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Major refactoring; implemented multi-frame pathfinding

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This commit is contained in:
Anuken
2017-11-26 18:59:03 -05:00
parent 25952985dd
commit 07ac552495
60 changed files with 767 additions and 498 deletions
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core/src/io/anuke/mindustry/ai/MHueristic.java
+1 -2
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@@ -4,7 +4,6 @@ import com.badlogic.gdx.ai.pfa.Heuristic;
import io.anuke.mindustry.Vars;
import io.anuke.mindustry.world.Tile;
import io.anuke.mindustry.world.World;
public class MHueristic implements Heuristic<Tile>{
//so this means that the cost of going through solids is 10x going through non solids
@@ -23,7 +22,7 @@ public class MHueristic implements Heuristic<Tile>{
if(other.breakable() && other.block().solid) cost += Vars.tilesize*multiplier;
for(int dx = -1; dx <= 1; dx ++){
for(int dy = -1; dy <= 1; dy ++){
Tile tile = World.tile(node.x + dx, node.y + dy);
Tile tile = Vars.world.tile(node.x + dx, node.y + dy);
if(tile != null && tile.solid()){
cost += Vars.tilesize*5;
}
core/src/io/anuke/mindustry/ai/PassTileGraph.java
+3 -3
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@@ -4,8 +4,8 @@ import com.badlogic.gdx.ai.pfa.Connection;
import com.badlogic.gdx.ai.pfa.indexed.IndexedGraph;
import com.badlogic.gdx.utils.Array;
import io.anuke.mindustry.Vars;
import io.anuke.mindustry.world.Tile;
import io.anuke.mindustry.world.World;
/**Tilegraph that ignores player-made tiles.*/
public class PassTileGraph implements IndexedGraph<Tile>{
private Array<Connection<Tile>> tempConnections = new Array<Connection<Tile>>();
@@ -27,11 +27,11 @@ public class PassTileGraph implements IndexedGraph<Tile>{
@Override
public int getIndex(Tile node){
return node.x+node.y*World.worldsize;
return node.id();
}
@Override
public int getNodeCount(){
return World.worldsize*World.worldsize;
return Vars.world.width() * Vars.world.height();
}
}
core/src/io/anuke/mindustry/ai/Pathfind.java
+50 -23
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@@ -1,40 +1,41 @@
package io.anuke.mindustry.ai;
import com.badlogic.gdx.ai.pfa.PathFinder;
import com.badlogic.gdx.ai.pfa.PathFinderRequest;
import com.badlogic.gdx.ai.pfa.PathSmoother;
import com.badlogic.gdx.ai.pfa.indexed.IndexedAStarPathFinder;
import com.badlogic.gdx.math.MathUtils;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.utils.Array;
import io.anuke.mindustry.Vars;
import io.anuke.mindustry.entities.effect.Fx;
import io.anuke.mindustry.entities.enemies.Enemy;
import io.anuke.mindustry.world.SpawnPoint;
import io.anuke.mindustry.world.Tile;
import io.anuke.mindustry.world.World;
import io.anuke.ucore.core.Effects;
import io.anuke.ucore.util.Angles;
import io.anuke.ucore.util.Tmp;
public class Pathfind{
static MHueristic heuristic = new MHueristic();
static PassTileGraph passgraph = new PassTileGraph();
static PathFinder<Tile> passpathfinder;
static Array<SmoothGraphPath> paths = new Array<>();
static Tile[][] pathSequences;
static PathSmoother<Tile, Vector2> smoother = new PathSmoother<Tile, Vector2>(new Raycaster());
static Vector2 vector = new Vector2();
private static final long ms = 1000000;
static public Vector2 find(Enemy enemy){
MHueristic heuristic = new MHueristic();
PassTileGraph graph = new PassTileGraph();
PathSmoother<Tile, Vector2> smoother = new PathSmoother<Tile, Vector2>(new Raycaster());
Vector2 vector = new Vector2();
public Vector2 find(Enemy enemy){
if(enemy.node == -1){
findNode(enemy);
}
if(enemy.path == null){
return vector.set(enemy.x, enemy.y);
}
//-1 is only possible here if both pathfindings failed, which should NOT happen
//check graph code
Tile[] path = enemy.path;
//REPRODUCE BUG: load in test map, then load save 1
//REPRODUCE BUG: load in test map, then load save 1?
Tile prev = path[enemy.node - 1];
Tile target = path[enemy.node];
@@ -77,19 +78,41 @@ public class Pathfind{
}
static public void reset(){
paths.clear();
pathSequences = null;
passpathfinder = new IndexedAStarPathFinder<Tile>(passgraph);
public void update(){
for(SpawnPoint point : Vars.control.getSpawnPoints()){
if(!point.request.pathFound){
if(point.finder.search(point.request, ms*2)){
smoother.smoothPath(point.path);
point.pathTiles = point.path.nodes.toArray(Tile.class);
}
}
}
}
static public void updatePath(){
public void updatePath(){
for(SpawnPoint point : Vars.control.getSpawnPoints()){
if(point.finder == null){
point.finder = new IndexedAStarPathFinder<Tile>(graph);
}
point.path.clear();
point.pathTiles = null;
point.request = new PathFinderRequest<Tile>(point.start, Vars.control.getCore(), heuristic, point.path);
point.request.statusChanged = true; //IMPORTANT!
}
/*
if(paths.size == 0 || paths.size != World.spawnpoints.size){
paths.clear();
finders.clear();
pathSequences = new Tile[World.spawnpoints.size][0];
for(int i = 0; i < World.spawnpoints.size; i ++){
SmoothGraphPath path = new SmoothGraphPath();
paths.add(path);
finders.add(new IndexedAStarPathFinder(graph));
}
}
@@ -97,7 +120,7 @@ public class Pathfind{
SmoothGraphPath path = paths.get(i);
path.clear();
passpathfinder.searchNodePath(
finders.get(i).searchNodePath(
World.spawnpoints.get(i),
World.core, heuristic, path);
@@ -117,11 +140,15 @@ public class Pathfind{
Effects.effect(Fx.ind, tile.worldx(), tile.worldy());
}
}
}*/
}
static void findNode(Enemy enemy){
enemy.path = pathSequences[enemy.spawn];
void findNode(Enemy enemy){
if(Vars.control.getSpawnPoints().get(enemy.spawn).pathTiles == null){
return;
}
enemy.path = Vars.control.getSpawnPoints().get(enemy.spawn).pathTiles;
Tile[] path = enemy.path;
Tile closest = null;
float ldst = 0f;
core/src/io/anuke/mindustry/ai/Raycaster.java
+1 -2
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@@ -7,7 +7,6 @@ import com.badlogic.gdx.math.Vector2;
import io.anuke.mindustry.Vars;
import io.anuke.mindustry.world.Tile;
import io.anuke.mindustry.world.World;
import io.anuke.ucore.util.Geometry;
import io.anuke.ucore.util.Mathf;
@@ -72,7 +71,7 @@ public class Raycaster implements RaycastCollisionDetector<Vector2>{
}
private boolean solid(float x, float y){
Tile tile = World.tile(Mathf.scl2(x, Vars.tilesize), Mathf.scl2(y, Vars.tilesize));
Tile tile = Vars.world.tile(Mathf.scl2(x, Vars.tilesize), Mathf.scl2(y, Vars.tilesize));
if(tile == null || tile.solid()) return true;