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Improved pathfinding

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This commit is contained in:
Anuken
2017-05-03 11:52:54 -04:00
parent c374073e6f
commit 0719223146
8 changed files with 50 additions and 31 deletions
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core/src/io/anuke/mindustry/ai/Pathfind.java
+26 -20
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@@ -9,13 +9,12 @@ import com.badlogic.gdx.utils.Array;
import io.anuke.mindustry.entities.Enemy;
import io.anuke.mindustry.world.Tile;
import io.anuke.ucore.entities.Entities;
import io.anuke.ucore.entities.Entity;
public class Pathfind{
static MHueristic heuristic = new MHueristic();
static PassTileGraph passgraph = new PassTileGraph();
static IndexedAStarPathFinder<Tile> passpathfinder;
static Array<DefaultGraphPath<Tile>> paths = new Array<>();
static Tile[][] pathSequences;
static Vector2 vector = new Vector2();
static public Vector2 find(Enemy enemy){
@@ -26,17 +25,17 @@ public class Pathfind{
//-1 is only possible here if both pathfindings failed, which should NOT happen
//check graph code
DefaultGraphPath<Tile> path = paths.get(enemy.spawn);
Tile[] path = enemy.path;
Tile target = path.get(enemy.node);
Tile target = path[enemy.node];
float dst = Vector2.dst(enemy.x, enemy.y, target.worldx(), target.worldy());
if(dst < 2){
if(enemy.node <= path.getCount()-2)
if(enemy.node <= path.length-2)
enemy.node ++;
target = path.get(enemy.node);
target = path[enemy.node];
}
@@ -46,45 +45,52 @@ public class Pathfind{
static public void reset(){
paths.clear();
pathSequences = null;
passpathfinder = new IndexedAStarPathFinder<Tile>(passgraph);
}
static public void updatePath(){
if(paths.size == 0){
pathSequences = new Tile[3][0];
for(int i = 0; i < spawnpoints.size; i ++){
DefaultGraphPath<Tile> path = new DefaultGraphPath<>();
paths.add(path);
}
}
int i = 0;
for(DefaultGraphPath<Tile> path : paths){
for(int i = 0; i < paths.size; i ++){
DefaultGraphPath<Tile> path = paths.get(i);
path.clear();
passpathfinder.searchNodePath(
spawnpoints.get(i),
core, heuristic, path);
//for(Tile tile : path){
// Effects.effect("ind", tile.worldx(), tile.worldy());
///}
i++;
}
for(Entity e : Entities.all()){
if(e instanceof Enemy){
findNode((Enemy)e);
pathSequences[i] = new Tile[path.getCount()];
for(int node = 0; node < path.getCount(); node ++){
Tile tile = path.get(node);
pathSequences[i][node] = tile;
}
/*
for(Tile tile : path){
Effects.effect("ind", tile.worldx(), tile.worldy());
}
*/
}
}
static void findNode(Enemy enemy){
DefaultGraphPath<Tile> path = paths.get(enemy.spawn);
enemy.path = pathSequences[enemy.spawn];
Tile[] path = enemy.path;
Tile closest = null;
float ldst = 0f;
int cindex = -1;
for(int i = 0; i < path.getCount(); i ++){
Tile tile = path.get(i);
for(int i = 0; i < path.length; i ++){
Tile tile = path[i];
float dst = Vector2.dst(tile.worldx(), tile.worldy(), enemy.x, enemy.y);
if(closest == null || dst < ldst){