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Attempts to further optimize pathfinding

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Anuken
2018-04-21 11:55:32 -04:00
parent fb14a83b9a
commit 95f10aeb06
3 changed files with 35 additions and 30 deletions
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4
core/assets/version.properties
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@ -1,7 +1,7 @@
#Autogenerated file. Do not modify.
#Sat Apr 21 01:07:37 EDT 2018
#Sat Apr 21 11:52:24 EDT 2018
version=release
androidBuildCode=1077
androidBuildCode=1079
name=Mindustry
code=3.5
build=custom build

37
core/src/io/anuke/mindustry/ai/OptimizedPathFinder.java
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@ -13,6 +13,8 @@ import io.anuke.ucore.function.Consumer;
import io.anuke.ucore.util.Geometry;
import io.anuke.ucore.util.Mathf;
import static io.anuke.mindustry.Vars.tilesize;
/**An IndexedAStarPathfinder that uses an OptimizedGraph, and therefore has less allocations.*/
public class OptimizedPathFinder {
IntMap<NodeRecord> records = new IntMap<>();
@ -20,7 +22,6 @@ public class OptimizedPathFinder {
NodeRecord current;
private int searchId;
private Tile cameFrom = null;
private static final byte UNVISITED = 0;
private static final byte OPEN = 1;
@ -63,30 +64,12 @@ public class OptimizedPathFinder {
visitChildren(endNode);
cameFrom = current.node;
} while (openList.size > 0);
// We've run out of nodes without finding the goal, so there's no solution
return false;
}
public void runStep(Tile startNode, Tile endNode){
if(openList.size > 0) {
// Retrieve the node with smallest estimated total cost from the open list
current = openList.pop();
current.category = CLOSED;
// Terminate if we reached the goal node
if (current.node == endNode) return;
visitChildren(endNode);
cameFrom = current.node;
}
}
public boolean search(PathFinderRequest<Tile> request, long timeToRun) {
long lastTime = TimeUtils.nanoTime();
@ -138,7 +121,6 @@ public class OptimizedPathFinder {
// Initialize the open list
openList.clear();
cameFrom = null;
// Initialize the record for the start node and add it to the open list
NodeRecord startRecord = getNodeRecord(startNode);
@ -233,11 +215,11 @@ public class OptimizedPathFinder {
}else{ //moving diagonal
//forced neighbor in the diagonal pattern
if(obstacle(rel(current, direction + 3)) && !obstacle(rel(current, direction + 2)) && !obstacle(rel(current, direction -2))) {
cons.accept(rel(current, direction + 2));//jps(rel(current, direction + 2), Mathf.mod(direction + 2, 8), end, cons);
cons.accept(rel(current, direction + 2));
}
if(obstacle(rel(current, direction - 3)) && !obstacle(rel(current, direction - 2))&& !obstacle(rel(current, direction + 2))){
cons.accept(rel(current, direction - 2));//jps(rel(current, direction - 2), Mathf.mod(direction - 2, 8), end, cons);
cons.accept(rel(current, direction - 2));
}
}
@ -246,10 +228,10 @@ public class OptimizedPathFinder {
//moving straight
if(direction % 2 == 0){
Tile sf = scanDir(rel(current, direction), end, direction); //check if there's anything of interest going straight
if(sf != null){ //if there is, jump to that location immediately and stop
if(sf != null){ //if there is, jump to that location immediately and stop. else, nothing must be there, end.
cons.accept(sf);
return;
}
return;
}else{ //moving diagonal
Tile sl = scanDir(rel(current, Mathf.mod(direction - 1, 8)), end, Mathf.mod(direction - 1, 8));
@ -285,13 +267,16 @@ public class OptimizedPathFinder {
}
protected Tile scanDir(Tile tile, Tile end, int direction){
while(!obstacle(tile)){
if(debug) Effects.effect(Fx.node2, tile.worldx(), tile.worldy());
if(tile == end) return tile;
if(direction % 2 == 0){
//forced neighbor in the straight pattern
if((obstacle(rel(tile, direction + 2)) && !obstacle(rel(tile, direction + 1))) ||
(obstacle(rel(tile, direction - 2)) && !obstacle(rel(tile, direction - 1)))){
//Log.info("Found forced linear neighbor {0} {1} // {2}", tile.x, tile.y, direction);
if(debug) Effects.effect(Fx.node4, tile.worldx(), tile.worldy());
return tile;
}
@ -300,6 +285,7 @@ public class OptimizedPathFinder {
if((obstacle(rel(tile, direction + 3)) && !obstacle(rel(tile, direction + 2)) && !obstacle(rel(tile, direction - 2))) ||
(obstacle(rel(tile, direction - 3)) && !obstacle(rel(tile, direction - 2)) && !obstacle(rel(tile, direction + 2)))) {
if(debug) Effects.effect(Fx.node4, tile.worldx(), tile.worldy());
//Log.info("Found forced diagonal neighbor {0} {1} // {2}", tile.x, tile.y, direction);
return tile;
}else{
return null;
@ -321,7 +307,8 @@ public class OptimizedPathFinder {
}
protected float estimate(Tile tile, Tile other){
return Math.abs(tile.worldx() - other.worldx()) + Math.abs(tile.worldy() - other.worldy());
return Math.abs(tile.worldx() - other.worldx()) + Math.abs(tile.worldy() - other.worldy()) +
(tile.occluded ? tilesize*2 : 0) + (other.occluded ? tilesize*2 : 0);
}
protected int relDirection(Tile from, Tile current){

24
core/src/io/anuke/mindustry/ai/Pathfinder.java
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@ -1,6 +1,8 @@
package io.anuke.mindustry.ai;
import com.badlogic.gdx.ai.pfa.DefaultGraphPath;
import com.badlogic.gdx.ai.pfa.PathSmoother;
import com.badlogic.gdx.math.Vector2;
import io.anuke.mindustry.content.fx.Fx;
import io.anuke.mindustry.game.EventType.WorldLoadEvent;
import io.anuke.mindustry.world.Tile;
@ -11,6 +13,7 @@ import io.anuke.ucore.util.Log;
public class Pathfinder {
OptimizedPathFinder find = new OptimizedPathFinder();
OptimizedPathFinder find2 = new OptimizedPathFinder();
Tile start, end;
public Pathfinder(){
@ -20,21 +23,36 @@ public class Pathfinder {
public void test(Tile start, Tile end){
this.start = start;
this.end = end;
DefaultGraphPath<Tile> p = new DefaultGraphPath<>();
OptimizedPathFinder.unop = false;
Timers.markNs();
find.searchNodePath(start, end, p);
Log.info("JSFSAF elapsed: {0}", Timers.elapsedNs());
for(Tile tile : p){
Effects.effect(Fx.node1, tile.worldx(), tile.worldy());
Effects.effect(Fx.breakBlock, tile.worldx(), tile.worldy());
}
SmoothGraphPath p2 = new SmoothGraphPath();
OptimizedPathFinder.unop = true;
Timers.markNs();
find2.searchNodePath(start, end, p2);
new PathSmoother<Tile, Vector2>(new Raycaster()).smoothPath(p2);
Log.info("UNOP elapsed: {0}", Timers.elapsedNs());
for(Tile tile : p2){
Effects.effect(Fx.place, tile.worldx(), tile.worldy());
}
Log.info("JSFSAF elapsed: {0}", Timers.elapsedNs());
}
public void step(){
find.runStep(start, end);
//find.runStep(start, end);
}
private void clear(){