Payload resprites

core/src/mindustry/ai/ControlPathfinder.java

@@ -1,10 +1,13 @@
 package mindustry.ai;
 
 import arc.*;
+import arc.math.geom.*;
 import arc.struct.*;
 import arc.util.*;
 import arc.util.async.*;
 import mindustry.game.EventType.*;
+import mindustry.gen.*;
+import mindustry.world.*;
 
 import static mindustry.Vars.*;
 
@@ -22,13 +25,7 @@ public class ControlPathfinder implements Runnable{
     TaskQueue queue = new TaskQueue();
 
     //PATHFINDING THREAD DATA
-    IntMap<PathRequest> requests = new IntMap<>();
-
-
-    /** @return the next target ID to use as a unique path identifier. */
-    public int nextTargetId(){
-        return lastTargetId ++;
-    }
+    ObjectMap<Unit, PathRequest> requests = new ObjectMap<>();
 
     public ControlPathfinder(){
         Events.on(WorldLoadEvent.class, event -> {
@@ -41,6 +38,16 @@ public class ControlPathfinder implements Runnable{
         Events.on(ResetEvent.class, event -> stop());
     }
 
+
+    /** @return the next target ID to use as a unique path identifier. */
+    public int nextTargetId(){
+        return lastTargetId ++;
+    }
+
+    public void getPathPosition(Unit unit, int pathId, Vec2 destination){
+
+    }
+
     /** Starts or restarts the pathfinding thread. */
     private void start(){
         stop();
@@ -56,6 +63,15 @@ public class ControlPathfinder implements Runnable{
         requests.clear();
     }
 
+    //distance heuristic: manhattan
+    private static float dstCost(float x, float y, float x2, float y2){
+        return Math.abs(x - x2) + Math.abs(x2 - y2);
+    }
+
+    private static float tileCost(Tile a, Tile b){
+        return 1f;
+    }
+
     @Override
     public void run(){
         while(true){
@@ -88,10 +104,34 @@ public class ControlPathfinder implements Runnable{
     }
 
     class PathRequest{
-        public int lastRequestFrame;
+        GridBits closed;
+        PQueue<Tile> queue;
 
-        public void update(long maxUpdateNs){
+        //TODO how will costs be computed? where will they be stored...?
 
+        int lastId;
+        int curId;
+        int lastFrame;
+
+        PathRequest(){
+            clear();
+
+            lastId = curId;
+        }
+
+        void update(long maxUpdateNs){
+            if(curId != lastId){
+                clear();
+            }
+
+
+        }
+
+        void clear(){
+            //TODO
+
+            closed = new GridBits(world.width(), world.height());
+            queue = new PQueue<>(16, (a, b) -> 0);
         }
     }
 }