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Changed pathfinding algorithm slightly, added debugging for paths

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This commit is contained in:
Anuken
2017-12-08 19:59:04 -05:00
parent cffb673bae
commit 404ec68570
14 changed files with 91 additions and 25 deletions
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53
core/src/io/anuke/mindustry/ai/Pathfind.java
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@@ -10,7 +10,9 @@ import io.anuke.mindustry.Vars;
import io.anuke.mindustry.entities.enemies.Enemy;
import io.anuke.mindustry.world.SpawnPoint;
import io.anuke.mindustry.world.Tile;
import io.anuke.ucore.core.Timers;
import io.anuke.ucore.util.Angles;
import io.anuke.ucore.util.Mathf;
import io.anuke.ucore.util.Tmp;
public class Pathfind{
@@ -30,7 +32,6 @@ public class Pathfind{
return vector.set(enemy.x, enemy.y);
}else if(enemy.node == -2){
enemy.node = -1;
enemy.findClosestNode();
}
Tile[] path = enemy.path;
@@ -43,7 +44,7 @@ public class Pathfind{
if(enemy.node > 1)
enemy.node = enemy.node - 1;
}else{
//what's the problem, then?
//must be blocked by a playermade block
}
enemy.idletime = 0;
@@ -100,6 +101,7 @@ public class Pathfind{
if(point.finder.search(point.request, ms * 2)){
smoother.smoothPath(point.path);
point.pathTiles = point.path.nodes.toArray(Tile.class);
point.tempTiles = point.path.nodes.toArray(Tile.class);
}
}
}
@@ -112,6 +114,7 @@ public class Pathfind{
point.path.clear();
point.pathTiles = null;
point.tempTiles = null;
point.request = new PathFinderRequest<Tile>(point.start, Vars.control.getCore(), heuristic, point.path);
point.request.statusChanged = true; //IMPORTANT!
@@ -128,22 +131,44 @@ public class Pathfind{
}
enemy.path = Vars.control.getSpawnPoints().get(enemy.spawn).pathTiles;
Tile[] path = enemy.path;
Tile closest = null;
float ldst = 0f;
int cindex = -1;
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){
ldst = dst;
closest = tile;
int closest = findClosest(enemy.path, 0, enemy.x, enemy.y);
closest = findClosest(enemy.path, closest + 1, enemy.x, enemy.y);
//closest ++;
closest = Mathf.clamp(closest, 1, enemy.path.length-1);
Tile end = enemy.path[closest];
enemy.node = closest;
//if the enemy can't get to this node, teleport to it
if(enemy.node < enemy.path.length - 2 && Vars.world.raycastWorld(enemy.x, enemy.y, end.worldx(), end.worldy()) != null){
Timers.run(Mathf.random(20f), () -> enemy.set(end.worldx(), end.worldy()));
}
}
private static int findClosest(Tile[] tiles, int offset, float x, float y){
int cindex = -1;
float dst = Float.MAX_VALUE;
for(int i = offset; i < tiles.length; i ++){
Tile tile = tiles[i];
if(Vector2.dst(tile.worldx(), tile.worldy(), x, y) < dst){
dst = Vector2.dst(tile.worldx(), tile.worldy(), x, y);
cindex = i;
}
}
enemy.node = Math.max(cindex, 1);
return cindex;
}
private static int indexOf(Tile tile, Tile[] tiles){
int i = -1;
for(int j = 0; j < tiles.length; j ++){
if(tiles[j] == tile){
return j;
}
}
return i;
}
private static boolean onLine(Vector2 vector, float x1, float y1, float x2, float y2){