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Moving new pathfinding to a new thread

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Anuken
2023-11-08 13:20:07 -05:00
parent be44e283d8
commit 70e112e884
1 changed files with 31 additions and 2 deletions
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33
core/src/mindustry/ai/HierarchyPathFinder.java
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@ -23,6 +23,8 @@ import static mindustry.ai.Pathfinder.*;
//https://webdocs.cs.ualberta.ca/~mmueller/ps/hpastar.pdf
//https://www.gameaipro.com/GameAIPro/GameAIPro_Chapter23_Crowd_Pathfinding_and_Steering_Using_Flow_Field_Tiles.pdf
public class HierarchyPathFinder{
static final int clusterSize = 12;
static final boolean debug = true;
static final int[] offsets = {
@ -48,7 +50,6 @@ public class HierarchyPathFinder{
//maps pathCost -> flattened array of clusters in 2D
Cluster[][] clusters;
int clusterSize = 12;
int cwidth, cheight;
@ -56,17 +57,45 @@ public class HierarchyPathFinder{
PathfindQueue frontier = new PathfindQueue();
//node index -> total cost
IntFloatMap costs = new IntFloatMap();
//temporarily used for resolving connections for intra-edges
IntSet usedEdges = new IntSet();
//node index (NodeIndex struct) -> node it came from
IntIntMap cameFrom = new IntIntMap();
IntMap<int[]> fields;
//tasks to run on pathfinding thread
TaskQueue tasks = new TaskQueue();
//individual requests based on unit
ObjectMap<Unit, PathRequest> unitRequests = new ObjectMap<>();
//maps position in world in (x + y * width format) to a cache of flow fields
IntMap<FieldCache> requests = new IntMap<>();
//path requests are per-unit
//these contain
static class PathRequest{
int destination;
//node index -> total cost
IntFloatMap costs = new IntFloatMap();
//node index (NodeIndex struct) -> node it came from TODO merge them
IntIntMap cameFrom = new IntIntMap();
}
static class FieldCache{
int destination;
//frontier for flow fields
PathfindQueue frontier = new PathfindQueue();
//maps cluster index to field weights; 0 means uninitialized
IntMap<int[]> fields = new IntMap<>();
//TODO: node map for merging
//TODO: how to extend flowfields?
}
public HierarchyPathFinder(){
Events.on(WorldLoadEvent.class, event -> {
//TODO 5 path costs, arbitrary number
clusters = new Cluster[5][];
clusterSize = 12; //TODO arbitrary
cwidth = Mathf.ceil((float)world.width() / clusterSize);
cheight = Mathf.ceil((float)world.height() / clusterSize);