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Anuken
372
core/src/mindustry/ai/Pathfinder.java
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372
core/src/mindustry/ai/Pathfinder.java
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package mindustry.ai;
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import arc.*;
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import mindustry.annotations.Annotations.*;
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import arc.struct.*;
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import arc.func.*;
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import arc.math.geom.*;
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import arc.util.*;
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import arc.util.ArcAnnotate.*;
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import arc.util.async.*;
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import mindustry.game.EventType.*;
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import mindustry.game.*;
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import mindustry.gen.*;
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import mindustry.world.*;
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import mindustry.world.meta.*;
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import static mindustry.Vars.*;
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public class Pathfinder implements Runnable{
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private static final long maxUpdate = Time.millisToNanos(4);
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private static final int updateFPS = 60;
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private static final int updateInterval = 1000 / updateFPS;
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private static final int impassable = -1;
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/** tile data, see PathTileStruct */
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private int[][] tiles;
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/** unordered array of path data for iteration only. DO NOT iterate ot access this in the main thread.*/
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private Array<PathData> list = new Array<>();
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/** Maps teams + flags to a valid path to get to that flag for that team. */
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private PathData[][] pathMap = new PathData[Team.all.length][PathTarget.all.length];
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/** Grid map of created path data that should not be queued again. */
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private GridBits created = new GridBits(Team.all.length, PathTarget.all.length);
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/** handles task scheduling on the update thread. */
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private TaskQueue queue = new TaskQueue();
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/** current pathfinding thread */
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private @Nullable
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Thread thread;
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public Pathfinder(){
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Events.on(WorldLoadEvent.class, event -> {
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stop();
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//reset and update internal tile array
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tiles = new int[world.width()][world.height()];
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pathMap = new PathData[Team.all.length][PathTarget.all.length];
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created = new GridBits(Team.all.length, PathTarget.all.length);
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list = new Array<>();
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for(int x = 0; x < world.width(); x++){
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for(int y = 0; y < world.height(); y++){
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tiles[x][y] = packTile(world.rawTile(x, y));
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}
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}
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//special preset which may help speed things up; this is optional
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preloadPath(waveTeam, PathTarget.enemyCores);
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start();
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});
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Events.on(ResetEvent.class, event -> stop());
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Events.on(TileChangeEvent.class, event -> updateTile(event.tile));
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}
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/** Packs a tile into its internal representation. */
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private int packTile(Tile tile){
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return PathTile.get(tile.cost, tile.getTeamID(), (byte)0, !tile.solid() && tile.floor().drownTime <= 0f);
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}
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/** Starts or restarts the pathfinding thread. */
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private void start(){
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stop();
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thread = Threads.daemon(this);
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}
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/** Stops the pathfinding thread. */
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private void stop(){
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if(thread != null){
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thread.interrupt();
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thread = null;
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}
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queue.clear();
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}
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public int debugValue(Team team, int x, int y){
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if(pathMap[team.ordinal()][PathTarget.enemyCores.ordinal()] == null) return 0;
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return pathMap[team.ordinal()][PathTarget.enemyCores.ordinal()].weights[x][y];
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}
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/** Update a tile in the internal pathfinding grid. Causes a complete pathfinding reclaculation. */
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public void updateTile(Tile tile){
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if(net.client()) return;
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int x = tile.x, y = tile.y;
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tile.getLinkedTiles(t -> {
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if(Structs.inBounds(t.x, t.y, tiles)){
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tiles[t.x][t.y] = packTile(t);
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}
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});
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//can't iterate through array so use the map, which should not lead to problems
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for(PathData[] arr : pathMap){
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for(PathData path : arr){
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if(path != null){
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synchronized(path.targets){
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path.targets.clear();
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path.target.getTargets(path.team, path.targets);
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}
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}
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}
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}
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queue.post(() -> {
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for(PathData data : list){
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updateTargets(data, x, y);
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}
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});
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}
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/** Thread implementation. */
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@Override
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public void run(){
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while(true){
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if(net.client()) return;
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try{
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queue.run();
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//total update time no longer than maxUpdate
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for(PathData data : list){
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updateFrontier(data, maxUpdate / list.size);
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}
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try{
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Thread.sleep(updateInterval);
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}catch(InterruptedException e){
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//stop looping when interrupted externally
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return;
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}
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}catch(Exception e){
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e.printStackTrace();
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}
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}
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}
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/** Gets next tile to travel to. Main thread only. */
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public Tile getTargetTile(Tile tile, Team team, PathTarget target){
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if(tile == null) return null;
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PathData data = pathMap[team.ordinal()][target.ordinal()];
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if(data == null){
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//if this combination is not found, create it on request
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if(!created.get(team.ordinal(), target.ordinal())){
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created.set(team.ordinal(), target.ordinal());
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//grab targets since this is run on main thread
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IntArray targets = target.getTargets(team, new IntArray());
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queue.post(() -> createPath(team, target, targets));
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}
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return tile;
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}
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int[][] values = data.weights;
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int value = values[tile.x][tile.y];
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Tile current = null;
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int tl = 0;
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for(Point2 point : Geometry.d8){
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int dx = tile.x + point.x, dy = tile.y + point.y;
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Tile other = world.tile(dx, dy);
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if(other == null) continue;
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if(values[dx][dy] < value && (current == null || values[dx][dy] < tl) && !other.solid() && other.floor().drownTime <= 0 &&
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!(point.x != 0 && point.y != 0 && (world.solid(tile.x + point.x, tile.y) || world.solid(tile.x, tile.y + point.y)))){ //diagonal corner trap
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current = other;
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tl = values[dx][dy];
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}
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}
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if(current == null || tl == impassable) return tile;
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return current;
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}
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/** @return whether a tile can be passed through by this team. Pathfinding thread only.*/
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private boolean passable(int x, int y, Team team){
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int tile = tiles[x][y];
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return PathTile.passable(tile) || (PathTile.team(tile) != team.ordinal() && PathTile.team(tile) != Team.derelict.ordinal());
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}
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/**
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* Clears the frontier, increments the search and sets up all flow sources.
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* This only occurs for active teams.
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*/
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private void updateTargets(PathData path, int x, int y){
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if(!Structs.inBounds(x, y, path.weights)) return;
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if(path.weights[x][y] == 0){
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//this was a previous target
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path.frontier.clear();
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}else if(!path.frontier.isEmpty()){
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//skip if this path is processing
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return;
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}
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//assign impassability to the tile
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if(!passable(x, y, path.team)){
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path.weights[x][y] = impassable;
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}
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//increment search, clear frontier
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path.search++;
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path.frontier.clear();
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synchronized(path.targets){
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//add targets
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for(int i = 0; i < path.targets.size; i++){
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int pos = path.targets.get(i);
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int tx = Pos.x(pos), ty = Pos.y(pos);
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path.weights[tx][ty] = 0;
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path.searches[tx][ty] = (short)path.search;
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path.frontier.addFirst(pos);
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}
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}
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}
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private void preloadPath(Team team, PathTarget target){
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updateFrontier(createPath(team, target, target.getTargets(team, new IntArray())), -1);
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}
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/** Created a new flowfield that aims to get to a certain target for a certain team.
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* Pathfinding thread only. */
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private PathData createPath(Team team, PathTarget target, IntArray targets){
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PathData path = new PathData(team, target, world.width(), world.height());
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list.add(path);
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pathMap[team.ordinal()][target.ordinal()] = path;
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//grab targets from passed array
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synchronized(path.targets){
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path.targets.clear();
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path.targets.addAll(targets);
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}
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//fill with impassables by default
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for(int x = 0; x < world.width(); x++){
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for(int y = 0; y < world.height(); y++){
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path.weights[x][y] = impassable;
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}
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}
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//add targets
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for(int i = 0; i < path.targets.size; i++){
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int pos = path.targets.get(i);
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path.weights[Pos.x(pos)][Pos.y(pos)] = 0;
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path.frontier.addFirst(pos);
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}
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return path;
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}
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/** Update the frontier for a path. Pathfinding thread only. */
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private void updateFrontier(PathData path, long nsToRun){
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long start = Time.nanos();
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while(path.frontier.size > 0 && (nsToRun < 0 || Time.timeSinceNanos(start) <= nsToRun)){
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Tile tile = world.tile(path.frontier.removeLast());
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if(tile == null || path.weights == null) return; //something went horribly wrong, bail
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int cost = path.weights[tile.x][tile.y];
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//pathfinding overflowed for some reason, time to bail. the next block update will handle this, hopefully
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if(path.frontier.size >= world.width() * world.height()){
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path.frontier.clear();
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return;
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}
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if(cost != impassable){
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for(Point2 point : Geometry.d4){
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int dx = tile.x + point.x, dy = tile.y + point.y;
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Tile other = world.tile(dx, dy);
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if(other != null && (path.weights[dx][dy] > cost + other.cost || path.searches[dx][dy] < path.search) && passable(dx, dy, path.team)){
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if(other.cost < 0) throw new IllegalArgumentException("Tile cost cannot be negative! " + other);
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path.frontier.addFirst(Pos.get(dx, dy));
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path.weights[dx][dy] = cost + other.cost;
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path.searches[dx][dy] = (short)path.search;
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}
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}
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}
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}
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}
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/** A path target defines a set of targets for a path.*/
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public enum PathTarget{
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enemyCores((team, out) -> {
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for(Tile other : indexer.getEnemy(team, BlockFlag.core)){
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out.add(other.pos());
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}
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//spawn points are also enemies.
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if(state.rules.waves && team == defaultTeam){
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for(Tile other : spawner.getGroundSpawns()){
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out.add(other.pos());
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}
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}
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}),
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rallyPoints((team, out) -> {
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for(Tile other : indexer.getAllied(team, BlockFlag.rally)){
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out.add(other.pos());
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}
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});
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public static final PathTarget[] all = values();
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private final Cons2<Team, IntArray> targeter;
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PathTarget(Cons2<Team, IntArray> targeter){
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this.targeter = targeter;
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}
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/** Get targets. This must run on the main thread.*/
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public IntArray getTargets(Team team, IntArray out){
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targeter.get(team, out);
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return out;
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}
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}
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/** Data for a specific flow field to some set of destinations. */
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class PathData{
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/** Team this path is for. */
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final Team team;
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/** Flag that is being targeted. */
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final PathTarget target;
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/** costs of getting to a specific tile */
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final int[][] weights;
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/** search IDs of each position - the highest, most recent search is prioritized and overwritten */
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final short[][] searches;
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/** search frontier, these are Pos objects */
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final IntQueue frontier = new IntQueue();
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/** all target positions; these positions have a cost of 0, and must be synchronized on! */
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final IntArray targets = new IntArray();
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/** current search ID */
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int search = 1;
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PathData(Team team, PathTarget target, int width, int height){
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this.team = team;
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this.target = target;
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this.weights = new int[width][height];
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this.searches = new short[width][height];
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this.frontier.ensureCapacity((width + height) * 3);
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}
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}
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/** Holds a copy of tile data for a specific tile position. */
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@Struct
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class PathTileStruct{
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//traversal cost
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byte cost;
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//team of block, if applicable (0 by default)
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byte team;
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//type of target; TODO remove
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byte type;
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//whether it's viable to pass this block
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boolean passable;
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}
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}
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