Fixed OutOfMemory error for pathfinding

core/src/io/anuke/mindustry/ai/OptimizedPathFinder.java

@@ -2,12 +2,14 @@ package io.anuke.mindustry.ai;
 
 import com.badlogic.gdx.ai.pfa.*;
 import com.badlogic.gdx.utils.BinaryHeap;
+import com.badlogic.gdx.utils.IntMap;
 import com.badlogic.gdx.utils.TimeUtils;
 
 /**An IndexedAStarPathfinder that uses an OptimizedGraph, and therefore has less allocations.*/
 public class OptimizedPathFinder<N> implements PathFinder<N> {
     OptimizedGraph<N> graph;
-    NodeRecord<N>[] nodeRecords;
+    //NodeRecord<N>[] nodeRecords; //TODO remove.
+    IntMap<NodeRecord<N>> records = new IntMap<>();
     BinaryHeap<NodeRecord<N>> openList;
     NodeRecord<N> current;
 
@@ -23,22 +25,13 @@ public class OptimizedPathFinder<N> implements PathFinder<N> {
     @SuppressWarnings("unchecked")
     public OptimizedPathFinder(OptimizedGraph<N> graph) {
         this.graph = graph;
-        this.nodeRecords = (NodeRecord<N>[]) new NodeRecord[graph.getNodeCount()];
+        //this.nodeRecords = (NodeRecord<N>[]) new NodeRecord[graph.getNodeCount()];
         this.openList = new BinaryHeap<>();
     }
 
     @Override
     public boolean searchConnectionPath(N startNode, N endNode, Heuristic<N> heuristic, GraphPath<Connection<N>> outPath) {
-
-        // Perform AStar
-        boolean found = search(startNode, endNode, heuristic);
-
-        if (found) {
-            // Create a path made of connections
-            generateConnectionPath(startNode, outPath);
-        }
-
-        return found;
+        return false;
     }
 
     @Override
@@ -196,27 +189,13 @@ public class OptimizedPathFinder<N> implements PathFinder<N> {
 
     }
 
-    protected void generateConnectionPath(N startNode, GraphPath<Connection<N>> outPath) {
-        //do ABSOLUTELY NOTHING
-        /*
-        // Work back along the path, accumulating connections
-        // outPath.clear();
-        while (current.node != startNode) {
-            outPath.add(current.connection);
-            current = nodeRecords[graph.getIndex(current.connection.getFromNode())];
-        }
-
-        // Reverse the path
-        outPath.reverse();*/
-    }
-
     protected void generateNodePath(N startNode, GraphPath<N> outPath) {
 
         // Work back along the path, accumulating nodes
         // outPath.clear();
         while (current.from != null) {
             outPath.add(current.node);
-            current = nodeRecords[graph.getIndex(current.from)];
+            current = records.get(graph.getIndex(current.from));
         }
         outPath.add(startNode);
 
@@ -230,6 +209,16 @@ public class OptimizedPathFinder<N> implements PathFinder<N> {
     }
 
     protected NodeRecord<N> getNodeRecord(N node) {
+        if(!records.containsKey(graph.getIndex(node))){
+            NodeRecord<N> record = new NodeRecord<>();
+            record.node = node;
+            record.searchId = searchId;
+            records.put(graph.getIndex(node), record);
+            return record;
+        }else{
+            return records.get(graph.getIndex(node));
+        }
+        /*
         int index = graph.getIndex(node);
         NodeRecord<N> nr = nodeRecords[index];
         if (nr != null) {
@@ -242,7 +231,7 @@ public class OptimizedPathFinder<N> implements PathFinder<N> {
         nr = nodeRecords[index] = new NodeRecord<>();
         nr.node = node;
         nr.searchId = searchId;
-        return nr;
+        return nr;*/
     }
 
     /**

core/src/io/anuke/mindustry/ai/Pathfind.java

@@ -127,6 +127,7 @@ public class Pathfind{
 					if(point.finder.search(point.request, maxTime)){
 						smoother.smoothPath(point.path);
 						point.pathTiles = point.path.nodes.toArray(Tile.class);
+						point.finder = null;
 					}
 				}catch (ArrayIndexOutOfBoundsException e){
 					//no path