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This commit is contained in:
Anuken
2023-11-07 10:56:17 -05:00
parent 0186c35a1a
commit 65d0b6adcc
3 changed files with 144 additions and 54 deletions
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194
core/src/mindustry/ai/HierarchyPathFinder.java
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@@ -15,6 +15,7 @@ import mindustry.game.*;
import mindustry.gen.*;
import mindustry.graphics.*;
import mindustry.ui.*;
import mindustry.world.*;
import static mindustry.Vars.*;
import static mindustry.ai.Pathfinder.*;
@@ -155,50 +156,54 @@ public class HierarchyPathFinder{
}
}
Lines.stroke(3f);
Draw.color(Color.orange);
int node = findClosestNode(Team.sharded.id, 0, player.tileX(), player.tileY());
int dest = findClosestNode(Team.sharded.id, 0, World.toTile(Core.input.mouseWorldX()), World.toTile(Core.input.mouseWorldY()));
if(node != Integer.MAX_VALUE && dest != Integer.MAX_VALUE){
var result = clusterAstar(0, node, dest);
if(result != null){
for(int i = -1; i < result.size - 1; i++){
int endCluster = NodeIndex.cluster(result.items[i + 1]);
int cx = endCluster % cwidth, cy = endCluster / cwidth;
int[] field = flowField(0, cx, cy, 0, dest);
if(false){
Lines.stroke(3f);
Draw.color(Color.orange);
int node = findClosestNode(Team.sharded.id, 0, player.tileX(), player.tileY());
int dest = findClosestNode(Team.sharded.id, 0, World.toTile(Core.input.mouseWorldX()), World.toTile(Core.input.mouseWorldY()));
if(node != Integer.MAX_VALUE && dest != Integer.MAX_VALUE){
var result = clusterAstar(0, node, dest);
if(result != null){
for(int i = -1; i < result.size - 1; i++){
int endCluster = NodeIndex.cluster(result.items[i + 1]);
int cx = endCluster % cwidth, cy = endCluster / cwidth;
int[] field = flowField(0, cx, cy, 0, dest, World.toTile(Core.input.mouseWorldX()), World.toTile(Core.input.mouseWorldY()));
for(int y = 0; y < clusterSize; y++){
for(int x = 0; x < clusterSize; x++){
int value = field[x + y *clusterSize];
Tmp.c1.a = 1f;
Lines.stroke(0.8f, Tmp.c1.fromHsv(value * 3f, 1f, 1f));
Draw.alpha(0.5f);
Lines.rect((x + cx * clusterSize) * tilesize - tilesize/2f, (y + cy * clusterSize) * tilesize - tilesize/2f, tilesize, tilesize);
for(int y = 0; y < clusterSize; y++){
for(int x = 0; x < clusterSize; x++){
int value = field[x + y *clusterSize];
Tmp.c1.a = 1f;
Lines.stroke(0.8f, Tmp.c1.fromHsv(value * 3f, 1f, 1f));
Draw.alpha(0.5f);
Lines.rect((x + cx * clusterSize) * tilesize - tilesize/2f, (y + cy * clusterSize) * tilesize - tilesize/2f, tilesize, tilesize);
}
}
}
Lines.stroke(3f);
Draw.color(Color.orange);
for(int i = -1; i < result.size - 1; i++){
int current = i == -1 ? node : result.items[i], next = result.items[i + 1];
portalToVec(0, NodeIndex.cluster(current), NodeIndex.dir(current), NodeIndex.portal(current), Tmp.v1);
portalToVec(0, NodeIndex.cluster(next), NodeIndex.dir(next), NodeIndex.portal(next), Tmp.v2);
Lines.line(Tmp.v1.x, Tmp.v1.y, Tmp.v2.x, Tmp.v2.y);
}
//flowField(0, )
}
Lines.stroke(3f);
Draw.color(Color.orange);
for(int i = -1; i < result.size - 1; i++){
int current = i == -1 ? node : result.items[i], next = result.items[i + 1];
portalToVec(0, NodeIndex.cluster(current), NodeIndex.dir(current), NodeIndex.portal(current), Tmp.v1);
portalToVec(0, NodeIndex.cluster(next), NodeIndex.dir(next), NodeIndex.portal(next), Tmp.v2);
Lines.line(Tmp.v1.x, Tmp.v1.y, Tmp.v2.x, Tmp.v2.y);
}
//flowField(0, )
nodeToVec(dest, Tmp.v1);
Fonts.outline.draw(clusterNodeHeuristic(0, node, dest) + "", Tmp.v1.x, Tmp.v1.y);
}
nodeToVec(dest, Tmp.v1);
Fonts.outline.draw(clusterNodeHeuristic(0, node, dest) + "", Tmp.v1.x, Tmp.v1.y);
Draw.reset();
}
Draw.reset();
});
});
}
@@ -631,6 +636,10 @@ public class HierarchyPathFinder{
Fx.debugLine.at(a.x, a.y, 0f, Color.blue.cpy().a(0.1f), new Vec2[]{a.cpy(), b.cpy()});
}
static void line(Vec2 a, Vec2 b, Color color){
Fx.debugLine.at(a.x, a.y, 0f, color, new Vec2[]{a.cpy(), b.cpy()});
}
void checkEdges(int pathCost, int current, int goal, int cx, int cy, LongSeq connections){
for(int i = 0; i < connections.size; i++){
long con = connections.items[i];
@@ -653,48 +662,63 @@ public class HierarchyPathFinder{
}
//both nodes must be inside the same flow field (cx, cy)
int[] flowField(int pathCost, int cx, int cy, int nodeFrom, int nodeTo){
int[] flowField(int pathCost, int cx, int cy, int nodeFrom, int nodeTo, int goalX, int goalY){
Cluster cluster = clusters[pathCost][cx + cy * cwidth];
int[] weights = new int[clusterSize * clusterSize];
byte[] searches = new byte[clusterSize * clusterSize];
int realSize = clusterSize + 2;
int[] weights = new int[realSize * realSize];
byte[] searches = new byte[realSize * realSize];
PathCost pcost = ControlPathfinder.costGround;
int team = Team.sharded.id;
IntQueue frontier = new IntQueue();
int search = 1;
//TODO actually set up the frontier and destinations (where are you going?)
{
int
minX = cx * clusterSize - 1,
minY = cy * clusterSize - 1,
maxX = Math.min(minX + clusterSize + 1, wwidth - 1),
maxY = Math.min(minY + clusterSize + 1, wheight - 1),
toCluster = NodeIndex.cluster(nodeTo),
tocx = toCluster % cwidth,
tocy = toCluster / cwidth;
//you're at the cluster with the goal node
if(goalX / clusterSize == cx && goalY / clusterSize == cy){
frontier.addFirst(goalX + goalY * wwidth);
}else{
int
dir = NodeIndex.dir(nodeTo),
other = cluster.portals[dir].items[NodeIndex.portal(nodeTo)],
otherFrom = Point2.x(other), otherTo = Point2.y(other),
ox = cx * clusterSize + offsets[dir * 2] * (clusterSize - 1),
oy = cy * clusterSize + offsets[dir * 2 + 1] * (clusterSize - 1),
ox = tocx * clusterSize + offsets[dir * 2] * (clusterSize - 1),
oy = tocy * clusterSize + offsets[dir * 2 + 1] * (clusterSize - 1),
maxX = (moveDirs[dir * 2] * otherFrom + ox),
maxY = (moveDirs[dir * 2 + 1] * otherFrom + oy),
minX = (moveDirs[dir * 2] * otherTo + ox),
minY = (moveDirs[dir * 2 + 1] * otherTo + oy)
px2 = Mathf.clamp((moveDirs[dir * 2] * otherFrom + ox), minX, maxX),
py2 = Mathf.clamp((moveDirs[dir * 2 + 1] * otherFrom + oy), minY, maxY),
px1 = Mathf.clamp((moveDirs[dir * 2] * otherTo + ox), minX, maxX),
py1 = Mathf.clamp((moveDirs[dir * 2 + 1] * otherTo + oy), minY, maxY);
;
if(px1 >= cx * clusterSize && px2 < cx * clusterSize + clusterSize && py1 >= cy * clusterSize && py2 < cy * clusterSize){
Log.info("inside the box"); //TODO broken
}
//TODO: being zero INSIDE the cluster means that the unit will stop at the edge and not move between clusters - bad!
for(int x = minX; x <= maxX; x++){
for(int y = minY; y <= maxY; y++){
for(int x = px1; x <= px2; x++){
for(int y = py1; y <= py2; y++){
frontier.addFirst(x + y * wwidth);
Fx.lightBlock.at(x * tilesize, y * tilesize, 1f, Color.orange);
}
}
}
int minX = cx * clusterSize, minY = cy * clusterSize, maxX = Math.min(minX + clusterSize - 1, wwidth - 1), maxY = Math.min(minY + clusterSize - 1, wheight - 1);
//TODO spread this out across many frames
while(frontier.size > 0){
int tile = frontier.removeLast();
int baseX = tile % wwidth, baseY = tile / wwidth;
int cost = weights[(baseX - minX) + (baseY - minY) * clusterSize];
int cost = weights[(baseX - minX) + (baseY - minY) * realSize];
if(cost != impassable){
for(Point2 point : Geometry.d4){
@@ -704,7 +728,7 @@ public class HierarchyPathFinder{
if(dx < minX || dy < minY || dx > maxX || dy > maxY) continue;
int newPos = tile + point.x + point.y * wwidth;
int newPosArray = (dx - minX) + (dy - minY) * clusterSize;
int newPosArray = (dx - minX) + (dy - minY) * realSize;
int otherCost = pcost.getCost(team, pathfinder.tiles[newPos]);
if((weights[newPosArray] > cost + otherCost || searches[newPosArray] < search) && otherCost != impassable){
@@ -718,6 +742,72 @@ public class HierarchyPathFinder{
return weights;
}
public boolean getPathPosition(Unit unit, int pathId, Vec2 destination, Vec2 out, boolean[] noResultFound){
int cost = 0;
int node = findClosestNode(unit.team.id, cost, unit.tileX(), unit.tileY());
int dest = findClosestNode(unit.team.id, cost, World.toTile(destination.x), World.toTile(destination.y));
var result = clusterAstar(cost, node, dest);
Tile tile = unit.tileOn();
if(result != null){
for(int i = -1; i < result.size - 1; i++){
int current = i == -1 ? node : result.items[i], next = result.items[i + 1];
portalToVec(0, NodeIndex.cluster(current), NodeIndex.dir(current), NodeIndex.portal(current), Tmp.v1);
portalToVec(0, NodeIndex.cluster(next), NodeIndex.dir(next), NodeIndex.portal(next), Tmp.v2);
line(Tmp.v1, Tmp.v2, Color.orange);
}
int cx = unit.tileX() / clusterSize, cy = unit.tileY() / clusterSize,
ox = cx * clusterSize - 1, oy = cy * clusterSize - 1;
int nextNode = result.items[0];
int[] field = flowField(cost, cx, cy, node, nextNode, World.toTile(destination.x), World.toTile(destination.y));
if(field != null && tile != null){
int value = field[(tile.x - ox) + (tile.y - oy) * (clusterSize + 2)];
Tile current = null;
int tl = 0;
for(Point2 point : Geometry.d8){
int dx = tile.x + point.x, dy = tile.y + point.y;
Tile other = world.tile(dx, dy);
if(other == null || dx < ox || dy < oy || dx >= ox + clusterSize + 2 || dy >= oy + clusterSize + 2) continue;
int local = (dx - ox) + (dy - oy) * (clusterSize + 2);
int packed = world.packArray(dx, dy);
int otherCost = field[local];
if(otherCost < value && (current == null || otherCost < tl) && passable(ControlPathfinder.costGround, unit.team.id, packed) &&
!(point.x != 0 && point.y != 0 && (!passable(ControlPathfinder.costGround, unit.team.id, world.packArray(tile.x + point.x, tile.y)) ||
(!passable(ControlPathfinder.costGround, unit.team.id, world.packArray(tile.x, tile.y + point.y)))))){ //diagonal corner trap
current = other;
tl = field[local];
}
}
if(!(current == null || tl == impassable || (cost == costGround && current.dangerous() && !tile.dangerous()))){
out.set(current);
return true;
}
}
}
noResultFound[0] = true;
return false;
}
private static boolean passable(PathCost cost, int team, int pos){
int amount = cost.getCost(team, pathfinder.tiles[pos]);
//edge case: naval reports costs of 6000+ for non-liquids, even though they are not technically passable
return amount != impassable && !(cost == costTypes.get(costNaval) && amount >= 6000);
}
private static boolean solid(int team, PathCost type, int x, int y){
return x < 0 || y < 0 || x >= wwidth || y >= wheight || solid(team, type, x + y * wwidth, true);
}

2
core/src/mindustry/ai/types/CommandAI.java
View File

@@ -247,7 +247,7 @@ public class CommandAI extends AIController{
}
//if you've spent 3 seconds stuck, something is wrong, move regardless
move = Vars.controlPath.getPathPosition(unit, pathId, vecMovePos, vecOut, noFound) && (!blockingUnit || timeSpentBlocked > maxBlockTime);
move = hpath.getPathPosition(unit, pathId, vecMovePos, vecOut, noFound) && (!blockingUnit || timeSpentBlocked > maxBlockTime);
//we've reached the final point if the returned coordinate is equal to the supplied input
isFinalPoint &= vecMovePos.epsilonEquals(vecOut, 4.1f);