
-    std::array<vec_type, N> m_Array;
-};
+  std::array<vec_type, N> m_Array;
+};
+
+// Structured binding support for vec<T, 2, Tag>
+namespace std {
+template <typename T, typename Tag>
+struct tuple_size<vec<T, 2, Tag>> : integral_constant<size_t, 2> {};
+
+template <size_t I, typename T, typename Tag>
+struct tuple_element<I, vec<T, 2, Tag>> {
+  using type = T;
+};
+} // namespace std
+
+// ADL-based get for structured bindings
+template <size_t I, typename T, typename Tag>
+const T &get(const vec<T, 2, Tag> &v) {
+  return v.template get<I>();
+}
+
+template <size_t I, typename T, typename Tag> T &get(vec<T, 2, Tag> &v) {
+  return v.template get<I>();
+}

cpp/src/pathfinder/base.cpp

@@ -1,5 +1,5 @@
-#include <memory>
 #include <cassert>
+#include <memory>
 #include <queue>
 
 #include "pathfinder/base.hpp"
@@ -9,14 +9,15 @@
 
 namespace pathfinder {
 
-PathFinderBase::PathFinderBase(const Map* map) : m_Map(map) {}
+PathFinderBase::PathFinderBase(const Map *map) : m_Map(map) {}
 
 // LinearPathFinder also lives here, since it is too small to get it's
 // own implementation file
-Path LinearPathFinder::CalculatePath(WorldPos, WorldPos end) // first argument (start pos) not used
+Path LinearPathFinder::CalculatePath(
+    WorldPos, WorldPos end) // first argument (start pos) not used
 {
   auto path = Path{end};
   return path;
 }
 
-} // pathfinder namespace
+} // namespace pathfinder

cpp/src/pathfinder/base.hpp

@@ -1,11 +1,11 @@
 #pragma once
 
-#include <vector>
 #include <memory>
 #include <unordered_map>
+#include <vector>
 
-#include "math.hpp"
 #include "map.hpp"
+#include "math.hpp"
 
 namespace pathfinder {
 
@@ -21,32 +21,30 @@ enum class PathFinderType {
 
 class PathFinderBase {
 public:
-  PathFinderBase(const Map* m);
-  ~PathFinderBase() = default;
+  PathFinderBase(const Map *m);
+  virtual ~PathFinderBase() = default;
 
-  PathFinderBase(const PathFinderBase&) = delete;
-  PathFinderBase(PathFinderBase&&) = delete;
-  PathFinderBase& operator=(const PathFinderBase&) = delete;
-  PathFinderBase& operator=(PathFinderBase&&) = delete;
+  PathFinderBase(const PathFinderBase &) = delete;
+  PathFinderBase(PathFinderBase &&) = delete;
+  PathFinderBase &operator=(const PathFinderBase &) = delete;
+  PathFinderBase &operator=(PathFinderBase &&) = delete;
 
-  virtual const std::string_view& GetName() const = 0; 
+  virtual const std::string_view &GetName() const = 0;
   virtual Path CalculatePath(WorldPos start, WorldPos end) = 0;
 
 protected:
-  const Map* m_Map;
+  const Map *m_Map;
 };
 
-
-class LinearPathFinder : public PathFinderBase {
+class LinearPathFinder final : public PathFinderBase {
 
 public:
-  LinearPathFinder(const Map* m): PathFinderBase(m) {}
+  LinearPathFinder(const Map *m) : PathFinderBase(m) {}
   Path CalculatePath(WorldPos start, WorldPos end) override;
-  const std::string_view& GetName() const override { return m_Name; }
+  const std::string_view &GetName() const override { return m_Name; }
 
 private:
   const std::string_view m_Name = "Linear Path";
 };
 
-} // pathfinder namespace
-  
+} // namespace pathfinder

cpp/src/pathfinder/bfs.cpp

@@ -7,60 +7,61 @@
 #include "math.hpp"
 
 namespace pathfinder {
-  
+
 Path BFS::CalculatePath(WorldPos start_world, WorldPos end_world) {
-    if (m_Map == nullptr) return {};
+  if (m_Map == nullptr)
+    return {};
 
-    const TilePos start = m_Map->WorldToTile(start_world);
-    const TilePos end   = m_Map->WorldToTile(end_world);
+  const TilePos start = m_Map->WorldToTile(start_world);
+  const TilePos end = m_Map->WorldToTile(end_world);
 
-    if (!m_Map->IsTilePosValid(start) || !m_Map->IsTilePosValid(end))
-        return {};
-    if (start == end) {
-        return {};
-    }
-    // clear previous run
-    m_CameFrom.clear();
-    m_Distance.clear();
+  if (!m_Map->IsTilePosValid(start) || !m_Map->IsTilePosValid(end))
+    return {};
+  if (start == end) {
+    return {};
+  }
+  // clear previous run
+  m_CameFrom.clear();
+  m_Distance.clear();
 
-    std::queue<TilePos> frontier;
-    frontier.push(start);
-    m_CameFrom[start] = start;
-    m_Distance[start] = 0.0f;
+  std::queue<TilePos> frontier;
+  frontier.push(start);
+  m_CameFrom[start] = start;
+  m_Distance[start] = 0.0f;
 
-    // ---------------- build flow-field ----------------
-    bool early_exit = false;
-    while (!frontier.empty() && !early_exit) {
-        TilePos current = frontier.front();
-        frontier.pop();
+  // ---------------- build flow-field ----------------
+  bool early_exit = false;
+  while (!frontier.empty() && !early_exit) {
+    TilePos current = frontier.front();
+    frontier.pop();
 
-        for (TilePos next : m_Map->GetNeighbors(current)) {
-            if (m_CameFrom.find(next) == m_CameFrom.end()) {  // not visited
-                frontier.push(next);
-                m_Distance[next] = m_Distance[current] + 1.0f;
-                m_CameFrom[next] = current;
+    for (TilePos next : m_Map->GetNeighbors(current)) {
+      if (m_CameFrom.find(next) == m_CameFrom.end()) { // not visited
+        frontier.push(next);
+        m_Distance[next] = m_Distance[current] + 1.0f;
+        m_CameFrom[next] = current;
 
-                if (next == end) {          // early exit
-                    early_exit = true;
-                    break;
-                }
-            }
+        if (next == end) { // early exit
+          early_exit = true;
+          break;
         }
+      }
     }
+  }
 
-    // --------------- reconstruct path -----------------
-    if (m_CameFrom.find(end) == m_CameFrom.end())
-        return {};                        // end not reached
+  // --------------- reconstruct path -----------------
+  if (m_CameFrom.find(end) == m_CameFrom.end())
+    return {}; // end not reached
 
-    Path path;
-    TilePos cur = end;
+  Path path;
+  TilePos cur = end;
+  path.push_back(m_Map->TileToWorld(cur));
+  while (cur != start) {
+    cur = m_CameFrom[cur];
     path.push_back(m_Map->TileToWorld(cur));
-    while (cur != start) {
-        cur = m_CameFrom[cur];
-        path.push_back(m_Map->TileToWorld(cur));
-    }
-    std::reverse(path.begin(), path.end());
-    return path;
+  }
+  std::reverse(path.begin(), path.end());
+  return path;
 }
 
-} // pathfinder namespace
+} // namespace pathfinder

cpp/src/pathfinder/bfs.hpp

@@ -8,13 +8,13 @@
 #include "math.hpp"
 
 namespace pathfinder {
-  
-class BFS: public PathFinderBase {
+
+class BFS final : public PathFinderBase {
 
 public:
-  BFS(const Map* m): PathFinderBase(m) {}
+  BFS(const Map *m) : PathFinderBase(m) {}
   Path CalculatePath(WorldPos start, WorldPos end) override;
-  const std::string_view& GetName() const override { return m_Name; }
+  const std::string_view &GetName() const override { return m_Name; }
 
 private:
   const std::string_view m_Name = "Breadth First Search";
@@ -22,4 +22,4 @@ private:
   std::unordered_map<TilePos, TilePos, TilePosHash> m_CameFrom;
 };
 
-}
+} // namespace pathfinder

cpp/src/pathfinder/dijkstra.cpp

@@ -3,71 +3,69 @@
 #include "dijkstra.hpp"
 
 #include "base.hpp"
-#include "utils.hpp"
-#include "math.hpp"
 #include "map.hpp"
+#include "math.hpp"
+#include "utils.hpp"
 
 namespace pathfinder {
 
-Path Dijkstra::CalculatePath(WorldPos start_world, WorldPos end_world)
-{
+Path Dijkstra::CalculatePath(WorldPos start_world, WorldPos end_world) {
   using QueueEntry = utils::QueueEntry;
 
-  if (!m_Map) return {};
+  if (!m_Map)
+    return {};
 
   const TilePos start = m_Map->WorldToTile(start_world);
-  const TilePos end   = m_Map->WorldToTile(end_world);
+  const TilePos end = m_Map->WorldToTile(end_world);
 
   if (!m_Map->IsTilePosValid(start) || !m_Map->IsTilePosValid(end))
-      return {};
-  if (start == end) return {};
+    return {};
+  if (start == end)
+    return {};
 
   // clear previous run
   m_CameFrom.clear();
   m_Cost.clear();
 
-  std::priority_queue<QueueEntry, std::vector<QueueEntry>, std::greater<>> frontier;
+  std::priority_queue<QueueEntry, std::vector<QueueEntry>, std::greater<>>
+      frontier;
   frontier.push({0.0f, start});
-  m_CameFrom[start] = start;   // sentinel
-  m_Cost[start]     = 0.0f;
+  m_CameFrom[start] = start; // sentinel
+  m_Cost[start] = 0.0f;
 
-  while (!frontier.empty())
-  {
-      const QueueEntry current = frontier.top();
-      frontier.pop();
+  while (!frontier.empty()) {
+    const QueueEntry current = frontier.top();
+    frontier.pop();
 
-      if (current.tile == end)          // early exit
-          break;
+    if (current.tile == end) // early exit
+      break;
 
-      for (TilePos next : m_Map->GetNeighbors(current.tile))
-      {
-          // cost of moving to neighbour (uniform 1.0 matches original BFS)
-          const float newCost = m_Cost[current.tile] + m_Map->GetCost(next);
+    for (TilePos next : m_Map->GetNeighbors(current.tile)) {
+      // cost of moving to neighbour (uniform 1.0 matches original BFS)
+      const float newCost = m_Cost[current.tile] + m_Map->GetCost(next);
 
-          if (!m_Cost.count(next) || newCost < m_Cost[next])
-          {
-              m_Cost[next]     = newCost;
-              m_CameFrom[next] = current.tile;
-              frontier.push({newCost, next});
-          }
+      if (!m_Cost.count(next) || newCost < m_Cost[next]) {
+        m_Cost[next] = newCost;
+        m_CameFrom[next] = current.tile;
+        frontier.push({newCost, next});
       }
+    }
   }
 
   // reconstruct path
   if (!m_CameFrom.count(end))
-      return {};                   // goal never reached
+    return {}; // goal never reached
 
   Path path;
   TilePos cur = end;
   path.push_back(m_Map->TileToWorld(cur));
 
-  while (cur != start)
-  {
-      cur = m_CameFrom[cur];
-      path.push_back(m_Map->TileToWorld(cur));
+  while (cur != start) {
+    cur = m_CameFrom[cur];
+    path.push_back(m_Map->TileToWorld(cur));
   }
   std::reverse(path.begin(), path.end());
   return path;
 }
 
-} // pathfinder namespace
+} // namespace pathfinder

cpp/src/pathfinder/dijkstra.hpp

@@ -10,12 +10,12 @@
 
 namespace pathfinder {
 
-class Dijkstra: public PathFinderBase {
+class Dijkstra final : public PathFinderBase {
 
 public:
-  Dijkstra(const Map* m): PathFinderBase(m) {}
+  Dijkstra(const Map *m) : PathFinderBase(m) {}
   Path CalculatePath(WorldPos start, WorldPos end) override;
-  const std::string_view& GetName() const override { return m_Name; }
+  const std::string_view &GetName() const override { return m_Name; }
 
 private:
   const std::string_view m_Name = "Dijkstra's Algorithm";
@@ -23,4 +23,4 @@ private:
   std::unordered_map<TilePos, TilePos, TilePosHash> m_CameFrom;
 };
 
-} // pathfinder namespace
+} // namespace pathfinder

cpp/src/pathfinder/gbfs.cpp

@@ -3,69 +3,67 @@
 #include "gbfs.hpp"
 
 #include "base.hpp"
-#include "math.hpp"
 #include "map.hpp"
+#include "math.hpp"
 #include "pathfinder/utils.hpp"
 
 namespace pathfinder {
 
-float GBFS::Heuristic(const TilePos& a, const TilePos& b)
-{
-    return static_cast<float>(std::abs(a.x() - b.x()) + std::abs(a.y() - b.y()));
+float GBFS::Heuristic(const TilePos &a, const TilePos &b) {
+  return static_cast<float>(std::abs(a.x() - b.x()) + std::abs(a.y() - b.y()));
 }
 
-Path GBFS::CalculatePath(WorldPos start_world, WorldPos end_world)
-{
+Path GBFS::CalculatePath(WorldPos start_world, WorldPos end_world) {
   using QueueEntry = pathfinder::utils::QueueEntry;
 
-  if (!m_Map) return {};
+  if (!m_Map)
+    return {};
 
   const TilePos start = m_Map->WorldToTile(start_world);
-  const TilePos end   = m_Map->WorldToTile(end_world);
+  const TilePos end = m_Map->WorldToTile(end_world);
 
   if (!m_Map->IsTilePosValid(start) || !m_Map->IsTilePosValid(end))
-      return {};
-  if (start == end) return {};
+    return {};
+  if (start == end)
+    return {};
 
   m_CameFrom.clear();
 
-  std::priority_queue<QueueEntry, std::vector<QueueEntry>, std::greater<>> frontier;
+  std::priority_queue<QueueEntry, std::vector<QueueEntry>, std::greater<>>
+      frontier;
   frontier.push({Heuristic(start, end), start});
-  m_CameFrom[start] = start;  // sentinel
+  m_CameFrom[start] = start; // sentinel
 
-  while (!frontier.empty())
-  {
-      const QueueEntry current = frontier.top();
-      frontier.pop();
+  while (!frontier.empty()) {
+    const QueueEntry current = frontier.top();
+    frontier.pop();
 
-      if (current.tile == end)  // early exit
-          break;
+    if (current.tile == end) // early exit
+      break;
 
-      for (TilePos next : m_Map->GetNeighbors(current.tile))
+    for (TilePos next : m_Map->GetNeighbors(current.tile)) {
+      if (!m_CameFrom.count(next)) // not visited
       {
-          if (!m_CameFrom.count(next))  // not visited
-          {
-              m_CameFrom[next] = current.tile;
-              frontier.push({Heuristic(end, next), next});
-          }
+        m_CameFrom[next] = current.tile;
+        frontier.push({Heuristic(end, next), next});
       }
+    }
   }
 
   // reconstruct path
   if (!m_CameFrom.count(end))
-      return {};  // goal never reached
+    return {}; // goal never reached
 
   Path path;
   TilePos cur = end;
   path.push_back(m_Map->TileToWorld(cur));
 
-  while (cur != start)
-  {
-      cur = m_CameFrom[cur];
-      path.push_back(m_Map->TileToWorld(cur));
+  while (cur != start) {
+    cur = m_CameFrom[cur];
+    path.push_back(m_Map->TileToWorld(cur));
   }
   std::reverse(path.begin(), path.end());
   return path;
 }
 
-} // pathfinder namespace
+} // namespace pathfinder

cpp/src/pathfinder/gbfs.hpp

@@ -10,17 +10,17 @@
 
 namespace pathfinder {
 
-class GBFS: public PathFinderBase {
+class GBFS final : public PathFinderBase {
 
 public:
-  GBFS(const Map* m): PathFinderBase(m) {}
+  GBFS(const Map *m) : PathFinderBase(m) {}
   Path CalculatePath(WorldPos start, WorldPos end) override;
-  const std::string_view& GetName() const override { return m_Name; }
+  const std::string_view &GetName() const override { return m_Name; }
 
 private:
-  static float Heuristic(const TilePos& a, const TilePos& b);
+  static float Heuristic(const TilePos &a, const TilePos &b);
   const std::string_view m_Name = "Greedy Best First Search";
   std::unordered_map<TilePos, TilePos, TilePosHash> m_CameFrom;
 };
 
-} // pathfinder namespace
+} // namespace pathfinder

cpp/src/pathfinder/utils.cpp

@@ -3,9 +3,9 @@
 #include "utils.hpp"
 
 #include "base.hpp"
+#include "log.hpp"
 #include "map.hpp"
 #include "math.hpp"
-#include "log.hpp"
 #include "pathfinder/bfs.hpp"
 #include "pathfinder/dijkstra.hpp"
 #include "pathfinder/gbfs.hpp"
@@ -13,23 +13,23 @@
 namespace pathfinder {
 namespace utils {
 
-std::unique_ptr<PathFinderBase> create(PathFinderType type, const Map* map) {
+std::unique_ptr<PathFinderBase> create(PathFinderType type, const Map *map) {
   using namespace pathfinder;
   switch (type) {
-    case PathFinderType::LINEAR:
-      return std::move(std::make_unique<LinearPathFinder>(map));
-    case PathFinderType::BFS:
-      return std::move(std::make_unique<BFS>(map));
-    case PathFinderType::DIJKSTRA:
-      return std::move(std::make_unique<Dijkstra>(map));
-    case PathFinderType::GBFS:
-      return std::move(std::make_unique<GBFS>(map));
-    case PathFinderType::COUNT:
-      LOG_WARNING("Incorrect pathfinder type");
-      return nullptr;
+  case PathFinderType::LINEAR:
+    return std::make_unique<LinearPathFinder>(map);
+  case PathFinderType::BFS:
+    return std::make_unique<BFS>(map);
+  case PathFinderType::DIJKSTRA:
+    return std::make_unique<Dijkstra>(map);
+  case PathFinderType::GBFS:
+    return std::make_unique<GBFS>(map);
+  case PathFinderType::COUNT:
+    LOG_WARNING("Incorrect pathfinder type");
+    return nullptr;
   };
   return nullptr;
 }
 
-} // utils namespace
-} // pathfinding namespace
+} // namespace utils
+} // namespace pathfinder

cpp/src/pathfinder/utils.hpp

@@ -10,16 +10,16 @@
 namespace pathfinder {
 namespace utils {
 
-struct QueueEntry
-{
-    float cost;
-    TilePos tile;
+struct QueueEntry {
+  float cost;
+  TilePos tile;
 
-    // min-heap -> smallest cost on top
-    bool operator>(const QueueEntry& o) const noexcept { return cost > o.cost; }
+  // min-heap -> smallest cost on top
+  bool operator>(const QueueEntry &o) const noexcept { return cost > o.cost; }
 };
 
-std::unique_ptr<pathfinder::PathFinderBase> create(pathfinder::PathFinderType type, const Map* map);
+std::unique_ptr<pathfinder::PathFinderBase>
+create(pathfinder::PathFinderType type, const Map *map);
 
-} // utils namespace
-} // pathfinding namespace
+} // namespace utils
+} // namespace pathfinder

cpp/src/pathfindingdemo.cpp

@@ -8,23 +8,21 @@
 #include "entities.hpp"
 #include "log.hpp"
 #include "map.hpp"
-#include "user_input.hpp"
 #include "pathfinder/base.hpp"
 #include "pathfinder/utils.hpp"
 #include "tile.hpp"
+#include "user_input.hpp"
 
-PathFindingDemo::PathFindingDemo(int width, int height) :
-  m_Map(width, height)
-{
+PathFindingDemo::PathFindingDemo(int width, int height) : m_Map(width, height) {
   LOG_DEBUG(".");
   // set default pathfinder method
-  m_PathFinder = pathfinder::utils::create(pathfinder::PathFinderType::DIJKSTRA, (const Map*)&m_Map);
+  m_PathFinder = pathfinder::utils::create(pathfinder::PathFinderType::DIJKSTRA,
+                                           (const Map *)&m_Map);
 }
 
 PathFindingDemo::~PathFindingDemo() { LOG_DEBUG("."); }
 
 void PathFindingDemo::AddEntity(std::shared_ptr<Entity> e) {
-  // TODO emplace_back
   m_Entities.push_back(e);
 }
 
@@ -33,112 +31,185 @@ void PathFindingDemo::CreateMap() {
   m_Map.PaintCircle(TilePos{50, 50}, 10, TileType::WATER);
   m_Map.PaintCircle(TilePos{75, 100}, 50, TileType::WATER);
   // river
-  m_Map.PaintLine(TilePos{0,0}, TilePos{100,100}, 3.0, TileType::WATER);
+  m_Map.PaintLine(TilePos{0, 0}, TilePos{100, 100}, 3.0, TileType::WATER);
   // road
-  m_Map.PaintLine(TilePos{17,6}, TilePos{100,6}, 5.0, TileType::ROAD);
-  m_Map.PaintLine(TilePos{10,17}, TilePos{10,100}, 5.0, TileType::ROAD);
-  m_Map.PaintLine(TilePos{20,10}, TilePos{10,20}, 5.0, TileType::ROAD);
+  m_Map.PaintLine(TilePos{17, 6}, TilePos{100, 6}, 5.0, TileType::ROAD);
+  m_Map.PaintLine(TilePos{10, 17}, TilePos{10, 100}, 5.0, TileType::ROAD);
+  m_Map.PaintLine(TilePos{20, 10}, TilePos{10, 20}, 5.0, TileType::ROAD);
   // bridges
-  m_Map.PaintLine(TilePos{50,75}, TilePos{70,75}, 5.0, TileType::WOOD);
-  m_Map.PaintLine(TilePos{95,26}, TilePos{95,60}, 5.0, TileType::WOOD);
+  m_Map.PaintLine(TilePos{50, 75}, TilePos{70, 75}, 5.0, TileType::WOOD);
+  m_Map.PaintLine(TilePos{95, 26}, TilePos{95, 60}, 5.0, TileType::WOOD);
   // island
-  m_Map.PaintRectangle(TilePos{70, 60}, TilePos{100,100}, TileType::GRASS);
+  m_Map.PaintRectangle(TilePos{70, 60}, TilePos{100, 100}, TileType::GRASS);
   // walls
-  m_Map.PaintLine(TilePos{71,60}, TilePos{90,60}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{77,67}, TilePos{100,67}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{71,60}, TilePos{71,75}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{72,73}, TilePos{95,73}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{95,73}, TilePos{95,90}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{71,81}, TilePos{71,100}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{72,81}, TilePos{90,81}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{89,87}, TilePos{89,100}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{84,81}, TilePos{84,96}, 1.0, TileType::WALL);
-  m_Map.PaintLine(TilePos{78,87}, TilePos{78,100}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{71, 60}, TilePos{90, 60}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{77, 67}, TilePos{100, 67}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{71, 60}, TilePos{71, 75}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{72, 73}, TilePos{95, 73}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{95, 73}, TilePos{95, 90}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{71, 81}, TilePos{71, 100}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{72, 81}, TilePos{90, 81}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{89, 87}, TilePos{89, 100}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{84, 81}, TilePos{84, 96}, 1.0, TileType::WALL);
+  m_Map.PaintLine(TilePos{78, 87}, TilePos{78, 100}, 1.0, TileType::WALL);
 
-  // add player
+  // add some controllable entities
   m_Entities.clear();
-  m_Player = std::make_shared<Player>();
-  m_Player->SetPosition(m_Map.TileToWorld(TilePos{25, 20}));
-  m_Entities.push_back(m_Player);
+  auto player = std::make_shared<Player>();
+  player->SetPosition(m_Map.TileToWorld(TilePos{25, 20}));
+  AddEntity(player);
+
+  auto player2 = std::make_shared<Player>();
+  player2->SetPosition(m_Map.TileToWorld(TilePos{50, 20}));
+  AddEntity(player2);
 }
 
 WorldPos PathFindingDemo::GetRandomPosition() const {
   return WorldPos{0.0f, 0.0f}; // totally random!
 }
 
-std::optional<WorldPos> PathFindingDemo::GetMoveTarget() {
-  WorldPos current_player_pos = GetPlayer()->GetPosition();
+const std::vector<Collision> &PathFindingDemo::GetEntityCollisions() {
+  static std::vector<Collision> m_Collisions;
+  m_Collisions.clear();
 
-  if (m_Path.empty()) {
-    return {};
+  for (const auto &entity_A : m_Entities) {
+    for (const auto &entity_B : m_Entities) {
+      if (entity_A == entity_B)
+        continue;
+      if (!entity_A->IsCollidable() || !entity_B->IsCollidable())
+        continue;
+      if (entity_A->CollidesWith(*entity_B)) {
+        // handle collision logic
+        m_Collisions.emplace_back(Collision(entity_A, entity_B));
+      }
+    }
   }
-
-  WorldPos next_player_pos = m_Path.front();
-
-  if (current_player_pos.DistanceTo(next_player_pos) > 1.0) {
-    // target not reached yet
-    return next_player_pos;
-  }
-  // target reached, pop it
-  //m_MoveQueue.pop();
-  m_Path.erase(m_Path.begin());
-  // return nothing - if there's next point in the queue,
-  // we'll get it in the next iteration
-  return {};
+  return m_Collisions;
 }
 
-void PathFindingDemo::UpdatePlayerVelocity() {
-  auto player = GetPlayer();
-  auto current_pos = player->GetPosition();
-  double tile_velocity_coeff = m_Map.GetTileVelocityCoeff(current_pos);
-  auto next_pos = GetMoveTarget();
-  WorldPos velocity = WorldPos{};
-  if (next_pos)
-  {
-    velocity = next_pos.value() - current_pos;
-    velocity.Normalize();
-    //LOG_DEBUG("I want to move to: ", next_pos.value(),
-    //          ", velocity: ", velocity);
-  }
-  player->SetActualVelocity(velocity * tile_velocity_coeff);
+// Update entity positions, handle collisions
+void PathFindingDemo::UpdateWorld() {
+
   float time_delta = 1.0f;
-  player->Update(time_delta);
+
+  for (auto &entity : m_Entities) {
+    // calculate the velocity
+    auto current_pos = entity->GetPosition();
+    double tile_velocity_coeff = m_Map.GetTileVelocityCoeff(current_pos);
+    auto next_pos = entity->GetMoveTarget();
+    WorldPos velocity = WorldPos{};
+    if (next_pos) {
+      velocity = next_pos.value() - current_pos;
+      velocity.Normalize();
+      // LOG_DEBUG("I want to move to: ", next_pos.value(),
+      //           ", velocity: ", velocity);
+    }
+    entity->SetActualVelocity(velocity * tile_velocity_coeff);
+
+    for (const auto &collision : GetEntityCollisions()) {
+      auto weak_A = std::get<0>(collision);
+      auto weak_B = std::get<1>(collision);
+      auto A = weak_A.lock();
+      auto B = weak_B.lock();
+      if (A == nullptr || B == nullptr) {
+        continue;
+      }
+      if (!A->IsMovable())
+        continue;
+      // modify actual speed
+      // LOG_DEBUG("Collision: A is ", A, ", B is ", B);
+      auto AB = B->GetPosition() - A->GetPosition();
+      A->ZeroActualVelocityInDirection(AB);
+    }
+
+    // update the position
+    entity->Update(time_delta);
+  }
 }
 
-void PathFindingDemo::HandleActions(const std::vector<UserAction> &actions)
-{
-  for (const auto &action : actions)
-  {
-    if (action.type == UserAction::Type::EXIT)
-    {
+void PathFindingDemo::HandleActions(const std::vector<UserAction> &actions) {
+  for (const auto &action : actions) {
+    if (action.type == UserAction::Type::EXIT) {
       LOG_INFO("Exit requested");
       m_ExitRequested = true;
-    }
-    else if (action.type == UserAction::Type::SET_MOVE_TARGET)
-    {
-      WorldPos wp = m_Camera.WindowToWorld(action.Argument.position);
-      LOG_INFO("Calculating path to target: ", wp);
-      m_Path = m_PathFinder->CalculatePath(m_Player->GetPosition(), wp);
-      LOG_INFO("Done, path node count: ", m_Path.size());
-    }
-    else if (action.type == UserAction::Type::SELECT_PATHFINDER)
-    {
+    } else if (action.type == UserAction::Type::SET_MOVE_TARGET) {
+      WorldPos target_pos =
+          m_Camera.WindowToWorld(std::get<WindowPos>(action.Argument));
+      for (auto &selected_entity : m_SelectedEntities) {
+        LOG_INFO("Calculating path to target: ", target_pos);
+        if (auto sp = selected_entity.lock()) {
+          auto path =
+              m_PathFinder->CalculatePath(sp->GetPosition(), target_pos);
+          sp->SetPath(path);
+          LOG_INFO("Done, path node count: ", path.size());
+        } else {
+          LOG_INFO("Cannot calculate path for destroyed entity "
+                   "(weak_ptr.lock() failed)");
+        }
+      }
+    } else if (action.type == UserAction::Type::SELECT_PATHFINDER) {
       using namespace pathfinder;
-      PathFinderType type = static_cast<PathFinderType>(action.Argument.number);
-      m_PathFinder = pathfinder::utils::create(type, (const Map*)&m_Map);
+      PathFinderType type =
+          static_cast<PathFinderType>(std::get<int32_t>(action.Argument));
+      m_PathFinder = pathfinder::utils::create(type, (const Map *)&m_Map);
       LOG_INFO("Switched to path finding method: ", m_PathFinder->GetName());
-    }
-    else if (action.type == UserAction::Type::CAMERA_PAN)
-    {
-      const auto& window_pan = action.Argument.position;
+    } else if (action.type == UserAction::Type::CAMERA_PAN) {
+      const auto &window_pan = std::get<WindowPos>(action.Argument);
       WorldPos world_pan{window_pan.x(), window_pan.y()};
       m_Camera.Pan(world_pan);
       LOG_INFO("Camera pan delta: ", world_pan);
-    }
-    else if (action.type == UserAction::Type::CAMERA_ZOOM)
-    {
-      m_Camera.Zoom(action.Argument.float_number);
-      LOG_INFO("Camera zoom: ", action.Argument.float_number);
+    } else if (action.type == UserAction::Type::CAMERA_ZOOM) {
+      m_Camera.Zoom(std::get<float>(action.Argument));
+      LOG_INFO("Camera zoom: ", std::get<float>(action.Argument));
+    } else if (action.type == UserAction::Type::SELECTION_START) {
+      m_SelectionBox.active = true;
+      m_SelectionBox.start = std::get<WindowPos>(action.Argument);
+      m_SelectionBox.end = std::get<WindowPos>(action.Argument);
+    } else if (action.type == UserAction::Type::SELECTION_END) {
+      m_SelectionBox.end = std::get<WindowPos>(action.Argument);
+      m_SelectionBox.active = false;
+      auto diff = m_SelectionBox.end - m_SelectionBox.start;
+      // here we explicitly change the vector type from WindowPos to WindowSize
+      m_SelectionBox.size = diff.ChangeTag<WindowSizeTag>();
+      WorldPos start = m_Camera.WindowToWorld(m_SelectionBox.start);
+      WorldPos end = m_Camera.WindowToWorld(m_SelectionBox.end);
+      SelectEntitiesInRectangle(start, end);
+    } else if (action.type == UserAction::Type::SELECTION_CHANGE) {
+      m_SelectionBox.end = std::get<WindowPos>(action.Argument);
+      auto diff = m_SelectionBox.end - m_SelectionBox.start;
+      m_SelectionBox.size = diff.ChangeTag<WindowSizeTag>();
     }
   };
 }
+
+void PathFindingDemo::DeselectEntities() {
+  std::for_each(m_SelectedEntities.begin(), m_SelectedEntities.end(),
+                [](auto &x) {
+                  if (auto entity = x.lock())
+                    entity->Deselect();
+                });
+  m_SelectedEntities.clear();
+}
+
+void PathFindingDemo::SelectEntitiesInRectangle(WorldPos A, WorldPos B) {
+  DeselectEntities();
+  auto [x_min, x_max] = std::minmax(A.x(), B.x());
+  auto [y_min, y_max] = std::minmax(A.y(), B.y());
+  for (const auto &entity : m_Entities) {
+    const auto &pos = entity->GetPosition();
+    bool x_in_range = x_min < pos.x() && pos.x() < x_max;
+    bool y_in_range = y_min < pos.y() && pos.y() < y_max;
+    if (x_in_range && y_in_range) {
+      m_SelectedEntities.push_back(std::weak_ptr(entity));
+      entity->Select();
+    }
+  }
+  LOG_INFO("Selected ", m_SelectedEntities.size(), " entities");
+}
+
+std::pair<WindowPos, WindowSize> PathFindingDemo::GetSelectionBoxPosSize() {
+  const auto &pos = m_SelectionBox.start;
+  WindowPos size_pos = m_SelectionBox.end - m_SelectionBox.start;
+  WindowSize size = size_pos.ChangeTag<WindowSizeTag>();
+  return std::pair(pos, size);
+}

cpp/src/pathfindingdemo.hpp

@@ -5,12 +5,20 @@
 #include <queue>
 #include <vector>
 
+#include "camera.hpp"
 #include "entities.hpp"
 #include "log.hpp"
 #include "map.hpp"
-#include "user_input.hpp"
 #include "pathfinder/base.hpp"
-#include "camera.hpp"
+#include "user_input.hpp"
+
+using Collision = std::pair<std::weak_ptr<Entity>, std::weak_ptr<Entity>>;
+
+struct SelectionBox {
+  WindowPos start, end;
+  WindowSize size;
+  bool active;
+};
 
 class PathFindingDemo {
 public:
@@ -22,26 +30,33 @@ public:
   PathFindingDemo &operator=(const PathFindingDemo &) = delete;
   PathFindingDemo &operator=(PathFindingDemo &&) = delete;
 
-  std::shared_ptr<Player> GetPlayer() { return m_Player; }
-  std::vector<std::shared_ptr<Entity>>& GetEntities() { return m_Entities; }
-  const Map& GetMap() const { return m_Map; }
-  const Camera& GetCamera() const { return m_Camera; }
-  const pathfinder::Path& GetPath() const { return m_Path; }
+  std::vector<std::shared_ptr<Entity>> &GetEntities() { return m_Entities; }
+  const Map &GetMap() const { return m_Map; }
+  const Camera &GetCamera() const { return m_Camera; }
   bool IsExitRequested() const { return m_ExitRequested; }
 
   void AddEntity(std::shared_ptr<Entity> e);
   void CreateMap();
-  std::optional<WorldPos> GetMoveTarget();
-  void UpdatePlayerVelocity();
+  void UpdateWorld();
   void HandleActions(const std::vector<UserAction> &actions);
   WorldPos GetRandomPosition() const;
 
+  void SelectEntitiesInRectangle(WorldPos A, WorldPos B);
+  void DeselectEntities();
+  bool IsSelectionBoxActive() const { return m_SelectionBox.active; }
+  std::pair<WindowPos, WindowSize> GetSelectionBoxPosSize();
+  std::vector<std::weak_ptr<Entity>> GetSelectedEntities() {
+    return m_SelectedEntities;
+  }
+
 private:
+  const std::vector<Collision> &GetEntityCollisions();
+
   bool m_ExitRequested = false;
   Map m_Map;
   Camera m_Camera;
   std::vector<std::shared_ptr<Entity>> m_Entities;
-  std::shared_ptr<Player> m_Player;
-  pathfinder::Path m_Path;
   std::unique_ptr<pathfinder::PathFinderBase> m_PathFinder;
+  std::vector<std::weak_ptr<Entity>> m_SelectedEntities;
+  SelectionBox m_SelectionBox;
 };

cpp/src/positional_container.hpp

@@ -0,0 +1,203 @@
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <cstdlib>
+#include <iterator>
+#include <memory>
+#include <vector>
+
+#include "log.hpp"
+#include "math.hpp"
+
+template <typename T>
+concept HasPosition = requires(T t, WorldPos pos) {
+  { t.GetPosition() } -> std::convertible_to<WorldPos>;
+  t.SetPosition(pos);
+};
+
+template <typename T>
+  requires HasPosition<T>
+
+class IPositionalContainer {
+public:
+  virtual ~IPositionalContainer() = default;
+  virtual bool Add(std::shared_ptr<T> t) = 0;
+  virtual std::vector<std::weak_ptr<T>> Get(const WorldPos &p,
+                                            float radius) = 0;
+  virtual void UpdateAll() = 0;
+  virtual void Update(std::shared_ptr<T> item) = 0;
+};
+
+template <typename T>
+class IColliderContainer : public IPositionalContainer<T> {
+public:
+  virtual std::vector<std::weak_ptr<T>> GetCollisions() = 0;
+};
+
+template <typename T> class SimpleContainer : IPositionalContainer<T> {
+public:
+  bool Add(std::shared_ptr<T> t) override {
+    m_Items.push_back(t);
+    return true;
+  }
+
+  std::vector<std::weak_ptr<T>> Get(const WorldPos &center,
+                                    float radius) override {
+    std::vector<std::weak_ptr<T>> matched_items;
+    for (const auto &item : m_Items) {
+      if (center.DistanceTo(item->GetPosition()) < radius) {
+        matched_items.push_back(item);
+      }
+    }
+    return matched_items;
+  }
+
+  // no update needed here, as we have no smart lookup scheme
+  void UpdateAll() override {}
+  void Update(std::shared_ptr<T>) override {}
+
+private:
+  std::vector<std::shared_ptr<T>> m_Items;
+};
+
+template <class T> class PositionalContainer : IPositionalContainer<T> {
+public:
+  PositionalContainer(const WorldSize &size, size_t chunks)
+      : m_GridSize{size}, m_GridStep{size / chunks}, m_ChunksPerAxis{chunks} {
+    LOG_INFO("Size: ", m_GridSize, " step: ", m_GridStep);
+    m_Grid.reserve(chunks);
+    for (size_t i = 0; i < chunks; i++) {
+      m_Grid.emplace_back(chunks);
+      for (size_t j = 0; j < chunks; j++) {
+        m_Grid[i][j].reserve(16);
+      }
+    }
+  }
+
+  // calling Add on object that is already in the container is UB
+  bool Add(std::shared_ptr<T> item) override {
+    const auto &world_pos = item->GetPosition();
+    if (!CheckBounds(world_pos)) {
+      return false;
+    }
+    m_Items.push_back(item);
+    auto coords = GetCoords(world_pos);
+    m_Grid[coords.x()][coords.y()].push_back(item);
+    m_ReverseGridLookup[item] = coords;
+    return true;
+  }
+
+  std::vector<std::weak_ptr<T>> Get(const WorldPos &center,
+                                    float radius) override {
+    vector_wptr output_vec{};
+
+    Get(output_vec, center, radius);
+
+    return output_vec;
+  }
+
+  void Get(std::vector<std::weak_ptr<T>> &output_vec, const WorldPos &corner,
+           const WorldSize &size) {
+    const WorldSize half_size = size / 2.0f;
+    const WorldPos center = corner + half_size.ChangeTag<WorldPos>();
+    float radius = half_size.x();
+    Get(output_vec, center, radius);
+  }
+
+  void Get(std::vector<std::weak_ptr<T>> &output_vec, const WorldPos &center,
+           float radius) {
+    output_vec.clear();
+    const WorldPos corner_1 = center + radius;
+    const WorldPos corner_2 = center - radius;
+
+    const auto A = GetCoords(corner_1);
+    const auto B = GetCoords(corner_2);
+
+    auto [x_min_f, x_max_f] = std::minmax(A.x(), B.x());
+    auto [y_min_f, y_max_f] = std::minmax(A.y(), B.y());
+
+    size_t x_min = static_cast<size_t>(std::floor(x_min_f));
+    size_t x_max = static_cast<size_t>(std::ceil(x_max_f));
+    size_t y_min = static_cast<size_t>(std::floor(y_min_f));
+    size_t y_max = static_cast<size_t>(std::ceil(y_max_f));
+
+    for (size_t x = x_min; x <= x_max; x++) {
+      for (size_t y = y_min; y <= y_max; y++) {
+        if (!CheckBounds(x, y)) {
+          continue;
+        }
+        for (auto item_wptr : m_Grid[x][y]) {
+          if (auto shared = item_wptr.lock()) {
+            if (center.DistanceTo(shared->GetPosition()) < radius) {
+              output_vec.push_back(item_wptr);
+            }
+          }
+        }
+      }
+    }
+  }
+
+  void UpdateAll() override {
+    for (auto ptr : m_Items) {
+      Update(ptr);
+    }
+  }
+  void Update(std::shared_ptr<T> item) override {
+    coord_type current_coords = GetCoords(item->GetPosition());
+    coord_type last_known_coords = m_ReverseGridLookup[item];
+    if (current_coords == last_known_coords) {
+      return;
+    }
+    vector_wptr &vec = m_Grid[last_known_coords.x()][last_known_coords.y()];
+    // remove the old weak ptr from the map
+    vec.erase(std::remove_if(vec.begin(), vec.end(),
+                             [&](const std::weak_ptr<T> &w) {
+                               return !w.owner_before(item) &&
+                                      !item.owner_before(w);
+                             }),
+              vec.end());
+    // add new weak ptr to the map
+    m_Grid[current_coords.x()][current_coords.y()].push_back(item);
+  }
+
+private:
+  using coord_type = vec<size_t, 2>;
+  using vector_wptr = std::vector<std::weak_ptr<T>>;
+  using grid_type = std::vector<std::vector<vector_wptr>>;
+
+  coord_type GetCoords(const WorldPos &wp) {
+    auto coord_float = wp / m_GridStep.ChangeTag<WorldPos>();
+    return coord_type{static_cast<size_t>(coord_float.x()),
+                      static_cast<size_t>(coord_float.y())};
+  }
+
+  bool CheckBounds(size_t x, size_t y) const {
+    bool x_in_bounds = x < m_Grid.size();
+    bool y_in_bounds = y < m_Grid.size();
+    return x_in_bounds && y_in_bounds;
+  }
+
+  bool CheckBounds(const WorldPos &pos) const {
+    auto [x, y] = pos;
+    bool x_in_bounds = 0.0f < x && x < m_GridSize.x();
+    bool y_in_bounds = 0.0f < y && y < m_GridSize.y();
+    return x_in_bounds && y_in_bounds;
+  }
+
+  WorldSize m_GridSize;
+  WorldSize m_GridStep;
+  size_t m_ChunksPerAxis;
+  std::vector<std::shared_ptr<T>> m_Items;
+  grid_type m_Grid;
+
+  // normal  lookup: WorldPos -> coord_type -> vector_wptr -> std::shared_ptr<T>
+  // reverse lookup: std::shared_ptr<T> -> vector_wptr -> coord_type
+  // we need the reverse lookup because T.GetPosition() may change and we need
+  // to delete the old weak_ptr from vector_wptr (without iterating through all
+  // of them). Also it might be useful to have T -> location lookup Note: hash
+  // of std::shared_ptr<T> may give us trouble if we free the memory and new one
+  // points to the same location, maybe it would be better to hash the object
+  // itself? NOTE how about using counting bloom filter for this?
+  std::unordered_map<std::shared_ptr<T>, coord_type> m_ReverseGridLookup;
+};

cpp/src/sprite.cpp

@@ -26,7 +26,7 @@ void Sprite::LoadImage(std::string path, WorldPos image_center) {
       IMG_Load(path.c_str()), SDL_DestroySurface);
 
   if (surface == nullptr) {
-    LOG_ERROR("IMG_Load failed to load ", path);
+    LOG_ERROR("IMG_Load failed: ", SDL_GetError());
     throw std::runtime_error("Failed to load resources");
   }
 

cpp/src/tile.cpp

@@ -6,9 +6,9 @@
 // we could use array here, but this is more explicit,
 // and we don't access tile_types that often, so it should be ok
 const std::unordered_map<TileType, Tile> tile_types = {
-    { TileType::GRASS, Tile{1.0,    0, 200,   0, 255}},
-    { TileType::WOOD,  Tile{1.0,  132,  68,   0, 255}},
-    { TileType::ROAD,  Tile{0.5,   20,  20,  20, 255}},
-    { TileType::WATER, Tile{10.0,   0,  50, 200, 255}},
-    { TileType::WALL,  Tile{1000.0, 144,  33,   0, 255}},
+    {TileType::GRASS, Tile{1.0, 0, 200, 0, 255}},
+    {TileType::WOOD, Tile{1.0, 132, 68, 0, 255}},
+    {TileType::ROAD, Tile{0.5, 20, 20, 20, 255}},
+    {TileType::WATER, Tile{10.0, 0, 50, 200, 255}},
+    {TileType::WALL, Tile{1000.0, 144, 33, 0, 255}},
 };

cpp/src/tile.hpp

@@ -1,9 +1,9 @@
 #pragma once
 
+#include <array>
 #include <cstdint>
 #include <map>
 #include <string_view>
-#include <array>
 #include <unordered_map>
 
 struct Tile {

cpp/src/user_input.cpp

@@ -2,8 +2,8 @@
 #include <expected>
 #include <map>
 #include <string>
-#include <vector>
 #include <unordered_set>
+#include <vector>
 
 #include "user_input.hpp"
 
@@ -20,113 +20,104 @@ UserInput::~UserInput() { LOG_DEBUG("."); };
 
 std::expected<void, std::string> UserInput::Init() { return {}; }
 
-void UserInput::GetActions_mouse(const SDL_Event& event)
-{
+void UserInput::GetActions_mouse(const SDL_Event &event) {
   static bool mouse_pan = false;
 
   SDL_MouseButtonEvent mouse_event = event.button;
   MouseButton button = static_cast<MouseButton>(mouse_event.button);
 
-  if (event.type == SDL_EVENT_MOUSE_BUTTON_DOWN)
-  {
-    if (button == MouseButton::LEFT)
-    {
-      LOG_DEBUG("Mouse down: ", mouse_event.x, ", ", mouse_event.y);
+  if (event.type == SDL_EVENT_MOUSE_BUTTON_DOWN) {
+    if (button == MouseButton::LEFT) {
+      LOG_DEBUG("Selection start at ", mouse_event.x, ", ", mouse_event.y);
+      m_SelectionActive = true;
+      m_Actions.emplace_back(UserAction::Type::SELECTION_START,
+                             WindowPos{mouse_event.x, mouse_event.y});
+    } else if (button == MouseButton::RIGHT) {
+      LOG_DEBUG("Set move target to: ", mouse_event.x, ", ", mouse_event.y);
       m_Actions.emplace_back(UserAction::Type::SET_MOVE_TARGET,
                              WindowPos{mouse_event.x, mouse_event.y});
-    }
-    else if (button == MouseButton::MIDDLE)
-    {
+    } else if (button == MouseButton::MIDDLE) {
       mouse_pan = true;
     }
-  }
-  else if (event.type == SDL_EVENT_MOUSE_BUTTON_UP)
-  {
-    if (button == MouseButton::MIDDLE)
-    {
+  } else if (event.type == SDL_EVENT_MOUSE_BUTTON_UP) {
+    if (button == MouseButton::LEFT) {
+      LOG_DEBUG("Selection end at ", mouse_event.x, ", ", mouse_event.y);
+      m_SelectionActive = false;
+      m_Actions.emplace_back(UserAction::Type::SELECTION_END,
+                             WindowPos{mouse_event.x, mouse_event.y});
+    }
+    if (button == MouseButton::MIDDLE) {
       mouse_pan = false;
     }
-  }
-  else if (event.type == SDL_EVENT_MOUSE_MOTION)
-  {
+  } else if (event.type == SDL_EVENT_MOUSE_MOTION) {
     SDL_MouseMotionEvent motion_event = event.motion;
-    if (mouse_pan)
-    {
+    if (mouse_pan) {
       m_Actions.emplace_back(UserAction::Type::CAMERA_PAN,
-                             WindowPos{motion_event.xrel, motion_event.yrel});  
+                             WindowPos{motion_event.xrel, motion_event.yrel});
     }
-  }
-  else if(event.type == SDL_EVENT_MOUSE_WHEEL)
-  {
+    if (m_SelectionActive) {
+      m_Actions.emplace_back(UserAction::Type::SELECTION_CHANGE,
+                             WindowPos{mouse_event.x, mouse_event.y});
+    }
+  } else if (event.type == SDL_EVENT_MOUSE_WHEEL) {
     SDL_MouseWheelEvent mouse_wheel = event.wheel;
     m_Actions.emplace_back(UserAction::Type::CAMERA_ZOOM, mouse_wheel.y);
   }
 }
 
-void UserInput::GetActions_keyboard(const SDL_Event& event)
-{
-      bool key_down = event.type == SDL_EVENT_KEY_DOWN ? true : false;
-      SDL_KeyboardEvent kbd_event = event.key;
-      if (kbd_event.repeat) {
-        // SDL repeats KEY_DOWN if key is held down, we ignore that
-        return;
-      }
-      LOG_DEBUG("Key '", static_cast<char>(kbd_event.key),
-                key_down ? "' down" : "' up");
+void UserInput::GetActions_keyboard(const SDL_Event &event) {
+  bool key_down = event.type == SDL_EVENT_KEY_DOWN ? true : false;
+  SDL_KeyboardEvent kbd_event = event.key;
+  if (kbd_event.repeat) {
+    // SDL repeats KEY_DOWN if key is held down, we ignore that
+    return;
+  }
+  LOG_DEBUG("Key '", static_cast<char>(kbd_event.key),
+            key_down ? "' down" : "' up");
 
-      switch (kbd_event.key) {
-      case 'q':
-        m_Actions.emplace_back(UserAction::Type::EXIT);
-        return;
-      case '1':
-      case '2':
-      case '3':
-      case '4':
-        if (key_down) {
-          int selection = kbd_event.key - '0';
-          m_Actions.emplace_back(UserAction::Type::SELECT_PATHFINDER, selection);
-          LOG_INFO("Pathfinder selected: ", selection);
-        }
-       break;
-      default:
-        LOG_INFO("Key '", static_cast<char>(kbd_event.key), "' not mapped");
-        break;
-      }
+  switch (kbd_event.key) {
+  case 'q':
+    m_Actions.emplace_back(UserAction::Type::EXIT);
+    return;
+  case '1':
+  case '2':
+  case '3':
+  case '4':
+    if (key_down) {
+      int selection = kbd_event.key - '0';
+      m_Actions.emplace_back(UserAction::Type::SELECT_PATHFINDER, selection);
+      LOG_INFO("Pathfinder selected: ", selection);
+    }
+    break;
+  default:
+    LOG_INFO("Key '", static_cast<char>(kbd_event.key), "' not mapped");
+    break;
+  }
 }
 
-const std::vector<UserAction>& UserInput::GetActions() {
+const std::vector<UserAction> &UserInput::GetActions() {
 
   static std::unordered_set<uint32_t> mouse_events = {
-    SDL_EVENT_MOUSE_MOTION,
-    SDL_EVENT_MOUSE_BUTTON_DOWN,
-    SDL_EVENT_MOUSE_BUTTON_UP,
-    SDL_EVENT_MOUSE_WHEEL,
-    SDL_EVENT_MOUSE_ADDED,
-    SDL_EVENT_MOUSE_REMOVED,
+      SDL_EVENT_MOUSE_MOTION,    SDL_EVENT_MOUSE_BUTTON_DOWN,
+      SDL_EVENT_MOUSE_BUTTON_UP, SDL_EVENT_MOUSE_WHEEL,
+      SDL_EVENT_MOUSE_ADDED,     SDL_EVENT_MOUSE_REMOVED,
   };
-  
+
   static std::unordered_set<uint32_t> keyboard_events = {
-    SDL_EVENT_KEY_DOWN,
-    SDL_EVENT_KEY_UP,
+      SDL_EVENT_KEY_DOWN,
+      SDL_EVENT_KEY_UP,
   };
-    
+
   SDL_Event event;
   m_Actions.clear();
 
-  while (SDL_PollEvent(&event))
-  {
-    if (keyboard_events.contains(event.type))
-    {
+  while (SDL_PollEvent(&event)) {
+    if (keyboard_events.contains(event.type)) {
       GetActions_keyboard(event);
-    }
-    else if (mouse_events.contains(event.type))
-    {
-      GetActions_mouse(event);       
-    }
-    else
-    {
-      // TODO uncomment, for now too much noise
-      // LOG_WARNING("Action not processed");
+    } else if (mouse_events.contains(event.type)) {
+      GetActions_mouse(event);
+    } else {
+      LOG_WARNING("Action not processed");
     }
   }
   return m_Actions;

cpp/src/user_input.hpp

@@ -7,32 +7,34 @@
 #include "log.hpp"
 #include "math.hpp"
 
-// Seems like SDL doesn't have named constants for mouse button 
+// Seems like SDL doesn't have named constants for mouse button
 enum class MouseButton { LEFT = 1, MIDDLE, RIGHT };
 
 class UserAction {
 public:
-  enum class Type { NONE, EXIT, SET_MOVE_TARGET, SELECT_PATHFINDER, CAMERA_PAN, CAMERA_ZOOM };
+  enum class Type {
+    NONE,
+    EXIT,
+    SET_MOVE_TARGET,
+    SELECT_PATHFINDER,
+    CAMERA_PAN,
+    CAMERA_ZOOM,
+    SELECTION_START,
+    SELECTION_CHANGE,
+    SELECTION_END
+  };
 
-  UserAction() : type(Type::NONE), Argument{.number = 0} {}
-  UserAction(Type t) : type(t), Argument{.number = 0} {}
-  UserAction(Type t, char key) : type(t), Argument{.key = key} {}
-  UserAction(Type t, WindowPos v) : type(t), Argument{.position = v} {}
-  UserAction(Type t, int32_t arg) : type(t), Argument{.number = arg} {}
-  UserAction(Type t, float arg) : type(t), Argument{.float_number = arg} {}
+  UserAction() : type(Type::NONE), Argument{0} {}
+  UserAction(Type t) : type(t), Argument{0} {}
+  UserAction(Type t, char key) : type(t), Argument{key} {}
+  UserAction(Type t, WindowPos v) : type(t), Argument{v} {}
+  UserAction(Type t, int32_t arg) : type(t), Argument{arg} {}
+  UserAction(Type t, float arg) : type(t), Argument{arg} {}
   ~UserAction() = default;
 
   Type type;
 
-  union {
-    WindowPos position;
-    char key;
-    int32_t number;
-    float float_number;
-  } Argument;
-
-  // TODO use std::variant
-  //std::variant<WindowPos, char, int> Argument;
+  std::variant<WindowPos, char, int32_t, float> Argument;
 };
 
 class UserInput {
@@ -51,7 +53,8 @@ public:
 
 private:
   std::vector<UserAction> m_Actions;
+  bool m_SelectionActive = false;
 
-  void GetActions_keyboard(const SDL_Event&);
-  void GetActions_mouse(const SDL_Event&);
+  void GetActions_keyboard(const SDL_Event &);
+  void GetActions_mouse(const SDL_Event &);
 };

cpp/src/window.cpp

@@ -62,7 +62,6 @@ std::expected<void, std::string> Window::Init() {
   // Set renderer to the Sprite class
   Sprite::SetRenderer(m_Renderer);
 
-  // TODO this needs to be tied to map size
   SDL_SetRenderScale(m_Renderer.get(), 1.0f, 1.0f);
 
   return {};
@@ -79,18 +78,25 @@ Window::~Window() {
 void Window::DrawSprite(const WindowPos &position, Sprite &s, float scale) {
   WorldSize size = s.GetSize() * scale;
   WorldPos img_center = s.GetCenter() * scale;
-  SDL_FRect rect = {position.x() - img_center.x(), position.y() - img_center.y(),
-                    size.x(), size.y()};
+  SDL_FRect rect = {position.x() - img_center.x(),
+                    position.y() - img_center.y(), size.x(), size.y()};
   SDL_RenderTexture(m_Renderer.get(), s.GetTexture(), nullptr, &rect);
 }
 
-void Window::DrawRect(const WindowPos &position, const WindowSize size, uint8_t R,
-                      uint8_t G, uint8_t B, uint8_t A) {
+void Window::DrawFilledRect(const WindowPos &position, const WindowSize size,
+                            uint8_t R, uint8_t G, uint8_t B, uint8_t A) {
   SDL_FRect rect = {position.x(), position.y(), size.x(), size.y()};
   SDL_SetRenderDrawColor(m_Renderer.get(), R, G, B, A);
   SDL_RenderFillRect(m_Renderer.get(), &rect);
 }
 
+void Window::DrawRect(const WindowPos &position, const WindowSize size,
+                      uint8_t R, uint8_t G, uint8_t B) {
+  SDL_FRect rect = {position.x(), position.y(), size.x(), size.y()};
+  SDL_SetRenderDrawColor(m_Renderer.get(), R, G, B, 255);
+  SDL_RenderRect(m_Renderer.get(), &rect);
+}
+
 void Window::ClearWindow() {
   SDL_SetRenderDrawColor(m_Renderer.get(), 50, 50, 50, 255);
   SDL_RenderClear(m_Renderer.get());
@@ -98,21 +104,20 @@ void Window::ClearWindow() {
 
 void Window::Flush() { SDL_RenderPresent(m_Renderer.get()); }
 
-void Window::DrawCircle(const WindowPos &position, float radius) {
+void Window::DrawCircle(const WindowPos &position, float radius, uint8_t R,
+                        uint8_t G, uint8_t B) {
   int cx = static_cast<int>(position.x());
   int cy = static_cast<int>(position.y());
-  SDL_SetRenderDrawColor(m_Renderer.get(), 255, 0, 0, 255);
+  SDL_SetRenderDrawColor(m_Renderer.get(), R, G, B, 255);
   for (int i = 0; i < 360; ++i) {
-    double a = i * M_PI / 180.0;
+    double a = i * std::numbers::pi / 180.0;
     SDL_RenderPoint(m_Renderer.get(),
                     cx + static_cast<int>(std::round(radius * std::cos(a))),
                     cy + static_cast<int>(std::round(radius * std::sin(a))));
   }
 }
 
-void Window::DrawLine(const WindowPos &A, const WindowPos &B)
-{
+void Window::DrawLine(const WindowPos &A, const WindowPos &B) {
   SDL_SetRenderDrawColor(m_Renderer.get(), 255, 0, 0, 255);
   SDL_RenderLine(m_Renderer.get(), A.x(), A.y(), B.x(), B.y());
 }
-

cpp/src/window.hpp

@@ -23,11 +23,14 @@ public:
 
   std::expected<void, std::string> Init();
   void DrawSprite(const WindowPos &position, Sprite &s, float scale = 1.0f);
+  void DrawFilledRect(const WindowPos &position, const WindowSize size,
+                      uint8_t R, uint8_t G, uint8_t B, uint8_t A);
   void DrawRect(const WindowPos &position, const WindowSize size, uint8_t R,
-                uint8_t G, uint8_t B, uint8_t A);
+                uint8_t G, uint8_t B);
   void ClearWindow();
   void Flush();
-  void DrawCircle(const WindowPos &position, float radius);
+  void DrawCircle(const WindowPos &position, float radius, uint8_t R, uint8_t G,
+                  uint8_t B);
   void DrawLine(const WindowPos &A, const WindowPos &B);
 
 private:
@@ -36,5 +39,4 @@ private:
   std::shared_ptr<SDL_Renderer> m_Renderer = nullptr;
   SDL_Window *m_Window;
   SDL_GLContext m_Context;
-
 };

cpp/test/collision_performance.cpp

@@ -0,0 +1,251 @@
+#include <gtest/gtest.h>
+#include <chrono>
+#include <iostream>
+#include <iomanip>
+#include <random>
+#include <algorithm>
+#include <set>
+
+#include "positional_container.hpp"
+
+/**
+ * @file collision_performance.cpp
+ * @brief Performance tests for collision detection systems
+ * 
+ * This file contains performance benchmarks and tests for various
+ * collision detection algorithms and optimizations.
+ */
+
+/**
+ * @brief Helper class to measure and print execution time
+ */
+class PerformanceTimer {
+public:
+    using Clock = std::chrono::high_resolution_clock;
+    using TimePoint = std::chrono::time_point<Clock>;
+    using Duration = std::chrono::duration<double, std::milli>;
+    
+    PerformanceTimer(const std::string& name) : name_(name) {
+        start_ = Clock::now();
+    }
+    
+    ~PerformanceTimer() {
+        auto end = Clock::now();
+        Duration duration = end - start_;
+        std::cout << std::fixed << std::setprecision(3)
+                  << "[PERF] " << name_ << ": " 
+                  << duration.count() << " ms" << std::endl;
+    }
+    
+    double elapsed_ms() const {
+        auto end = Clock::now();
+        Duration duration = end - start_;
+        return duration.count();
+    }
+    
+private:
+    std::string name_;
+    TimePoint start_;
+};
+
+/**
+ * @brief Run a function multiple times and measure average execution time
+ * @param name Name of the test for output
+ * @param iterations Number of iterations to run
+ * @param func Function to benchmark
+ */
+template<typename Func>
+void benchmark_function(const std::string& name, int iterations, Func func) {
+    auto start = PerformanceTimer::Clock::now();
+    
+    for (int i = 0; i < iterations; ++i) {
+        func();
+    }
+    
+    auto end = PerformanceTimer::Clock::now();
+    PerformanceTimer::Duration total_duration = end - start;
+    double avg_duration = total_duration.count() / iterations;
+    
+    std::cout << std::fixed << std::setprecision(6)
+              << "[BENCHMARK] " << name << ":\n"
+              << "  Total: " << total_duration.count() << " ms\n"
+              << "  Iterations: " << iterations << "\n"
+              << "  Average: " << avg_duration << " ms\n"
+              << "  Throughput: " << (iterations / (total_duration.count() / 1000.0))
+              << " ops/sec" << std::endl;
+}
+
+/**
+ * @brief Simple dummy class that conforms to HasPosition concept
+ * Used for testing PositionalContainer without heavy dependencies
+ */
+class Dummy {
+public:
+    Dummy() : m_Position{0.0f, 0.0f}, m_Id(next_id++) {}
+    Dummy(float x, float y) : m_Position{x, y}, m_Id(next_id++) {}
+    Dummy(WorldPos pos) : m_Position(pos), m_Id(next_id++) {}
+    
+    WorldPos GetPosition() const { return m_Position; }
+    void SetPosition(WorldPos pos) { m_Position = pos; }
+    int GetId() const { return m_Id; }
+    
+private:
+    WorldPos m_Position;
+    int m_Id;
+    static int next_id;
+};
+
+int Dummy::next_id = 0;
+
+/**
+ * @brief Helper function to generate random float in range [min, max]
+ */
+float random_float(std::mt19937& gen, float min, float max) {
+    std::uniform_real_distribution<float> dist(min, max);
+    return dist(gen);
+}
+
+/**
+ * @brief Compare two sets of weak_ptrs by comparing the IDs of the objects they point to
+ */
+bool compare_results(const std::vector<std::weak_ptr<Dummy>>& a, 
+                    const std::vector<std::weak_ptr<Dummy>>& b) {
+    std::set<int> ids_a, ids_b;
+    
+    for (const auto& weak : a) {
+        if (auto shared = weak.lock()) {
+            ids_a.insert(shared->GetId());
+        }
+    }
+    
+    for (const auto& weak : b) {
+        if (auto shared = weak.lock()) {
+            ids_b.insert(shared->GetId());
+        }
+    }
+    
+    return ids_a == ids_b;
+}
+
+TEST(CollisionPerformance, CompareContainers) {
+    std::cout << "\n=== Collision Performance Comparison ===\n" << std::endl;
+    
+    // Configuration
+    const int NUM_OBJECTS = 1000;
+    const int NUM_LOOKUPS = 100;
+    const float WORLD_SIZE = 1000.0f;
+    const float LOOKUP_RADIUS = 50.0f;
+    const size_t CHUNKS = 20;
+    
+    // Random number generator
+    std::random_device rd;
+    std::mt19937 gen(rd());
+    
+    // Create containers
+    PositionalContainer<Dummy> pos_cont{WorldSize{WORLD_SIZE, WORLD_SIZE}, CHUNKS};
+    SimpleContainer<Dummy> simp_cont;
+    
+    // Create and add dummy objects with random positions
+    std::vector<std::shared_ptr<Dummy>> objects;
+    objects.reserve(NUM_OBJECTS);
+    
+    std::cout << "Creating " << NUM_OBJECTS << " objects with random positions..." << std::endl;
+    for (int i = 0; i < NUM_OBJECTS; ++i) {
+        float x = random_float(gen, 10.0f, WORLD_SIZE - 10.0f);
+        float y = random_float(gen, 10.0f, WORLD_SIZE - 10.0f);
+        auto obj = std::make_shared<Dummy>(x, y);
+        objects.push_back(obj);
+        pos_cont.Add(obj);
+        simp_cont.Add(obj);
+    }
+    std::cout << "Objects created and added to containers." << std::endl;
+    
+    // Generate random lookup positions
+    std::vector<WorldPos> lookup_positions;
+    lookup_positions.reserve(NUM_LOOKUPS);
+    for (int i = 0; i < NUM_LOOKUPS; ++i) {
+        float x = random_float(gen, 0.0f, WORLD_SIZE);
+        float y = random_float(gen, 0.0f, WORLD_SIZE);
+        lookup_positions.push_back(WorldPos{x, y});
+    }
+    
+    // Benchmark SimpleContainer
+    double simple_total_time = 0.0;
+    std::vector<std::vector<std::weak_ptr<Dummy>>> simple_results;
+    simple_results.reserve(NUM_LOOKUPS);
+    
+    std::cout << "\nBenchmarking SimpleContainer with " << NUM_LOOKUPS << " lookups..." << std::endl;
+    for (const auto& pos : lookup_positions) {
+        auto start = PerformanceTimer::Clock::now();
+        auto result = simp_cont.Get(pos, LOOKUP_RADIUS);
+        auto end = PerformanceTimer::Clock::now();
+        
+        PerformanceTimer::Duration duration = end - start;
+        simple_total_time += duration.count();
+        simple_results.push_back(result);
+    }
+    
+    double simple_avg_time = simple_total_time / NUM_LOOKUPS;
+    std::cout << std::fixed << std::setprecision(6)
+              << "[BENCHMARK] SimpleContainer:\n"
+              << "  Total time: " << simple_total_time << " ms\n"
+              << "  Average time per lookup: " << simple_avg_time << " ms\n"
+              << "  Throughput: " << (NUM_LOOKUPS / (simple_total_time / 1000.0)) 
+              << " lookups/sec" << std::endl;
+    
+    // Benchmark PositionalContainer
+    double positional_total_time = 0.0;
+    std::vector<std::vector<std::weak_ptr<Dummy>>> positional_results;
+    positional_results.reserve(NUM_LOOKUPS);
+    
+    std::cout << "\nBenchmarking PositionalContainer with " << NUM_LOOKUPS << " lookups..." << std::endl;
+    for (const auto& pos : lookup_positions) {
+        auto start = PerformanceTimer::Clock::now();
+        auto result = pos_cont.Get(pos, LOOKUP_RADIUS);
+        auto end = PerformanceTimer::Clock::now();
+        
+        PerformanceTimer::Duration duration = end - start;
+        positional_total_time += duration.count();
+        positional_results.push_back(result);
+    }
+    
+    double positional_avg_time = positional_total_time / NUM_LOOKUPS;
+    std::cout << std::fixed << std::setprecision(6)
+              << "[BENCHMARK] PositionalContainer:\n"
+              << "  Total time: " << positional_total_time << " ms\n"
+              << "  Average time per lookup: " << positional_avg_time << " ms\n"
+              << "  Throughput: " << (NUM_LOOKUPS / (positional_total_time / 1000.0)) 
+              << " lookups/sec" << std::endl;
+    
+    // Verify results match
+    std::cout << "\nVerifying results correctness..." << std::endl;
+    int mismatches = 0;
+    for (size_t i = 0; i < NUM_LOOKUPS; ++i) {
+        if (!compare_results(simple_results[i], positional_results[i])) {
+            mismatches++;
+            std::cout << "Mismatch at lookup " << i 
+                     << " (pos: " << lookup_positions[i] << ")" << std::endl;
+        }
+    }
+    
+    if (mismatches == 0) {
+        std::cout << "✓ All " << NUM_LOOKUPS << " lookups produced identical results!" << std::endl;
+    } else {
+        std::cout << "✗ Found " << mismatches << " mismatches out of " 
+                 << NUM_LOOKUPS << " lookups" << std::endl;
+    }
+    
+    // Performance comparison
+    std::cout << "\n=== Performance Summary ===\n";
+    double speedup = simple_avg_time / positional_avg_time;
+    std::cout << std::fixed << std::setprecision(2)
+              << "PositionalContainer is " << speedup << "x "
+              << (speedup > 1.0 ? "faster" : "slower") 
+              << " than SimpleContainer" << std::endl;
+    
+    std::cout << "\n======================================\n" << std::endl;
+    
+    // Assertions
+    EXPECT_EQ(mismatches, 0) << "Results should match between containers";
+    EXPECT_GT(speedup, 1.0) << "PositionalContainer should be faster than SimpleContainer";
+}

python/pathfinding_demo.py

@@ -56,7 +56,8 @@ class Map:
         x_center, y_center = center_point
         for x in range(-1,2):
             for y in range(-1,2):
-                if x == 0 and y == 0:
+                diagonal = x == y # includes center 0,0
+                if diagonal:
                     continue
                 p = Point2D((x + x_center, y + y_center))
                 if self.IsPointValid(p):
@@ -304,10 +305,6 @@ class GBFS(PathFinderBase):
 
     @staticmethod
     def heuristic(a: Point2D, b: Point2D) -> float:
-        # for now we use Manhattan distance, although
-        # it is probably not entirely correct, given that
-        # we can also move diagonally in the grid
-        # TODO a problem for future me
         x_a, y_a = a
         x_b, y_b = b
         return abs(x_a - x_b) + abs(y_a - y_b)
@@ -348,10 +345,6 @@ class A_star(PathFinderBase):
 
     @staticmethod
     def heuristic(a: Point2D, b: Point2D) -> float:
-        # for now we use Manhattan distance, although
-        # it is probably not entirely correct, given that
-        # we can also move diagonally in the grid
-        # TODO a problem for future me
         x_a, y_a = a
         x_b, y_b = b
         return abs(x_a - x_b) + abs(y_a - y_b)

scripts/pre-commit.sample

@@ -0,0 +1,9 @@
+#!/bin/sh
+
+# Copy this file to .git/hooks
+
+# Run clang-format before commiting
+files=$(git diff --cached --name-only --diff-filter=ACM | grep -E '\.(cpp|hpp)$')
+[ -z "$files" ] && exit 0
+clang-format -i $files
+git add $files

vcpkg-configuration.json

@@ -0,0 +1,14 @@
+{
+  "default-registry": {
+    "kind": "git",
+    "baseline": "b2c74683ecfd6a8e7d27ffb0df077f66a9339509",
+    "repository": "https://github.com/microsoft/vcpkg"
+  },
+  "registries": [
+    {
+      "kind": "artifact",
+      "location": "https://github.com/microsoft/vcpkg-ce-catalog/archive/refs/heads/main.zip",
+      "name": "microsoft"
+    }
+  ]
+}

vcpkg.json

@@ -0,0 +1,12 @@
+{
+  "dependencies": [
+    "glew",
+    "opengl",
+    "sdl3",
+    {
+      "name": "sdl3-image",
+      "features": [ "png" ]
+    },
+    "gtest"
+  ]
+}

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