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New pathfinding implementation on separate thread
This commit is contained in:
Anuken
parent
bd1ea41c0d
commit
025386af53
@ -1,164 +1,249 @@
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package io.anuke.mindustry.ai;
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import io.anuke.arc.Events;
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import io.anuke.arc.collection.IntArray;
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import io.anuke.arc.collection.IntQueue;
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import io.anuke.arc.math.geom.Geometry;
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import io.anuke.arc.math.geom.Point2;
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import io.anuke.annotations.Annotations.*;
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import io.anuke.arc.*;
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import io.anuke.arc.collection.*;
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import io.anuke.arc.function.*;
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import io.anuke.arc.math.geom.*;
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import io.anuke.arc.util.*;
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import io.anuke.mindustry.game.EventType.TileChangeEvent;
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import io.anuke.mindustry.game.EventType.WorldLoadEvent;
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import io.anuke.mindustry.game.Team;
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import io.anuke.mindustry.game.Teams.TeamData;
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import io.anuke.mindustry.net.Net;
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import io.anuke.mindustry.world.Pos;
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import io.anuke.mindustry.world.Tile;
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import io.anuke.mindustry.world.meta.BlockFlag;
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import io.anuke.arc.util.async.*;
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import io.anuke.mindustry.core.GameState.*;
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import io.anuke.mindustry.game.EventType.*;
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import io.anuke.mindustry.game.*;
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import io.anuke.mindustry.gen.*;
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import io.anuke.mindustry.world.*;
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import io.anuke.mindustry.world.meta.*;
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import static io.anuke.mindustry.Vars.*;
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public class Pathfinder{
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public class Pathfinder implements Runnable{
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private static final long maxUpdate = Time.millisToNanos(4);
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private PathData[] paths;
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private IntArray blocked = new IntArray();
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private static final int updateFPS = 60;
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private static final int updateInterval = 1000 / updateFPS;
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private static final int impassable = -1;
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/** tile data, see PathTileStruct */
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private int[][] tiles;
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/** unordered array of path data for iteration only. DO NOT iterate ot access this in the main thread.*/
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private Array<PathData> list = new Array<>();
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/** Maps teams + flags to a valid path to get to that flag for that team. */
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private PathData[][] pathMap = new PathData[Team.all.length][PathTarget.all.length];
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/** Grid map of created path data that should not be queued again. */
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private GridBits created = new GridBits(Team.all.length, PathTarget.all.length);
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/** handles task scheduling on the update thread. */
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private TaskQueue queue = new TaskQueue();
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/** current pathfinding thread */
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private @Nullable Thread thread;
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public Pathfinder(){
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Events.on(WorldLoadEvent.class, event -> clear());
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Events.on(TileChangeEvent.class, event -> {
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if(net.client()) return;
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Events.on(WorldLoadEvent.class, event -> {
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stop();
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for(Team team : Team.all){
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TeamData data = state.teams.get(team);
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if(state.teams.isActive(team) && data.team != event.tile.getTeam()){
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update(event.tile, data.team);
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tiles = new int[world.width()][world.height()];
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pathMap = new PathData[Team.all.length][PathTarget.all.length];
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created = new GridBits(Team.all.length, PathTarget.all.length);
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list = new Array<>();
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for(int x = 0; x < world.width(); x++){
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for(int y = 0; y < world.height(); y++){
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tiles[x][y] = packTile(world.rawTile(x, y));
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}
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}
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update(event.tile, event.tile.getTeam());
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start();
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});
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Events.on(TileChangeEvent.class, event -> updateTile(event.tile));
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}
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/** Packs a tile into its internal representation. */
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private int packTile(Tile tile){
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return PathTile.get(tile.cost, tile.getTeamID(), (byte)0, (!tile.solid() || tile.breakable()) && tile.floor().drownTime <= 0f);
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}
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/** Starts or restarts the pathfinding thread. */
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private void start(){
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stop();
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thread = Threads.daemon(this);
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}
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/** Stops the pathfinding thread. */
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private void stop(){
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if(thread != null){
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thread.interrupt();
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thread = null;
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}
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queue.clear();
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}
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/** Update a tile in the internal pathfinding grid. Causes a completely pathfinding reclaculation. */
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public void updateTile(Tile tile){
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if(net.client()) return;
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int packed = packTile(tile);
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int x = tile.x, y = tile.y;
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tiles[x][y] = packed;
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for(PathData[] arr : pathMap){
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for(PathData path : arr){
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if(path != null){
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synchronized(path.targets){
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path.targets.clear();
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path.target.getTargets(tile.getTeam(), path.targets);
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}
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}
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}
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}
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queue.post(() -> {
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for(PathData data : list){
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updateTargets(data, x, y, packed);
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}
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});
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}
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public void updateSolid(Tile tile){
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update(tile, tile.getTeam());
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}
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/** Thread implementation. */
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@Override
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public void run(){
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while(true){
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if(net.client() || state.is(State.menu)) return;
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public void update(){
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if(net.client() || paths == null) return;
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queue.run();
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for(Team team : Team.all){
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if(state.teams.isActive(team)){
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updateFrontier(team, maxUpdate);
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//total update time no longer than maxUpdate
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for(PathData data : list){
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updateFrontier(data, maxUpdate / list.size);
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}
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try{
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Thread.sleep(updateInterval);
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}catch(InterruptedException e){
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//stop looping when interrupted externally
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return;
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}
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}
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}
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public Tile getTargetTile(Team team, Tile tile){
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float[][] values = paths[team.ordinal()].weights;
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/** Gets next tile to travel to. Main thread only. */
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public Tile getTargetTile(Tile tile, Team team, PathTarget target){
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if(tile == null) return tile;
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if(values == null || tile == null) return tile;
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PathData data = pathMap[team.ordinal()][target.ordinal()];
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float value = values[tile.x][tile.y];
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if(data == null){
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//if this combination is not found, create it on request
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if(!created.get(team.ordinal(), target.ordinal())){
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created.set(team.ordinal(), target.ordinal());
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//grab targets since this is run on main thread
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IntArray targets = target.getTargets(team, new IntArray());
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queue.post(() -> createFor(team, target, targets));
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}
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return tile;
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}
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Tile target = null;
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float tl = 0f;
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int[][] values = data.weights;
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int value = values[tile.x][tile.y];
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Tile current = null;
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int tl = 0;
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for(Point2 point : Geometry.d8){
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int dx = tile.x + point.x, dy = tile.y + point.y;
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Tile other = world.tile(dx, dy);
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if(other == null) continue;
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if(values[dx][dy] < value && (target == null || values[dx][dy] < tl) &&
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!other.solid() && other.floor().drownTime <= 0 &&
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if(values[dx][dy] < value && (current == null || values[dx][dy] < tl) && !other.solid() && other.floor().drownTime <= 0 &&
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!(point.x != 0 && point.y != 0 && (world.solid(tile.x + point.x, tile.y) || world.solid(tile.x, tile.y + point.y)))){ //diagonal corner trap
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target = other;
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current = other;
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tl = values[dx][dy];
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}
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}
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if(target == null || tl == Float.MAX_VALUE) return tile;
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if(current == null || tl == impassable) return tile;
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return target;
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return current;
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}
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public float getValueforTeam(Team team, int x, int y){
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return paths == null || paths[team.ordinal()].weights == null || team.ordinal() >= paths.length ? 0 : Structs.inBounds(x, y, paths[team.ordinal()].weights) ? paths[team.ordinal()].weights[x][y] : 0;
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}
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private boolean passable(Tile tile, Team team){
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return ((!tile.solid()) || (tile.breakable() && (tile.getTeam() != team))) && tile.floor().drownTime <= 0f;
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/** @return whether a tile can be passed through by this team. Pathfinding thread only.*/
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private boolean passable(int x, int y, Team team){
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int tile = tiles[x][y];
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return PathTile.passable(tile) || (PathTile.team(tile) != team.ordinal() && PathTile.team(tile) != Team.derelict.ordinal());
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}
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/**
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* Clears the frontier, increments the search and sets up all flow sources.
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* This only occurs for active teams.
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*/
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private void update(Tile tile, Team team){
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//make sure team exists
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if(paths != null && paths[team.ordinal()] != null && paths[team.ordinal()].weights != null && Structs.inBounds(tile.x, tile.y, paths[team.ordinal()].weights)){
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PathData path = paths[team.ordinal()];
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private void updateTargets(PathData path, int x, int y, int tile){
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if(!Structs.inBounds(x, y, path.weights)) return;
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if(path.weights[tile.x][tile.y] <= 0.1f){
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//this was a previous target
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path.frontier.clear();
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}else if(!path.frontier.isEmpty()){
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return;
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}
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//impassable tiles have a weight of float.max
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if(!passable(tile, team)){
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path.weights[tile.x][tile.y] = Float.MAX_VALUE;
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}
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//increment search, clear frontier
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path.search++;
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if(path.weights[x][y] == 0){
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//this was a previous target
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path.frontier.clear();
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path.lastSearchTime = Time.millis();
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}else if(!path.frontier.isEmpty()){
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//skip if this path is processing
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return;
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}
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//add all targets to the frontier
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for(Tile other : indexer.getEnemy(team, BlockFlag.target)){
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path.weights[other.x][other.y] = 0;
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path.searches[other.x][other.y] = (short)path.search;
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path.frontier.addFirst(other.pos());
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//assign impassability to the tile
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if(!passable(x, y, path.team)){
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path.weights[x][y] = impassable;
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}
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//increment search, clear frontier
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path.search++;
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path.frontier.clear();
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synchronized(path.targets){
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//add targets
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for(int i = 0; i < path.targets.size; i++){
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int pos = path.targets.get(i);
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int tx = Pos.x(pos), ty = Pos.y(pos);
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path.weights[tx][ty] = 0;
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path.searches[tx][ty] = (short)path.search;
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path.frontier.addFirst(pos);
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}
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}
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}
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private void createFor(Team team){
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PathData path = new PathData();
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path.weights = new float[world.width()][world.height()];
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path.searches = new short[world.width()][world.height()];
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path.search++;
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path.frontier.ensureCapacity((world.width() + world.height()) * 3);
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/** Created a new flowfield that aims to get to a certain target for a certain team.
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* Pathfinding thread only. */
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private void createFor(Team team, PathTarget target, IntArray targets){
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PathData path = new PathData(team, target, world.width(), world.height());
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paths[team.ordinal()] = path;
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list.add(path);
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pathMap[team.ordinal()][target.ordinal()] = path;
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//grab targets from passed array
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synchronized(path.targets){
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path.targets.clear();
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path.targets.addAll(targets);
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}
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//fill with impassables by default
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for(int x = 0; x < world.width(); x++){
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for(int y = 0; y < world.height(); y++){
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Tile tile = world.tile(x, y);
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if(state.teams.areEnemies(tile.getTeam(), team)
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&& tile.block().flags.contains(BlockFlag.target)){
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path.frontier.addFirst(tile.pos());
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path.weights[x][y] = 0;
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path.searches[x][y] = (short)path.search;
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}else{
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path.weights[x][y] = Float.MAX_VALUE;
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}
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path.weights[x][y] = impassable;
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}
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}
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updateFrontier(team, -1);
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//add targets
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for(int i = 0; i < path.targets.size; i++){
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int pos = path.targets.get(i);
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path.weights[Pos.x(pos)][Pos.y(pos)] = 0;
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path.frontier.addFirst(pos);
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}
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}
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private void updateFrontier(Team team, long nsToRun){
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PathData path = paths[team.ordinal()];
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/** Update the frontier for a path. Pathfinding thread only. */
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private void updateFrontier(PathData path, long nsToRun){
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long start = Time.nanos();
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while(path.frontier.size > 0 && (nsToRun < 0 || Time.timeSinceNanos(start) <= nsToRun)){
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Tile tile = world.tile(path.frontier.removeLast());
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if(tile == null || path.weights == null) return; //something went horribly wrong, bail
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float cost = path.weights[tile.x][tile.y];
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int cost = path.weights[tile.x][tile.y];
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//pathfinding overflowed for some reason, time to bail. the next block update will handle this, hopefully
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if(path.frontier.size >= world.width() * world.height()){
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@ -166,14 +251,13 @@ public class Pathfinder{
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return;
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}
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if(cost < Float.MAX_VALUE){
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if(cost != impassable){
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for(Point2 point : Geometry.d4){
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int dx = tile.x + point.x, dy = tile.y + point.y;
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Tile other = world.tile(dx, dy);
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if(other != null && (path.weights[dx][dy] > cost + other.cost || path.searches[dx][dy] < path.search)
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&& passable(other, team)){
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if(other != null && (path.weights[dx][dy] > cost + other.cost || path.searches[dx][dy] < path.search) && passable(dx, dy, path.team)){
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if(other.cost < 0) throw new IllegalArgumentException("Tile cost cannot be negative! " + other);
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path.frontier.addFirst(Pos.get(dx, dy));
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path.weights[dx][dy] = cost + other.cost;
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@ -184,27 +268,71 @@ public class Pathfinder{
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}
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}
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private void clear(){
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Time.mark();
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paths = new PathData[Team.all.length];
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blocked.clear();
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for(Team team : Team.all){
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PathData path = new PathData();
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paths[team.ordinal()] = path;
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if(state.teams.isActive(team)){
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createFor(team);
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/** A path target defines a set of targets for a path.*/
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public enum PathTarget{
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enemyCores((team, out) -> {
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for(Tile other : indexer.getEnemy(team, BlockFlag.core)){
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out.add(other.pos());
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}
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}),
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rallyPoints((team, out) -> {
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for(Tile other : indexer.getAllied(team, BlockFlag.rally)){
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out.add(other.pos());
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}
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});
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public static final PathTarget[] all = values();
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private final BiConsumer<Team, IntArray> targeter;
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PathTarget(BiConsumer<Team, IntArray> targeter){
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this.targeter = targeter;
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}
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/** Get targets. This must run on the main thread.*/
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public IntArray getTargets(Team team, IntArray out){
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targeter.accept(team, out);
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return out;
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}
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}
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/** Data for a specific flow field to some set of destinations. */
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class PathData{
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float[][] weights;
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short[][] searches;
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int search = 0;
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long lastSearchTime;
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IntQueue frontier = new IntQueue();
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/** Team this path is for. */
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final Team team;
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/** Flag that is being targeted. */
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final PathTarget target;
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/** costs of getting to a specific tile */
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final int[][] weights;
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/** search IDs of each position - the highest, most recent search is prioritized and overwritten */
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final short[][] searches;
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/** search frontier, these are Pos objects */
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final IntQueue frontier = new IntQueue();
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/** all target positions; these positions have a cost of 0, and must be synchronized on! */
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final IntArray targets = new IntArray();
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/** current search ID */
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int search = 1;
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PathData(Team team, PathTarget target, int width, int height){
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this.team = team;
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this.target = target;
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this.weights = new int[width][height];
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this.searches = new short[width][height];
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this.frontier.ensureCapacity((width + height) * 3);
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}
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}
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/** Holds a copy of tile data for a specific tile position. */
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@Struct
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class PathTileStruct{
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//traversal cost
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byte cost;
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//team of block, if applicable (0 by default)
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byte team;
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//type of target; TODO remove
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byte type;
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//whether it's viable to pass this block
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boolean passable;
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}
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}
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@ -227,8 +227,6 @@ public class Logic implements ApplicationListener{
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collisions.collideGroups(bulletGroup, playerGroup);
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}
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pathfinder.update();
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}
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if(!net.client() && !world.isInvalidMap() && !state.isEditor()){
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|
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@ -71,7 +71,7 @@ public abstract class FlyingUnit extends BaseUnit{
|
||||
public void update(){
|
||||
if(retarget()){
|
||||
targetClosest();
|
||||
targetClosestEnemyFlag(BlockFlag.target);
|
||||
targetClosestEnemyFlag(BlockFlag.core);
|
||||
|
||||
if(target != null && !Units.invalidateTarget(target, team, x, y)){
|
||||
setState(attack);
|
||||
|
||||
@ -6,6 +6,7 @@ import io.anuke.arc.math.*;
|
||||
import io.anuke.arc.math.geom.*;
|
||||
import io.anuke.arc.util.*;
|
||||
import io.anuke.mindustry.*;
|
||||
import io.anuke.mindustry.ai.Pathfinder.*;
|
||||
import io.anuke.mindustry.entities.*;
|
||||
import io.anuke.mindustry.entities.bullet.*;
|
||||
import io.anuke.mindustry.entities.units.*;
|
||||
@ -223,7 +224,7 @@ public abstract class GroundUnit extends BaseUnit{
|
||||
protected void moveToCore(){
|
||||
Tile tile = world.tileWorld(x, y);
|
||||
if(tile == null) return;
|
||||
Tile targetTile = pathfinder.getTargetTile(team, tile);
|
||||
Tile targetTile = pathfinder.getTargetTile(tile, team, PathTarget.enemyCores);
|
||||
|
||||
if(tile == targetTile) return;
|
||||
|
||||
@ -246,7 +247,7 @@ public abstract class GroundUnit extends BaseUnit{
|
||||
|
||||
Tile tile = world.tileWorld(x, y);
|
||||
if(tile == null) return;
|
||||
Tile targetTile = pathfinder.getTargetTile(enemy, tile);
|
||||
Tile targetTile = pathfinder.getTargetTile(tile, team, PathTarget.enemyCores);
|
||||
TileEntity core = getClosestCore();
|
||||
|
||||
if(tile == targetTile || core == null || dst(core) < 120f) return;
|
||||
|
||||
@ -20,5 +20,7 @@ public enum Category{
|
||||
/** Things that upgrade the player such as mech pads. */
|
||||
upgrade,
|
||||
/** Things for storage or passive effects. */
|
||||
effect
|
||||
effect;
|
||||
|
||||
public static final Category[] all = values();
|
||||
}
|
||||
|
||||
@ -26,7 +26,7 @@ public class PlacementFragment extends Fragment{
|
||||
|
||||
Array<Block> returnArray = new Array<>();
|
||||
Array<Category> returnCatArray = new Array<>();
|
||||
boolean[] categoryEmpty = new boolean[Category.values().length];
|
||||
boolean[] categoryEmpty = new boolean[Category.all.length];
|
||||
Category currentCategory = Category.distribution;
|
||||
Block hovered, lastDisplay;
|
||||
Tile lastHover;
|
||||
@ -91,7 +91,7 @@ public class PlacementFragment extends Fragment{
|
||||
int i = 0;
|
||||
for(KeyCode key : inputCatGrid){
|
||||
if(Core.input.keyDown(key)){
|
||||
input.block = getByCategory(Category.values()[i]).first();
|
||||
input.block = getByCategory(Category.all[i]).first();
|
||||
currentCategory = input.block.buildCategory;
|
||||
}
|
||||
i++;
|
||||
@ -258,7 +258,7 @@ public class PlacementFragment extends Fragment{
|
||||
ButtonGroup<ImageButton> group = new ButtonGroup<>();
|
||||
|
||||
//update category empty values
|
||||
for(Category cat : Category.values()){
|
||||
for(Category cat : Category.all){
|
||||
Array<Block> blocks = getByCategory(cat);
|
||||
categoryEmpty[cat.ordinal()] = blocks.isEmpty() || !unlocked(blocks.first());
|
||||
}
|
||||
@ -289,7 +289,7 @@ public class PlacementFragment extends Fragment{
|
||||
|
||||
Array<Category> getCategories(){
|
||||
returnCatArray.clear();
|
||||
returnCatArray.addAll(Category.values());
|
||||
returnCatArray.addAll(Category.all);
|
||||
returnCatArray.sort((c1, c2) -> Boolean.compare(categoryEmpty[c1.ordinal()], categoryEmpty[c2.ordinal()]));
|
||||
return returnCatArray;
|
||||
}
|
||||
|
||||
@ -40,7 +40,7 @@ public class Door extends Wall{
|
||||
entity.open = open;
|
||||
Door door = (Door)tile.block();
|
||||
|
||||
pathfinder.updateSolid(tile);
|
||||
pathfinder.updateTile(tile);
|
||||
if(!entity.open){
|
||||
Effects.effect(door.openfx, tile.drawx(), tile.drawy());
|
||||
}else{
|
||||
|
||||
@ -33,7 +33,7 @@ public class CoreBlock extends StorageBlock{
|
||||
solid = true;
|
||||
update = true;
|
||||
hasItems = true;
|
||||
flags = EnumSet.of(BlockFlag.target, BlockFlag.producer);
|
||||
flags = EnumSet.of(BlockFlag.core, BlockFlag.producer);
|
||||
activeSound = Sounds.respawning;
|
||||
activeSoundVolume = 1f;
|
||||
layer = Layer.overlay;
|
||||
|
||||
@ -0,0 +1,14 @@
|
||||
package io.anuke.mindustry.world.blocks.units;
|
||||
|
||||
import io.anuke.arc.collection.*;
|
||||
import io.anuke.mindustry.world.*;
|
||||
import io.anuke.mindustry.world.meta.*;
|
||||
|
||||
public class RallyPoint extends Block{
|
||||
|
||||
public RallyPoint(String name){
|
||||
super(name);
|
||||
update = solid = true;
|
||||
flags = EnumSet.of(BlockFlag.rally);
|
||||
}
|
||||
}
|
||||
@ -1,22 +1,19 @@
|
||||
package io.anuke.mindustry.world.meta;
|
||||
|
||||
/** Stores special flags of blocks for easy querying. */
|
||||
public enum BlockFlag{
|
||||
/** General important target for all types of units. */
|
||||
target(0),
|
||||
/** Enemy core; primary target for all units. */
|
||||
core,
|
||||
/** Rally point for units.*/
|
||||
rally,
|
||||
/** Producer of important goods. */
|
||||
producer(Float.MAX_VALUE),
|
||||
producer,
|
||||
/** A turret. */
|
||||
turret(Float.MAX_VALUE),
|
||||
turret,
|
||||
/** Only the command center block.*/
|
||||
comandCenter(Float.MAX_VALUE),
|
||||
comandCenter,
|
||||
/** Repair point. */
|
||||
repair(Float.MAX_VALUE);
|
||||
repair;
|
||||
|
||||
public final static BlockFlag[] all = values();
|
||||
public final float cost;
|
||||
|
||||
BlockFlag(float cost){
|
||||
if(cost < 0) throw new RuntimeException("Block flag costs cannot be < 0!");
|
||||
this.cost = cost;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user