WIP hierarchical pathfinding
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Anuken
223
core/src/mindustry/ai/HierarchyPathFinder.java
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223
core/src/mindustry/ai/HierarchyPathFinder.java
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package mindustry.ai;
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import arc.*;
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import arc.graphics.*;
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import arc.graphics.g2d.*;
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import arc.math.*;
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import arc.math.geom.*;
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import arc.struct.*;
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import mindustry.game.*;
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import mindustry.game.EventType.*;
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import mindustry.graphics.*;
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import static mindustry.Vars.*;
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import static mindustry.ai.Pathfinder.*;
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public class HierarchyPathFinder{
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static final boolean debug = true;
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static final int[] offsets = {
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1, 0, //right: bottom to top
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0, 1, //top: left to right
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0, 0, //left: bottom to top
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0, 0 //bottom: left to right
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};
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static final int[] moveDirs = {
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0, 1,
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1, 0,
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0, 1,
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1, 0
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};
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static final int[] nextOffsets = {
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1, 0,
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0, 1,
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-1, 0,
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0, -1
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};
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//maps pathCost -> flattened array of clusters in 2D
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Cluster[][] clusters;
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int clusterSize = 12;
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int cwidth, cheight;
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public HierarchyPathFinder(){
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Events.on(WorldLoadEvent.class, event -> {
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//TODO 5 path costs, arbitrary number
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clusters = new Cluster[5][];
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clusterSize = 12; //TODO arbitrary
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cwidth = Mathf.ceil((float)world.width() / clusterSize);
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cheight = Mathf.ceil((float)world.height() / clusterSize);
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for(int cx = 0; cx < cwidth; cx++){
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for(int cy = 0; cy < cheight; cy++){
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createCluster(Team.sharded.id, costGround, cx, cy);
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}
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}
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});
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//TODO very inefficient, this is only for debugging
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Events.on(TileChangeEvent.class, e -> {
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createCluster(Team.sharded.id, costGround, e.tile.x / clusterSize, e.tile.y / clusterSize);
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});
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if(debug){
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Events.run(Trigger.draw, () -> {
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int team = Team.sharded.id;
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int cost = costGround;
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if(clusters == null || clusters[cost] == null) return;
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Draw.draw(Layer.overlayUI, () -> {
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Lines.stroke(1f);
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for(int cx = 0; cx < cwidth; cx++){
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for(int cy = 0; cy < cheight; cy++){
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var cluster = clusters[cost][cy * cwidth + cx];
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if(cluster != null){
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Draw.color(Color.green);
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Lines.rect(cx * clusterSize * tilesize - tilesize/2f, cy * clusterSize * tilesize - tilesize/2f, clusterSize * tilesize, clusterSize * tilesize);
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Draw.color(Color.blue);
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for(int d = 0; d < 4; d++){
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IntSeq portals = cluster.portals[d];
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if(portals != null){
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int addX = moveDirs[d * 2], addY = moveDirs[d * 2 + 1];
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for(int i = 0; i < portals.size; i++){
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int pos = portals.items[i];
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int from = Point2.x(pos), to = Point2.y(pos);
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float width = tilesize * (Math.abs(from - to) + 1), height = tilesize;
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float average = (from + to) / 2f;
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float
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x = (addX * average + cx * clusterSize + offsets[d * 2] * (clusterSize - 1) + nextOffsets[d * 2] / 2f) * tilesize,
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y = (addY * average + cy * clusterSize + offsets[d * 2 + 1] * (clusterSize - 1) + nextOffsets[d * 2 + 1]/2f) * tilesize;
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Lines.ellipse(30, x, y, width / 2f, height / 2f, d * 90f - 90f);
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}
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}
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}
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}
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}
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}
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Draw.reset();
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});
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});
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}
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}
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void createCluster(int team, int pathCost, int cx, int cy){
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if(clusters[pathCost] == null) clusters[pathCost] = new Cluster[cwidth * cheight];
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Cluster cluster = clusters[pathCost][cy * cwidth + cx];
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if(cluster == null){
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cluster = clusters[pathCost][cy * cwidth + cx] = new Cluster();
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}else{
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//reset data
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for(var p : cluster.portals){
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p.clear();
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}
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cluster.innerEdges.clear();
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}
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//TODO look it up based on number.
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PathCost cost = ControlPathfinder.costGround;
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for(int direction = 0; direction < 4; direction++){
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int otherX = cx + Geometry.d4x(direction), otherY = cy + Geometry.d4y(direction);
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//out of bounds, no portals in this direction
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if(otherX < 0 || otherY < 0 || otherX >= cwidth || otherY >= cheight){
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continue;
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}
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Cluster other = clusters[pathCost][otherX + otherY * cwidth];
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IntSeq portals;
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if(other == null){
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//create new portals at direction
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portals = cluster.portals[direction] = new IntSeq();
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}else{
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//share portals with the other cluster
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portals = cluster.portals[direction] = other.portals[(direction + 2) % 4];
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}
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//Point2 adder = Geometry.d4[(direction + 1) % 4];
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int addX = moveDirs[direction * 2], addY = moveDirs[direction * 2 + 1];
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int
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baseX = cx * clusterSize + offsets[direction * 2] * (clusterSize - 1),
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baseY = cy * clusterSize + offsets[direction * 2 + 1] * (clusterSize - 1),
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nextBaseX = baseX + Geometry.d4[direction].x,
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nextBaseY = baseY + Geometry.d4[direction].y;
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int lastPortal = -1;
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boolean prevSolid = true;
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for(int i = 0; i < clusterSize; i++){
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int x = baseX + addX * i, y = baseY + addY * i;
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//scan for portals
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if(solid(team, cost, x, y) || solid(team, cost, nextBaseX + addX * i, nextBaseY + addY * i)){
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int previous = i - 1;
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//hit a wall, create portals between the two points
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if(!prevSolid && previous >= lastPortal){
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//portals are an inclusive range
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portals.add(Point2.pack(previous, lastPortal));
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}
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prevSolid = true;
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}else{
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//empty area encountered, mark the location of portal start
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if(prevSolid){
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lastPortal = i;
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}
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prevSolid = false;
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}
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}
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//at the end of the loop, close any un-initialized portals; this is copy pasted code
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int previous = clusterSize - 1;
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if(!prevSolid && previous >= lastPortal){
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//portals are an inclusive range
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portals.add(Point2.pack(previous, lastPortal));
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}
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}
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}
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Cluster cluster(int pathCost, int cx, int cy){
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return clusters[pathCost][cx + cwidth * cy];
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}
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private static boolean solid(int team, PathCost type, int x, int y){
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return x < 0 || y < 0 || x >= wwidth || y >= wheight || solid(team, type, x + y * wwidth, true);
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}
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private static boolean solid(int team, PathCost type, int tilePos, boolean checkWall){
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int cost = cost(team, type, tilePos);
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return cost == impassable || (checkWall && cost >= 6000);
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}
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private static int cost(int team, PathCost cost, int tilePos){
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if(state.rules.limitMapArea && !Team.get(team).isAI()){
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int x = tilePos % wwidth, y = tilePos / wwidth;
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if(x < state.rules.limitX || y < state.rules.limitY || x > state.rules.limitX + state.rules.limitWidth || y > state.rules.limitY + state.rules.limitHeight){
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return impassable;
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}
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}
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return cost.getCost(team, pathfinder.tiles[tilePos]);
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}
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static class Cluster{
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IntSeq[] portals = new IntSeq[4];
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IntSeq innerEdges = new IntSeq();
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Cluster(){
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}
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}
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}
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