mirrors/Mindustry
1
0
Fork 0
mirror of https://github.com/Anuken/Mindustry.git synced 2025-02-07 01:18:26 +07:00
Code Issues Packages Projects Releases Wiki Activity

progress

Browse Source
This commit is contained in:
Anuken 2023-11-11 10:41:53 -05:00
parent 24b7d99a69
commit 5a14302d68
2 changed files with 122 additions and 44 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
core/src/mindustry/ai/ControlPathfinder.java
View File

@ -62,6 +62,19 @@ public class ControlPathfinder{
((PathTile.team(tile) != team && PathTile.team(tile) != 0) && PathTile.solid(tile) ? wallImpassableCap : 0) +
(PathTile.nearGround(tile) || PathTile.nearSolid(tile) ? 6 : 0);
public static final int
costIdGround = 0,
costIdHover = 1,
costIdLegs = 2,
costIdNaval = 3;
public static final Seq<PathCost> costTypes = Seq.with(
costGround,
costHover,
costLegs,
costNaval
);
public static boolean showDebug = false;
//static access probably faster than object access

153
core/src/mindustry/ai/HierarchyPathFinder.java
View File

@ -51,9 +51,9 @@ public class HierarchyPathFinder implements Runnable{
0, -1
};
//maps pathCost -> flattened array of clusters in 2D
//maps team -> pathCost -> flattened array of clusters in 2D
//(what about teams? different path costs?)
Cluster[][] clusters;
Cluster[][][] clusters;
int cwidth, cheight;
@ -82,7 +82,7 @@ public class HierarchyPathFinder implements Runnable{
//these contain
static class PathRequest{
final Unit unit;
final int destination;
final int destination, team;
//resulting path of nodes
final IntSeq resultPath = new IntSeq();
//node index -> total cost
@ -93,10 +93,11 @@ public class HierarchyPathFinder implements Runnable{
final PathfindQueue frontier = new PathfindQueue();
//main thread only!
long lastUpdateId;
long lastUpdateId = state.updateId;
public PathRequest(Unit unit, int destination){
public PathRequest(Unit unit, int team, int destination){
this.unit = unit;
this.team = team;
this.destination = destination;
}
}
@ -129,7 +130,7 @@ public class HierarchyPathFinder implements Runnable{
stop();
//TODO 5 path costs, arbitrary number
clusters = new Cluster[5][];
clusters = new Cluster[256][][];
cwidth = Mathf.ceil((float)world.width() / clusterSize);
cheight = Mathf.ceil((float)world.height() / clusterSize);
@ -144,7 +145,16 @@ public class HierarchyPathFinder implements Runnable{
//is at the edge of a cluster; this means the portals may have changed.
if(mx == 0 || my == 0 || mx == clusterSize - 1 || my == clusterSize - 1){
queue.post(() -> clustersToUpdate.add(cluster));
if(mx == 0) queueClusterUpdate(cx - 1, cy); //left
if(my == 0) queueClusterUpdate(cx, cy - 1); //bottom
if(mx == clusterSize - 1) queueClusterUpdate(cx + 1, cy); //right
if(my == clusterSize - 1) queueClusterUpdate(cx, cy + 1); //top
queueClusterUpdate(cx, cy);
//TODO: recompute edge clusters too.
}else{
//there is no need to recompute portals for block updates that are not on the edge.
queue.post(() -> clustersToInnerUpdate.add(cluster));
@ -169,7 +179,7 @@ public class HierarchyPathFinder implements Runnable{
}
});
if(debug){
if(debug && false){
Events.run(Trigger.draw, () -> {
int team = Team.sharded.id;
int cost = costGround;
@ -180,7 +190,7 @@ public class HierarchyPathFinder implements Runnable{
Lines.stroke(1f);
for(int cx = 0; cx < cwidth; cx++){
for(int cy = 0; cy < cheight; cy++){
var cluster = clusters[cost][cy * cwidth + cx];
var cluster = clusters[Team.sharded.id][cost][cy * cwidth + cx];
if(cluster != null){
Lines.stroke(0.5f);
Draw.color(Color.gray);
@ -264,6 +274,35 @@ public class HierarchyPathFinder implements Runnable{
}
}
void queueClusterUpdate(int cx, int cy){
if(cx >= 0 && cy >= 0 && cx < cwidth && cy < cheight){
queue.post(() -> clustersToUpdate.add(cx + cy * cwidth));
}
}
//DEBUGGING ONLY
Vec2 nodeToVec(int current, Vec2 out){
portalToVec(0, NodeIndex.cluster(current), NodeIndex.dir(current), NodeIndex.portal(current), out);
return out;
}
void portalToVec(int pathCost, int cluster, int direction, int portalIndex, Vec2 out){
portalToVec(clusters[Team.sharded.id][pathCost][cluster], cluster % cwidth, cluster / cwidth, direction, portalIndex, out);
}
void portalToVec(Cluster cluster, int cx, int cy, int direction, int portalIndex, Vec2 out){
int pos = cluster.portals[direction].items[portalIndex];
int from = Point2.x(pos), to = Point2.y(pos);
int addX = moveDirs[direction * 2], addY = moveDirs[direction * 2 + 1];
float average = (from + to) / 2f;
float
x = (addX * average + cx * clusterSize + offsets[direction * 2] * (clusterSize - 1) + nextOffsets[direction * 2] / 2f) * tilesize,
y = (addY * average + cy * clusterSize + offsets[direction * 2 + 1] * (clusterSize - 1) + nextOffsets[direction * 2 + 1] / 2f) * tilesize;
out.set(x, y);
}
/** Starts or restarts the pathfinding thread. */
private void start(){
stop();
@ -284,34 +323,56 @@ public class HierarchyPathFinder implements Runnable{
queue.clear();
}
Vec2 nodeToVec(int current, Vec2 out){
portalToVec(0, NodeIndex.cluster(current), NodeIndex.dir(current), NodeIndex.portal(current), out);
return out;
/** @return a cluster at coordinates; can be null if not cluster was created yet*/
@Nullable Cluster getCluster(int team, int pathCost, int cx, int cy){
return getCluster(team, pathCost, cx + cy * cwidth);
}
void portalToVec(int pathCost, int cluster, int direction, int portalIndex, Vec2 out){
portalToVec(clusters[pathCost][cluster], cluster % cwidth, cluster / cwidth, direction, portalIndex, out);
/** @return a cluster at coordinates; can be null if not cluster was created yet*/
@Nullable Cluster getCluster(int team, int pathCost, int clusterIndex){
Cluster[][] dim1 = clusters[team];
if(dim1 == null) return null;
Cluster[] dim2 = dim1[pathCost];
if(dim2 == null) return null;
return dim2[clusterIndex];
}
void portalToVec(Cluster cluster, int cx, int cy, int direction, int portalIndex, Vec2 out){
int pos = cluster.portals[direction].items[portalIndex];
int from = Point2.x(pos), to = Point2.y(pos);
int addX = moveDirs[direction * 2], addY = moveDirs[direction * 2 + 1];
float average = (from + to) / 2f;
/** @return the cluster at specified coordinates; never null. */
Cluster getCreateCluster(int team, int pathCost, int cx, int cy){
return getCreateCluster(team, pathCost, cx + cy * cwidth);
}
float
x = (addX * average + cx * clusterSize + offsets[direction * 2] * (clusterSize - 1) + nextOffsets[direction * 2] / 2f) * tilesize,
y = (addY * average + cy * clusterSize + offsets[direction * 2 + 1] * (clusterSize - 1) + nextOffsets[direction * 2 + 1] / 2f) * tilesize;
out.set(x, y);
/** @return the cluster at specified coordinates; never null. */
Cluster getCreateCluster(int team, int pathCost, int clusterIndex){
Cluster result = getCluster(team, pathCost, clusterIndex);
if(result == null){
return createCluster(team, pathCost, clusterIndex % cwidth, clusterIndex / cwidth);
}else{
return result;
}
}
//TODO: this is never called yet. should be invoked during pathfinding
void createCluster(int team, int pathCost, int cx, int cy){
if(clusters[pathCost] == null) clusters[pathCost] = new Cluster[cwidth * cheight];
Cluster cluster = clusters[pathCost][cy * cwidth + cx];
Cluster createCluster(int team, int pathCost, int cx, int cy){
Cluster[][] dim1 = clusters[team];
if(dim1 == null){
dim1 = clusters[team] = new Cluster[Team.all.length][];
}
Cluster[] dim2 = dim1[pathCost];
if(dim2 == null){
dim2 = dim1[pathCost] = new Cluster[cwidth * cheight];
}
Cluster cluster = dim2[cy * cwidth + cx];
if(cluster == null){
cluster = clusters[pathCost][cy * cwidth + cx] = new Cluster();
cluster = dim2[cy * cwidth + cx] = new Cluster();
}else{
//reset data
for(var p : cluster.portals){
@ -334,7 +395,7 @@ public class HierarchyPathFinder implements Runnable{
continue;
}
Cluster other = clusters[pathCost][otherX + otherY * cwidth];
Cluster other = dim2[otherX + otherY * cwidth];
IntSeq portals;
if(other == null){
@ -388,6 +449,8 @@ public class HierarchyPathFinder implements Runnable{
}
connectInnerEdges(cx, cy, team, cost, cluster);
return cluster;
}
void connectInnerEdges(int cx, int cy, int team, PathCost cost, Cluster cluster){
@ -563,7 +626,7 @@ public class HierarchyPathFinder implements Runnable{
PathCost cost = ControlPathfinder.costGround;
//TODO: cluster can be null!!
Cluster cluster = clusters[pathCost][cx + cy * cwidth];
Cluster cluster = getCreateCluster(team, pathCost, cx, cy);
int minX = cx * clusterSize, minY = cy * clusterSize, maxX = Math.min(minX + clusterSize - 1, wwidth - 1), maxY = Math.min(minY + clusterSize - 1, wheight - 1);
int bestPortalPair = Integer.MAX_VALUE;
@ -616,7 +679,7 @@ public class HierarchyPathFinder implements Runnable{
}
//distance heuristic: manhattan
private float clusterNodeHeuristic(int pathCost, int nodeA, int nodeB){
private float clusterNodeHeuristic(int team, int pathCost, int nodeA, int nodeB){
int
clusterA = NodeIndex.cluster(nodeA),
dirA = NodeIndex.dir(nodeA),
@ -624,8 +687,8 @@ public class HierarchyPathFinder implements Runnable{
clusterB = NodeIndex.cluster(nodeB),
dirB = NodeIndex.dir(nodeB),
portalB = NodeIndex.portal(nodeB),
rangeA = clusters[pathCost][clusterA].portals[dirA].items[portalA],
rangeB = clusters[pathCost][clusterB].portals[dirB].items[portalB];
rangeA = getCreateCluster(team, pathCost, clusterA).portals[dirA].items[portalA],
rangeB = getCreateCluster(team, pathCost, clusterB).portals[dirB].items[portalB];
float
averageA = (Point2.x(rangeA) + Point2.y(rangeA)) / 2f,
@ -652,6 +715,7 @@ public class HierarchyPathFinder implements Runnable{
var costs = request.costs;
var cameFrom = request.cameFrom;
var frontier = request.frontier;
var team = request.team;
frontier.clear();
costs.clear();
@ -673,23 +737,22 @@ public class HierarchyPathFinder implements Runnable{
int cluster = NodeIndex.cluster(current), dir = NodeIndex.dir(current), portal = NodeIndex.portal(current);
int cx = cluster % cwidth, cy = cluster / cwidth;
Cluster clust = clusters[pathCost][cluster];
Cluster clust = getCreateCluster(team, pathCost, cluster);
LongSeq innerCons = clust.portalConnections[dir] == null || portal >= clust.portalConnections[dir].length ? null : clust.portalConnections[dir][portal];
//edges for the cluster the node is 'in'
if(innerCons != null){
checkEdges(request, pathCost, current, endNodeIndex, cx, cy, innerCons);
checkEdges(request, team, pathCost, current, endNodeIndex, cx, cy, innerCons);
}
//edges that this node 'faces' from the other side
int nextCx = cx + Geometry.d4[dir].x, nextCy = cy + Geometry.d4[dir].y;
if(nextCx >= 0 && nextCy >= 0 && nextCx < cwidth && nextCy < cheight){
int nextClusteri = nextCx + nextCy * cwidth;
Cluster nextCluster = clusters[pathCost][nextClusteri];
Cluster nextCluster = getCreateCluster(team, pathCost, nextCx, nextCy);
int relativeDir = (dir + 2) % 4;
LongSeq outerCons = nextCluster.portalConnections[relativeDir] == null ? null : nextCluster.portalConnections[relativeDir][portal];
if(outerCons != null){
checkEdges(request, pathCost, current, endNodeIndex, nextCx, nextCy, outerCons);
checkEdges(request, team, pathCost, current, endNodeIndex, nextCx, nextCy, outerCons);
}
}
}
@ -718,7 +781,7 @@ public class HierarchyPathFinder implements Runnable{
Fx.debugLine.at(a.x, a.y, 0f, color, new Vec2[]{a.cpy(), b.cpy()});
}
void checkEdges(PathRequest request, int pathCost, int current, int goal, int cx, int cy, LongSeq connections){
void checkEdges(PathRequest request, int team, int pathCost, int current, int goal, int cx, int cy, LongSeq connections){
for(int i = 0; i < connections.size; i++){
long con = connections.items[i];
float cost = IntraEdge.cost(con);
@ -730,7 +793,7 @@ public class HierarchyPathFinder implements Runnable{
if(newCost < request.costs.get(next, Float.POSITIVE_INFINITY)){
request.costs.put(next, newCost);
request.frontier.add(next, newCost + clusterNodeHeuristic(pathCost, next, goal));
request.frontier.add(next, newCost + clusterNodeHeuristic(team, pathCost, next, goal));
request.cameFrom.put(next, current);
//TODO debug
@ -881,11 +944,10 @@ public class HierarchyPathFinder implements Runnable{
destY = World.toTile(destination.y) * wwidth,
destPos = destX + destY * wwidth;
//TODO: collect old requests that have not been accessed in a while. not sure where.
request.lastUpdateId = state.updateId;
//use existing request if it exists.
if(request != null && request.destination == destPos){
//TODO: collect old requests that have not been accessed in a while. not sure where.
request.lastUpdateId = state.updateId;
Tile tileOn = unit.tileOn();
//TODO: should fields be accessible from this thread?
@ -923,8 +985,9 @@ public class HierarchyPathFinder implements Runnable{
}
}else{
//queue new request.
unitRequests.put(unit, request = new PathRequest(unit, destPos));
unitRequests.put(unit, request = new PathRequest(unit, unit.team.id, destPos));
PathRequest f = request;
@ -980,8 +1043,10 @@ public class HierarchyPathFinder implements Runnable{
if(state.isPlaying()){
queue.run();
//TODO: WHICH clusters need to update here? do I iterate through 256 teams every time? ugh
clustersToUpdate.each(cluster -> {
//just in case: don't redundantly update inner clusters after you've recalculated it entirely
clustersToInnerUpdate.remove(cluster);
});