Merge pull request #20 from mlsdpk/imgui

Add imgui

Author: mlsdpk

.github/workflows/.travis.yml

@@ -26,7 +26,7 @@ jobs:
     - name: Install Dependencies
       run: |
         sudo apt-get update
-        sudo apt-get -y install libsfml-dev libboost-all-dev
+        sudo apt-get -y install xorg-dev libboost-all-dev libudev-dev
 
     - name: Building
       run: |

.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/usr/include/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/clang-10",
+            "cStandard": "c11",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-clang-x64"
+        }
+    ],
+    "version": 4
+}

CMakeLists.txt

@@ -3,76 +3,33 @@ project(path_finding_visualizer)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread")
 
-include_directories(/usr/local/include)
 include_directories(include)
 include_directories(include/States)
 include_directories(include/States/Algorithms)
-include_directories(include/States/Algorithms/BFS)
-include_directories(include/States/Algorithms/DFS)
-include_directories(include/States/Algorithms/DIJKSTRA)
-include_directories(include/States/Algorithms/ASTAR)
-include_directories(include/States/Algorithms/RRT)
-include_directories(include/States/Algorithms/RRT_STAR)
+include_directories(include/States/Algorithms/GraphBased)
+include_directories(include/States/Algorithms/GraphBased/BFS)
+include_directories(include/States/Algorithms/GraphBased/DFS)
+include_directories(include/States/Algorithms/GraphBased/DIJKSTRA)
+include_directories(include/States/Algorithms/GraphBased/ASTAR)
 
 set(EXECUTABLE_NAME "main")
 
 add_executable(${EXECUTABLE_NAME}
   src/main.cpp
   src/Game.cpp
   src/State.cpp
-  src/Gui.cpp
-  src/States/Algorithms/Algorithm.cpp
-  src/States/Algorithms/SamplingBased.cpp
-  src/States/Algorithms/Node.cpp
+  src/States/Algorithms/GraphBased/GraphBased.cpp
+  src/States/Algorithms/GraphBased/Node.cpp
+  src/States/Algorithms/GraphBased/BFS/BFS.cpp
+  src/States/Algorithms/GraphBased/DFS/DFS.cpp
+  src/States/Algorithms/GraphBased/DIJKSTRA/DIJKSTRA.cpp
+  src/States/Algorithms/GraphBased/ASTAR/ASTAR.cpp
 )
 
-add_library(main_menu
-  src/States/MainMenu_State.cpp
+target_link_libraries(
+  ${EXECUTABLE_NAME} 
+  PRIVATE 
+    ImGui-SFML::ImGui-SFML
 )
 
-add_library(bfs
-  src/States/Algorithms/BFS/BFS.cpp
-)
-
-add_library(dfs
-  src/States/Algorithms/DFS/DFS.cpp
-)
-
-add_library(dijkstra
-  src/States/Algorithms/DIJKSTRA/DIJKSTRA.cpp
-)
-
-add_library(astar
-  src/States/Algorithms/ASTAR/ASTAR.cpp
-)
-
-add_library(rrt
-  src/States/Algorithms/RRT/RRT.cpp
-)
-
-add_library(rrt_star
-  src/States/Algorithms/RRT_STAR/RRT_STAR.cpp
-)
-
-# Find any version 2.X of SFML
-find_package(SFML 2.5.1 COMPONENTS system window graphics network audio)
-find_package(Boost COMPONENTS system filesystem REQUIRED)
-
-include_directories(${SFML_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
-
-target_link_libraries(${EXECUTABLE_NAME}
-  ${Boost_LIBRARIES}
-  sfml-graphics
-  sfml-window
-  sfml-system
-)
-
-target_link_libraries(${EXECUTABLE_NAME}
-  main_menu
-  bfs
-  dfs
-  dijkstra
-  astar
-  rrt
-	rrt_star
-)
+add_subdirectory(dependencies)

README.md

@@ -1,102 +1,28 @@
-
-![](figures/img0.png)
 # Pathfinding Visualizer
 
 ## Overview
 
-A tool for visualizing numerous pathfinding algorithms.
+A tool for visualizing numerous pathfinding algorithms in two dimensions.
 
-Current implementation of the project involves four search-based planning algorithms: BFS, DFS, DIJKSTRA and A-Star, and two sampling-based planning algorithms: RRT and RRT*. The project extensively uses SFML and Modern C++ features such as smart pointers, lamda expressions along with multi-threading concepts.
+This project involves minimal implementations of the popular planning algorithms, including both graph-based and sampling-based planners. We provide an easy-to-use GUI to control the animation process and explore different planner configurations. This is an ongoing work and current implementation of the project only involves four search-based planning algorithms: BFS, DFS, DIJKSTRA and A-Star. The project extensively uses SFML, ImGui and Modern C++ features such as smart pointers, lamda expressions along with multi-threading concepts.
 
-![](figures/img1.gif)
+![](figures/img0.png)
 
 ## How to use
 
 - to place/remove obstacle cells (`left-CLICKED`)
 - to change starting cell (`left-SHIFT + left-CLICKED`)
 - to change end cell (`left-CTRL + left-CLICKED`)
 
-## Dependencies
-
-* cmake >= 2.8
-  * All OSes: [click here for installation instructions](https://cmake.org/install/)
-* make >= 4.1 (Linux, Mac), 3.81 (Windows)
-  * Linux: make is installed by default on most Linux distros
-  * Mac: [install Xcode command line tools to get make](https://developer.apple.com/xcode/features/)
-  * Windows: [Click here for installation instructions](http://gnuwin32.sourceforge.net/packages/make.htm)
-* SFML >= 2.5.1
-  * All OSes: [click here for installation instructions](https://www.sfml-dev.org/tutorials/2.5/#getting-started)
-  * Linux: Details installation instructions are provided below.
-* gcc/g++ >= 5.4
-  * Linux: gcc / g++ is installed by default on most Linux distros
-  * Mac: same deal as make - [install Xcode command line tools](https://developer.apple.com/xcode/features/)
-  * Windows: recommend using [MinGW](http://www.mingw.org/)
-
 ## Basic Build Instructions
 
+The project depends on [SFML](https://github.com/SFML/SFML), [Dear ImGui](https://github.com/ocornut/imgui) and [ImGui-SFML](https://github.com/eliasdaler/imgui-sfml). However, you are not required to install external dependencies by yourself. The following build instructions will manage all the necessary external dependencies for you. 
+
 1. Clone this repo.
 2. Make a build directory in the top level project directory: `mkdir build && cd build`
 3. Compile: `cmake .. && make`
 4. Run it: `./main`.
 
-## SFML Installation on Linux
-
-There are different approaches to the installation of SFML on Linux. For example, on Debian you would do:
-
-`sudo apt-get install libsfml-dev`
-
->Please note that the minimum version of SFML required in this project is 2.5.1. and at the time of writing you can only install sfml-v2.5.1 directly from debain distribution's package repository for Ubuntu 20.04, otherwise please install it from source.
-
-### SFML Installation from source
-
-For Ubuntu versions less than 20.04., SFML v2.5.1. can only be installed from source. There is a linker error when attempting to compile and link a C++ program with the SFML libraries from souce. You can follow this [thread](https://en.sfml-dev.org/forums/index.php?topic=20638.0) to build SFML. I have also described the same installation instructions below.
-
-1. Download the [SFML source code](https://www.sfml-dev.org/files/SFML-2.5.1-sources.zip). Unpack it. Navigate to the root directory of the unzipped source code.
-
-2. Open the CMakeLists.txt file in the path */src/SFML/Graphics/CMakeLists.txt*.
-
-3. Add the following lines at the end of the file.
-
-  ```
-  if(SFML_COMPILER_GCC AND BUILD_SHARED_LIBS)
-    message(WARNING "Applying workaround for https://bugs.launchpad.net/ubuntu/+source/gcc-5/+bug/1568899")
-    list(APPEND GRAPHICS_EXT_LIBS "-lgcc_s -lgcc")
-  endif()
-  ```
-
-4. Then **cd** to root dir of unpacked source.
-
-5. Install with the steps below.
-
-  ```
-  cmake .
-  make all
-  sudo make install
-  ```
-
-> Note that if you have errors during the `cmake` command, please read the section below which is from [official SFML documentation](https://www.sfml-dev.org/tutorials/2.5/compile-with-cmake.php).
-
-SFML depends on a few other libraries, so before starting to configure you must have their development files installed.
-
-On Windows and macOS, all the required dependencies are provided alongside SFML so you won't have to download/install anything else. Building will work out of the box.
-
-On Linux however, nothing is provided. SFML relies on you to install all of its dependencies on your own. Here is a list of what you need to install before building SFML:
-
-- freetype
-- x11
-- xrandr
-- udev
-- opengl
-- flac
-- ogg
-- vorbis
-- vorbisenc
-- vorbisfile
-- openal
-- pthread
-
-The exact name of the packages may vary from distribution to distribution. Once those packages are installed, don't forget to install their development headers as well.
-
 ## TODO
 
 ### Search-based planners
@@ -109,15 +35,18 @@ The exact name of the packages may vary from distribution to distribution. Once
 - [ ] LPA*
 
 ### Sampling-based planners
-- [x] RRT
+- [ ] RRT
 - [ ] RRT-Connect
-- [x] RRT*
+- [ ] RRT*
 - [ ] Informed-RRT*
 - [ ] FMT*
 - [ ] BIT*
 - [ ] ABIT*
 - [ ] AIT*
 
 ## Related Publications
+- [DIJKSTRA](https://ir.cwi.nl/pub/9256/9256D.pdf): A Note on Two Problems in Connexion with Graphs
+- [A*](https://ieeexplore.ieee.org/abstract/document/4082128?casa_token=0ltx8josfO0AAAAA:nA2z0T2qvr00C6rIhIM3Z7GhWJTQpFrYsdzpY9xc_VicZ0DZr5Q9KcclJT1215N3If6pae87MXRHHd0): A Formal Basis for the Heuristic Determination of Minimum Cost Paths
+- [LPA*](https://www.cs.cmu.edu/~maxim/files/aij04.pdf): Lifelong Planning A*
 - [RRT](https://www.cs.csustan.edu/~xliang/Courses/CS4710-21S/Papers/06%20RRT.pdf): Rapidly-exploring random trees: A new tool for path planning
 - [RRT*](https://journals.sagepub.com/doi/abs/10.1177/0278364911406761): Sampling-based algorithms for optimal motion planning

dependencies/CMakeLists.txt

@@ -0,0 +1,24 @@
+include(FetchContent)
+
+FetchContent_Declare(
+  sfml
+  GIT_REPOSITORY "https://github.com/SFML/SFML"
+  GIT_TAG 2f11710abc5aa478503a7ff3f9e654bd2078ebab # 2.5.1
+)
+
+add_subdirectory(sfml)
+
+FetchContent_Declare(
+  imgui
+  GIT_REPOSITORY https://github.com/ocornut/imgui
+  GIT_TAG 35b1148efb839381b84de9290d9caf0b66ad7d03
+)
+
+FetchContent_Declare(
+  imgui-sfml
+  GIT_REPOSITORY https://github.com/eliasdaler/imgui-sfml
+  GIT_TAG 82dc2033e51b8323857c3ae1cf1f458b3a933c35
+)
+
+FetchContent_MakeAvailable(imgui)
+add_subdirectory(imgui-sfml)

dependencies/imgui-sfml/CMakeLists.txt

@@ -0,0 +1,7 @@
+message(STATUS "Fetching ImGui-SFML...")
+
+set(IMGUI_DIR ${imgui_SOURCE_DIR})
+set(IMGUI_SFML_FIND_SFML OFF)
+set(IMGUI_SFML_IMGUI_DEMO ON)
+
+FetchContent_MakeAvailable(imgui-sfml)

dependencies/sfml/CMakeLists.txt

@@ -0,0 +1,7 @@
+message(STATUS "Fetching SFML...")
+
+# No need to build audio and network modules
+set(SFML_BUILD_AUDIO FALSE)
+set(SFML_BUILD_NETWORK FALSE)
+
+FetchContent_MakeAvailable(sfml)

figures/img0.png

@@ -1,20 +1,26 @@
 #pragma once
 
-#include "MainMenu_State.h"
+#include <imgui-SFML.h>
+#include <imgui.h>
 
-class Game {
- private:
-  sf::RenderWindow* window_;
-  sf::Event ev_;
-  sf::Clock dtClock_;
-  float dt_;
+#include <iostream>
+#include <map>
+#include <stack>
+#include <string>
+#include <vector>
 
-  // States
-  std::stack<std::unique_ptr<State>> states_;
+#include "State.h"
+
+namespace path_finding_visualizer {
+
+static const std::vector<std::string> PLANNER_NAMES{"BFS", "DFS", "DIJKSTRA",
+                                                    "A*"};
+enum PLANNERS_IDS { BFS, DFS, DIJKSTRA, AStar };
 
+class Game {
  public:
   // Constructors
-  Game(sf::RenderWindow* window, unsigned int frameLimit);
+  Game(sf::RenderWindow* window);
 
   // Destructors
   virtual ~Game();
@@ -27,4 +33,17 @@ class Game {
   void updateDt();
   void update();
   void render();
+  void initGuiTheme();
+  void renderGui();
+  void setPlanner(const int id);
+
+ private:
+  sf::RenderWindow* window_;
+  sf::Event ev_;
+  sf::Clock dtClock_;
+  float dt_;
+  std::stack<std::unique_ptr<State>> states_;
+  std::string curr_planner_;
 };
+
+}  // namespace path_finding_visualizer