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Pathfinder progress

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This commit is contained in:
Anuken 2020-09-03 09:17:21 -04:00
parent 5d1e96cf50
commit a6ee946024
7 changed files with 82 additions and 152 deletions
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107
core/src/mindustry/ai/Pathfinder.java
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@ -23,6 +23,38 @@ public class Pathfinder implements Runnable{
private static final int impassable = -1;
private static final int fieldTimeout = 1000 * 60 * 2;
public static final int
fieldCore = 0,
fieldRally = 1;
public static final Seq<Prov<Flowfield>> fieldTypes = Seq.with(
EnemyCoreField::new,
RallyField::new
);
public static final int
costGround = 0,
costLegs = 1,
costWater = 2;
public static final Seq<PathCost> costTypes = Seq.with(
(team, tile) -> (PathTile.team(tile) == team.id || PathTile.team(tile) == 0) && PathTile.solid(tile) ? impassable : 1 +
PathTile.health(tile) * 5 +
(PathTile.nearSolid(tile) ? 2 : 0) +
(PathTile.nearLiquid(tile) ? 6 : 0) +
(PathTile.deep(tile) ? 70 : 0),
(team, tile) -> PathTile.legSolid(tile) ? impassable : 1 +
(PathTile.solid(tile) ? 5 : 0),
(team, tile) -> PathTile.solid(tile) || !PathTile.liquid(tile) ? impassable : 2 + //TODO cannot go through blocks
(PathTile.nearGround(tile) || PathTile.nearSolid(tile) ? 14 : 0) +
(PathTile.deep(tile) ? -1 : 0)
);
//maps team, cost, type to flow field
private Flowfield[][][] cache;
/** tile data, see PathTileStruct */
private int[][] tiles;
/** unordered array of path data for iteration only. DO NOT iterate or access this in the main thread. */
@ -34,6 +66,8 @@ public class Pathfinder implements Runnable{
private IntSeq tmpArray = new IntSeq();
public Pathfinder(){
clearCache();
Events.on(WorldLoadEvent.class, event -> {
stop();
@ -41,13 +75,14 @@ public class Pathfinder implements Runnable{
tiles = new int[world.width()][world.height()];
threadList = new Seq<>();
mainList = new Seq<>();
clearCache();
for(Tile tile : world.tiles){
tiles[tile.x][tile.y] = packTile(tile);
}
//special preset which may help speed things up; this is optional
//preloadPath(state.rules.waveTeam, FlagTarget.enemyCores);
preloadPath(getField(state.rules.waveTeam, costGround, fieldCore));
start();
});
@ -57,8 +92,8 @@ public class Pathfinder implements Runnable{
Events.on(BuildinghangeEvent.class, event -> updateTile(event.tile));
}
public Flowfield getField(Team team, PathCost cost){
private void clearCache(){
cache = new Flowfield[256][5][5];
}
/** Packs a tile into its internal representation. */
@ -189,34 +224,26 @@ public class Pathfinder implements Runnable{
// return getTargetTile(tile, team, getTarget(target));
// }
public @Nullable Tile getTargetTile(Tile tile, Prov<Flowfield> fieldtype){
if(true){ //TODO cache this
Flowfield field = fieldtype.get();
IntSeq out = new IntSeq();
field.getPositions(out);
createPath(field, out);
}
public Flowfield getField(Team team, int costType, int fieldType){
if(cache[team.id][costType][fieldType] == null){
Flowfield field = fieldTypes.get(fieldType).get();
field.team = team;
field.cost = costTypes.get(costType);
field.targets.clear();
field.getPositions(field.targets);
if(false){ //TODO if field exists
//TODO fetch it from the cache
//return getTargetTile(tile, path);
cache[team.id][costType][fieldType] = field;
queue.post(() -> registerPath(field));
}
return tile;
return cache[team.id][costType][fieldType];
}
/** Gets next tile to travel to. Main thread only. */
public @Nullable Tile getTargetTile(Tile tile, Flowfield path){
if(tile == null) return null;
if(path == null){
//if this combination is not found, create it on request
//TODO do above task
//if(fieldMapUsed[team.id].add(target)){
//grab targets since this is run on main thread
// IntSeq targets = target.getPositions(team, new IntSeq());
// queue.post(() -> createPath(team, target, targets));
//}
//uninitialized flowfields are not applicable
if(!path.initialized){
return tile;
}
@ -306,9 +333,10 @@ public class Pathfinder implements Runnable{
}
private void preloadPath(Flowfield path){
IntSeq out = new IntSeq();
path.getPositions(out);
updateFrontier(createPath(path, out), -1);
path.targets.clear();
path.getPositions(path.targets);
registerPath(path);
updateFrontier(path, -1);
}
/**
@ -316,7 +344,7 @@ public class Pathfinder implements Runnable{
* Created a new flowfield that aims to get to a certain target for a certain team.
* Pathfinding thread only.
*/
private Flowfield createPath(Flowfield path, IntSeq targets){
private void registerPath(Flowfield path){
path.lastUpdateTime = Time.millis();
path.setup(tiles.length, tiles[0].length);
@ -331,12 +359,6 @@ public class Pathfinder implements Runnable{
//}
});
//grab targets from passed array
synchronized(path.targets){
path.targets.clear();
path.targets.addAll(targets);
}
//fill with impassables by default
for(int x = 0; x < world.width(); x++){
for(int y = 0; y < world.height(); y++){
@ -350,8 +372,6 @@ public class Pathfinder implements Runnable{
path.weights[Point2.x(pos)][Point2.y(pos)] = 0;
path.frontier.addFirst(pos);
}
return path;
}
/** Update the frontier for a path. Pathfinding thread only. */
@ -386,21 +406,6 @@ public class Pathfinder implements Runnable{
}
}
public static final PathCost
groundCost = (team, tile) -> (PathTile.team(tile) == team.id || PathTile.team(tile) == 0) && PathTile.solid(tile) ? impassable : 1 +
PathTile.health(tile) * 5 +
(PathTile.nearSolid(tile) ? 2 : 0) +
(PathTile.nearLiquid(tile) ? 6 : 0) +
(PathTile.deep(tile) ? 70 : 0),
legsCost = (team, tile) -> PathTile.legSolid(tile) ? impassable : 1 +
(PathTile.solid(tile) ? 5 : 0),
waterCost = (team, tile) -> PathTile.solid(tile) || !PathTile.liquid(tile) ? impassable : 2 + //TODO cannot go through blocks
(PathTile.nearGround(tile) || PathTile.nearSolid(tile) ? 14 : 0) +
(PathTile.deep(tile) ? -1 : 0);
public static class EnemyCoreField extends Flowfield{
@Override
protected void getPositions(IntSeq out){
@ -451,7 +456,7 @@ public class Pathfinder implements Runnable{
/** Team this path is for. Set before using. */
protected Team team = Team.derelict;
/** Function for calculating path cost. Set before using. */
protected PathCost cost = groundCost;
protected PathCost cost = costTypes.get(costGround);
/** costs of getting to a specific tile */
int[][] weights;

3
core/src/mindustry/ai/types/FormationAI.java
View File

@ -47,7 +47,8 @@ public class FormationAI extends AIController implements FormationMember{
Vec2 realtarget = vec.set(target);
if(unit.isGrounded() && Vars.world.raycast(unit.tileX(), unit.tileY(), leader.tileX(), leader.tileY(), Vars.world::solid)){
realtarget.set(Vars.pathfinder.getTargetTile(unit.tileOn(), unit.team, leader));
//TODO pathfind
//realtarget.set(Vars.pathfinder.getTargetTile(unit.tileOn(), unit.team, leader));
}
unit.moveAt(realtarget.sub(unit).limit(unit.type().speed));

42
core/src/mindustry/ai/types/GroundAI.java
View File

@ -1,9 +1,8 @@
package mindustry.ai.types;
import mindustry.ai.Pathfinder.*;
import mindustry.ai.*;
import mindustry.entities.*;
import mindustry.entities.units.*;
import mindustry.game.*;
import mindustry.gen.*;
import mindustry.world.*;
@ -24,7 +23,7 @@ public class GroundAI extends AIController{
}
if(!unit.within(core, unit.range() * 0.5f)){
moveToCore(FlagTarget.enemyCores);
moveTo(Pathfinder.fieldCore);
}
}
@ -52,41 +51,18 @@ public class GroundAI extends AIController{
}*/
}
protected void moveToCore(FlagTarget path){
protected void moveTo(int pathType){
int costType =
unit instanceof Legsc ? Pathfinder.costLegs :
unit instanceof WaterMovec ? Pathfinder.costWater :
Pathfinder.costGround;
Tile tile = unit.tileOn();
if(tile == null) return;
Tile targetTile = pathfinder.getTargetTile(tile, unit.team(), path);
Tile targetTile = pathfinder.getTargetTile(tile, pathfinder.getField(unit.team, costType, pathType));
if(tile == targetTile) return;
unit.moveAt(vec.trns(unit.angleTo(targetTile), unit.type().speed));
}
protected void moveAwayFromCore(){
Team enemy = null;
for(Team team : unit.team().enemies()){
if(team.active()){
enemy = team;
break;
}
}
if(enemy == null){
for(Team team : unit.team().enemies()){
enemy = team;
break;
}
}
if(enemy == null) return;
Tile tile = unit.tileOn();
if(tile == null) return;
Tile targetTile = pathfinder.getTargetTile(tile, enemy, FlagTarget.enemyCores);
Building core = unit.closestCore();
if(tile == targetTile || core == null || unit.within(core, 120f)) return;
unit.moveAt(vec.trns(unit.angleTo(targetTile), unit.type().speed));
}
}

4
core/src/mindustry/ai/types/SuicideAI.java
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@ -1,7 +1,7 @@
package mindustry.ai.types;
import mindustry.*;
import mindustry.ai.Pathfinder.*;
import mindustry.ai.*;
import mindustry.entities.*;
import mindustry.gen.*;
import mindustry.world.*;
@ -59,7 +59,7 @@ public class SuicideAI extends GroundAI{
}else{
if(core != null){
moveToCore(FlagTarget.enemyCores);
moveTo(Pathfinder.fieldCore);
}
if(unit.moving()) unit.lookAt(unit.vel().angle());

11
core/src/mindustry/maps/SectorDamage.java
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@ -35,7 +35,8 @@ public class SectorDamage{
if(core != null && !frontier.isEmpty()){
for(Tile spawner : frontier){
//find path from spawn to core
Seq<Tile> path = Astar.pathfind(spawner, core.tile, t -> t.cost, t -> !(t.block().isStatic() && t.solid()));
//TODO this is broken
Seq<Tile> path = Astar.pathfind(spawner, core.tile, SectorDamage::cost, t -> !(t.block().isStatic() && t.solid()));
int amount = (int)(path.size * fraction);
for(int i = 0; i < amount; i++){
Tile t = path.get(i);
@ -104,8 +105,12 @@ public class SectorDamage{
}
}
}
}
static float cost(Tile tile){
return 1f +
(tile.block().isStatic() && tile.solid() ? 200f : 0f) +
(tile.build != null ? tile.build.health / 40f : 0f) +
(tile.floor().isLiquid ? 10f : 0f);
}
}

65
core/src/mindustry/maps/generators/BasicGenerator.java
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@ -39,63 +39,6 @@ public abstract class BasicGenerator implements WorldGenerator{
}
//for visual testing only
public void cliffs2(){
for(Tile tile : tiles){
tile.setBlock(Blocks.air);
tile.cost = tile.floor().isLiquid ? 0 : (byte)(noise(tile.x, tile.y, 4, 0.5f, 90f, 1) * 5);
}
for(Tile tile : tiles){
if(tile.floor().isLiquid) continue;
int rotation = 0;
for(int i = 0; i < 8; i++){
Tile other = tiles.get(tile.x + Geometry.d8[i].x, tile.y + Geometry.d8[i].y);
if(other != null && other.cost < tile.cost){ //down slope
rotation |= (1 << i);
}
}
tile.data = (byte)rotation;
}
for(Tile tile : tiles){
if(tile.data != 0){
int rotation = tile.data;
tile.setBlock(Blocks.cliff);
tile.setOverlay(Blocks.air);
tile.data = (byte)rotation;
}
}
}
public void cliffs(){
for(Tile tile : tiles){
if(!tile.block().isStatic()) continue;
int rotation = 0;
for(int i = 0; i < 8; i++){
Tile other = tiles.get(tile.x + Geometry.d8[i].x, tile.y + Geometry.d8[i].y);
if(other != null && !other.block().isStatic()){
rotation |= (1 << i);
}
}
if(rotation != 0){
tile.setBlock(Blocks.cliff);
}
tile.data = (byte)rotation;
}
for(Tile tile : tiles){
if(tile.block() != Blocks.cliff && tile.block().isStatic()){
tile.setBlock(Blocks.air);
}
}
}
public void median(int radius){
median(radius, 0.5);
}
@ -336,13 +279,13 @@ public abstract class BasicGenerator implements WorldGenerator{
while(!arr.isEmpty()){
int i = arr.pop();
int x = Point2.x(i), y = Point2.y(i);
tiles.getn(x, y).cost = 2;
tiles.getn(x, y).data = 2;
for(Point2 point : Geometry.d4){
int newx = x + point.x, newy = y + point.y;
if(tiles.in(newx, newy)){
Tile child = tiles.getn(newx, newy);
if(child.block() == Blocks.air && child.cost != 2){
child.cost = 2;
if(child.block() == Blocks.air && child.data != 2){
child.data = 2;
arr.add(child.pos());
}
}
@ -350,7 +293,7 @@ public abstract class BasicGenerator implements WorldGenerator{
}
for(Tile tile : tiles){
if(tile.cost != 2 && tile.block() == Blocks.air){
if(tile.data != 2 && tile.block() == Blocks.air){
tile.setBlock(tile.floor().wall);
}
}

2
gradle.properties
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@ -1,3 +1,3 @@
org.gradle.daemon=true
org.gradle.jvmargs=-Xms256m -Xmx1024m
archash=0fafa5b7159c2a6c11f03ebd378a47736101b46e
archash=a72f08a6812107fdf4462b7c6955efc19a67715b