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Flowfield tests

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This commit is contained in:
Anuken
2023-11-07 00:11:44 -05:00
parent a17dcbca5a
commit 0186c35a1a
1 changed files with 90 additions and 3 deletions
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93
core/src/mindustry/ai/HierarchyPathFinder.java
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@@ -162,12 +162,36 @@ public class HierarchyPathFinder{
if(node != Integer.MAX_VALUE && dest != Integer.MAX_VALUE){
var result = clusterAstar(0, node, dest);
if(result != null){
for(int i = -1; i < result.size - 1; i++){
int endCluster = NodeIndex.cluster(result.items[i + 1]);
int cx = endCluster % cwidth, cy = endCluster / cwidth;
int[] field = flowField(0, cx, cy, 0, dest);
for(int y = 0; y < clusterSize; y++){
for(int x = 0; x < clusterSize; x++){
int value = field[x + y *clusterSize];
Tmp.c1.a = 1f;
Lines.stroke(0.8f, Tmp.c1.fromHsv(value * 3f, 1f, 1f));
Draw.alpha(0.5f);
Lines.rect((x + cx * clusterSize) * tilesize - tilesize/2f, (y + cy * clusterSize) * tilesize - tilesize/2f, tilesize, tilesize);
}
}
}
Lines.stroke(3f);
Draw.color(Color.orange);
for(int i = -1; i < result.size - 1; i++){
int current = i == -1 ? node : result.items[i], next = result.items[i + 1];
portalToVec(0, NodeIndex.cluster(current), NodeIndex.dir(current), NodeIndex.portal(current), Tmp.v1);
portalToVec(0, NodeIndex.cluster(next), NodeIndex.dir(next), NodeIndex.portal(next), Tmp.v2);
Lines.line(Tmp.v1.x, Tmp.v1.y, Tmp.v2.x, Tmp.v2.y);
}
//flowField(0, )
}
nodeToVec(dest, Tmp.v1);
@@ -446,7 +470,7 @@ public class HierarchyPathFinder{
return NodeIndex.get(cx + cy * cwidth, dir, portal);
}
//uses BFS to find the closest node index to specified coordinates
//uses A* to find the closest node index to specified coordinates
//this node is used in cluster A*
/** @return MAX_VALUE if no node is found */
private int findClosestNode(int team, int pathCost, int tileX, int tileY){
@@ -488,6 +512,7 @@ public class HierarchyPathFinder{
minX, minY, maxX, maxY,
tileX + tileY * wwidth,
otherX + otherY * wwidth,
//TODO these are wrong and never actually trigger
(moveDirs[dir * 2] * otherFrom + ox),
(moveDirs[dir * 2 + 1] * otherFrom + oy),
(moveDirs[dir * 2] * otherTo + ox),
@@ -627,8 +652,70 @@ public class HierarchyPathFinder{
}
}
Cluster cluster(int pathCost, int cx, int cy){
return clusters[pathCost][cx + cwidth * cy];
//both nodes must be inside the same flow field (cx, cy)
int[] flowField(int pathCost, int cx, int cy, int nodeFrom, int nodeTo){
Cluster cluster = clusters[pathCost][cx + cy * cwidth];
int[] weights = new int[clusterSize * clusterSize];
byte[] searches = new byte[clusterSize * clusterSize];
PathCost pcost = ControlPathfinder.costGround;
int team = Team.sharded.id;
IntQueue frontier = new IntQueue();
int search = 1;
//TODO actually set up the frontier and destinations (where are you going?)
{
int
dir = NodeIndex.dir(nodeTo),
other = cluster.portals[dir].items[NodeIndex.portal(nodeTo)],
otherFrom = Point2.x(other), otherTo = Point2.y(other),
ox = cx * clusterSize + offsets[dir * 2] * (clusterSize - 1),
oy = cy * clusterSize + offsets[dir * 2 + 1] * (clusterSize - 1),
maxX = (moveDirs[dir * 2] * otherFrom + ox),
maxY = (moveDirs[dir * 2 + 1] * otherFrom + oy),
minX = (moveDirs[dir * 2] * otherTo + ox),
minY = (moveDirs[dir * 2 + 1] * otherTo + oy)
;
//TODO: being zero INSIDE the cluster means that the unit will stop at the edge and not move between clusters - bad!
for(int x = minX; x <= maxX; x++){
for(int y = minY; y <= maxY; y++){
frontier.addFirst(x + y * wwidth);
}
}
}
int minX = cx * clusterSize, minY = cy * clusterSize, maxX = Math.min(minX + clusterSize - 1, wwidth - 1), maxY = Math.min(minY + clusterSize - 1, wheight - 1);
//TODO spread this out across many frames
while(frontier.size > 0){
int tile = frontier.removeLast();
int baseX = tile % wwidth, baseY = tile / wwidth;
int cost = weights[(baseX - minX) + (baseY - minY) * clusterSize];
if(cost != impassable){
for(Point2 point : Geometry.d4){
int dx = baseX + point.x, dy = baseY + point.y;
if(dx < minX || dy < minY || dx > maxX || dy > maxY) continue;
int newPos = tile + point.x + point.y * wwidth;
int newPosArray = (dx - minX) + (dy - minY) * clusterSize;
int otherCost = pcost.getCost(team, pathfinder.tiles[newPos]);
if((weights[newPosArray] > cost + otherCost || searches[newPosArray] < search) && otherCost != impassable){
frontier.addFirst(newPos);
weights[newPosArray] = cost + otherCost;
searches[newPosArray] = (byte)search;
}
}
}
}
return weights;
}
private static boolean solid(int team, PathCost type, int x, int y){