Pathfinder progress

core/src/mindustry/ai/Pathfinder.java

@@ -23,6 +23,38 @@ public class Pathfinder implements Runnable{
     private static final int impassable = -1;
     private static final int fieldTimeout = 1000 * 60 * 2;
 
+    public static final int
+        fieldCore = 0,
+        fieldRally = 1;
+
+    public static final Seq<Prov<Flowfield>> fieldTypes = Seq.with(
+        EnemyCoreField::new,
+        RallyField::new
+    );
+
+    public static final int
+        costGround = 0,
+        costLegs = 1,
+        costWater = 2;
+
+    public static final Seq<PathCost> costTypes = Seq.with(
+        (team, tile) -> (PathTile.team(tile) == team.id || PathTile.team(tile) == 0) && PathTile.solid(tile) ? impassable : 1 +
+            PathTile.health(tile) * 5 +
+            (PathTile.nearSolid(tile) ? 2 : 0) +
+            (PathTile.nearLiquid(tile) ? 6 : 0) +
+            (PathTile.deep(tile) ? 70 : 0),
+
+        (team, tile) -> PathTile.legSolid(tile) ? impassable : 1 +
+            (PathTile.solid(tile) ? 5 : 0),
+
+        (team, tile) -> PathTile.solid(tile) || !PathTile.liquid(tile) ? impassable : 2 + //TODO cannot go through blocks
+            (PathTile.nearGround(tile) || PathTile.nearSolid(tile) ? 14 : 0) +
+            (PathTile.deep(tile) ? -1 : 0)
+    );
+
+    //maps team, cost, type to flow field
+    private Flowfield[][][] cache;
+
     /** tile data, see PathTileStruct */
     private int[][] tiles;
     /** unordered array of path data for iteration only. DO NOT iterate or access this in the main thread. */
@@ -34,6 +66,8 @@ public class Pathfinder implements Runnable{
     private IntSeq tmpArray = new IntSeq();
 
     public Pathfinder(){
+        clearCache();
+
         Events.on(WorldLoadEvent.class, event -> {
             stop();
 
@@ -41,13 +75,14 @@ public class Pathfinder implements Runnable{
             tiles = new int[world.width()][world.height()];
             threadList = new Seq<>();
             mainList = new Seq<>();
+            clearCache();
 
             for(Tile tile : world.tiles){
                 tiles[tile.x][tile.y] = packTile(tile);
             }
 
             //special preset which may help speed things up; this is optional
-            //preloadPath(state.rules.waveTeam, FlagTarget.enemyCores);
+            preloadPath(getField(state.rules.waveTeam, costGround, fieldCore));
 
             start();
         });
@@ -57,8 +92,8 @@ public class Pathfinder implements Runnable{
         Events.on(BuildinghangeEvent.class, event -> updateTile(event.tile));
     }
 
-    public Flowfield getField(Team team, PathCost cost){
+    private void clearCache(){
-
+        cache = new Flowfield[256][5][5];
     }
 
     /** Packs a tile into its internal representation. */
@@ -189,34 +224,26 @@ public class Pathfinder implements Runnable{
    //     return getTargetTile(tile, team, getTarget(target));
    // }
 
-    public @Nullable Tile getTargetTile(Tile tile, Prov<Flowfield> fieldtype){
+    public Flowfield getField(Team team, int costType, int fieldType){
-        if(true){ //TODO cache this
+        if(cache[team.id][costType][fieldType] == null){
-            Flowfield field = fieldtype.get();
+            Flowfield field = fieldTypes.get(fieldType).get();
-            IntSeq out = new IntSeq();
+            field.team = team;
-            field.getPositions(out);
+            field.cost = costTypes.get(costType);
-            createPath(field, out);
+            field.targets.clear();
-        }
+            field.getPositions(field.targets);
 
-        if(false){ //TODO if field exists
+            cache[team.id][costType][fieldType] = field;
-            //TODO fetch it from the cache
+            queue.post(() -> registerPath(field));
-            //return getTargetTile(tile, path);
         }
-
+        return cache[team.id][costType][fieldType];
-        return tile;
     }
 
     /** Gets next tile to travel to. Main thread only. */
     public @Nullable Tile getTargetTile(Tile tile, Flowfield path){
         if(tile == null) return null;
 
-        if(path == null){
+        //uninitialized flowfields are not applicable
-            //if this combination is not found, create it on request
+        if(!path.initialized){
-            //TODO do above task
-            //if(fieldMapUsed[team.id].add(target)){
-                //grab targets since this is run on main thread
-            //    IntSeq targets = target.getPositions(team, new IntSeq());
-            //    queue.post(() -> createPath(team, target, targets));
-            //}
             return tile;
         }
 
@@ -306,9 +333,10 @@ public class Pathfinder implements Runnable{
     }
 
     private void preloadPath(Flowfield path){
-        IntSeq out = new IntSeq();
+        path.targets.clear();
-        path.getPositions(out);
+        path.getPositions(path.targets);
-        updateFrontier(createPath(path, out), -1);
+        registerPath(path);
+        updateFrontier(path, -1);
     }
 
     /**
@@ -316,7 +344,7 @@ public class Pathfinder implements Runnable{
      * Created a new flowfield that aims to get to a certain target for a certain team.
      * Pathfinding thread only.
      */
-    private Flowfield createPath(Flowfield path, IntSeq targets){
+    private void registerPath(Flowfield path){
         path.lastUpdateTime = Time.millis();
         path.setup(tiles.length, tiles[0].length);
 
@@ -331,12 +359,6 @@ public class Pathfinder implements Runnable{
             //}
         });
 
-        //grab targets from passed array
-        synchronized(path.targets){
-            path.targets.clear();
-            path.targets.addAll(targets);
-        }
-
         //fill with impassables by default
         for(int x = 0; x < world.width(); x++){
             for(int y = 0; y < world.height(); y++){
@@ -350,8 +372,6 @@ public class Pathfinder implements Runnable{
             path.weights[Point2.x(pos)][Point2.y(pos)] = 0;
             path.frontier.addFirst(pos);
         }
-
-        return path;
     }
 
     /** Update the frontier for a path. Pathfinding thread only. */
@@ -386,21 +406,6 @@ public class Pathfinder implements Runnable{
         }
     }
 
-    public static final PathCost
-
-    groundCost = (team, tile) -> (PathTile.team(tile) == team.id || PathTile.team(tile) == 0) && PathTile.solid(tile) ? impassable : 1 +
-        PathTile.health(tile) * 5 +
-        (PathTile.nearSolid(tile) ? 2 : 0) +
-        (PathTile.nearLiquid(tile) ? 6 : 0) +
-        (PathTile.deep(tile) ? 70 : 0),
-
-    legsCost = (team, tile) -> PathTile.legSolid(tile) ? impassable : 1 +
-        (PathTile.solid(tile) ? 5 : 0),
-
-    waterCost = (team, tile) -> PathTile.solid(tile) || !PathTile.liquid(tile) ? impassable : 2 + //TODO cannot go through blocks
-        (PathTile.nearGround(tile) || PathTile.nearSolid(tile) ? 14 : 0) +
-        (PathTile.deep(tile) ? -1 : 0);
-
     public static class EnemyCoreField extends Flowfield{
         @Override
         protected void getPositions(IntSeq out){
@@ -451,7 +456,7 @@ public class Pathfinder implements Runnable{
         /** Team this path is for. Set before using. */
         protected Team team = Team.derelict;
         /** Function for calculating path cost. Set before using. */
-        protected PathCost cost = groundCost;
+        protected PathCost cost = costTypes.get(costGround);
 
         /** costs of getting to a specific tile */
         int[][] weights;

core/src/mindustry/ai/types/FormationAI.java

@@ -47,7 +47,8 @@ public class FormationAI extends AIController implements FormationMember{
         Vec2 realtarget = vec.set(target);
 
         if(unit.isGrounded() && Vars.world.raycast(unit.tileX(), unit.tileY(), leader.tileX(), leader.tileY(), Vars.world::solid)){
-            realtarget.set(Vars.pathfinder.getTargetTile(unit.tileOn(), unit.team, leader));
+            //TODO pathfind
+            //realtarget.set(Vars.pathfinder.getTargetTile(unit.tileOn(), unit.team, leader));
         }
 
         unit.moveAt(realtarget.sub(unit).limit(unit.type().speed));

core/src/mindustry/ai/types/GroundAI.java

@@ -1,9 +1,8 @@
 package mindustry.ai.types;
 
-import mindustry.ai.Pathfinder.*;
+import mindustry.ai.*;
 import mindustry.entities.*;
 import mindustry.entities.units.*;
-import mindustry.game.*;
 import mindustry.gen.*;
 import mindustry.world.*;
 
@@ -24,7 +23,7 @@ public class GroundAI extends AIController{
             }
 
             if(!unit.within(core, unit.range() * 0.5f)){
-                moveToCore(FlagTarget.enemyCores);
+                moveTo(Pathfinder.fieldCore);
             }
         }
 
@@ -52,41 +51,18 @@ public class GroundAI extends AIController{
         }*/
     }
 
-    protected void moveToCore(FlagTarget path){
+    protected void moveTo(int pathType){
+        int costType =
+            unit instanceof Legsc ? Pathfinder.costLegs :
+            unit instanceof WaterMovec ? Pathfinder.costWater :
+            Pathfinder.costGround;
+
         Tile tile = unit.tileOn();
         if(tile == null) return;
-        Tile targetTile = pathfinder.getTargetTile(tile, unit.team(), path);
+        Tile targetTile = pathfinder.getTargetTile(tile, pathfinder.getField(unit.team, costType, pathType));
 
         if(tile == targetTile) return;
 
         unit.moveAt(vec.trns(unit.angleTo(targetTile), unit.type().speed));
     }
-
-    protected void moveAwayFromCore(){
-        Team enemy = null;
-        for(Team team : unit.team().enemies()){
-            if(team.active()){
-                enemy = team;
-                break;
-            }
-        }
-
-        if(enemy == null){
-            for(Team team : unit.team().enemies()){
-                enemy = team;
-                break;
-            }
-        }
-
-        if(enemy == null) return;
-
-        Tile tile = unit.tileOn();
-        if(tile == null) return;
-        Tile targetTile = pathfinder.getTargetTile(tile, enemy, FlagTarget.enemyCores);
-        Building core = unit.closestCore();
-
-        if(tile == targetTile || core == null || unit.within(core, 120f)) return;
-
-        unit.moveAt(vec.trns(unit.angleTo(targetTile), unit.type().speed));
-    }
 }

core/src/mindustry/ai/types/SuicideAI.java

@@ -1,7 +1,7 @@
 package mindustry.ai.types;
 
 import mindustry.*;
-import mindustry.ai.Pathfinder.*;
+import mindustry.ai.*;
 import mindustry.entities.*;
 import mindustry.gen.*;
 import mindustry.world.*;
@@ -59,7 +59,7 @@ public class SuicideAI extends GroundAI{
 
         }else{
             if(core != null){
-                moveToCore(FlagTarget.enemyCores);
+                moveTo(Pathfinder.fieldCore);
             }
 
             if(unit.moving()) unit.lookAt(unit.vel().angle());

core/src/mindustry/maps/SectorDamage.java

@@ -35,7 +35,8 @@ public class SectorDamage{
         if(core != null && !frontier.isEmpty()){
             for(Tile spawner : frontier){
                 //find path from spawn to core
-                Seq<Tile> path = Astar.pathfind(spawner, core.tile, t -> t.cost, t -> !(t.block().isStatic() && t.solid()));
+                //TODO this is broken
+                Seq<Tile> path = Astar.pathfind(spawner, core.tile, SectorDamage::cost, t -> !(t.block().isStatic() && t.solid()));
                 int amount = (int)(path.size * fraction);
                 for(int i = 0; i < amount; i++){
                     Tile t = path.get(i);
@@ -104,8 +105,12 @@ public class SectorDamage{
                 }
             }
         }
+    }
 
-
+    static float cost(Tile tile){
-
+        return 1f +
+            (tile.block().isStatic() && tile.solid() ? 200f : 0f) +
+            (tile.build != null ? tile.build.health / 40f : 0f) +
+            (tile.floor().isLiquid ? 10f : 0f);
     }
 }

core/src/mindustry/maps/generators/BasicGenerator.java

@@ -39,63 +39,6 @@ public abstract class BasicGenerator implements WorldGenerator{
 
     }
 
-    //for visual testing only
-    public void cliffs2(){
-        for(Tile tile : tiles){
-            tile.setBlock(Blocks.air);
-            tile.cost = tile.floor().isLiquid ? 0 : (byte)(noise(tile.x, tile.y, 4, 0.5f, 90f, 1) * 5);
-        }
-
-        for(Tile tile : tiles){
-            if(tile.floor().isLiquid) continue;
-
-            int rotation = 0;
-            for(int i = 0; i < 8; i++){
-                Tile other = tiles.get(tile.x + Geometry.d8[i].x, tile.y + Geometry.d8[i].y);
-                if(other != null && other.cost < tile.cost){ //down slope
-                    rotation |= (1 << i);
-                }
-            }
-
-            tile.data = (byte)rotation;
-        }
-
-        for(Tile tile : tiles){
-            if(tile.data != 0){
-                int rotation = tile.data;
-                tile.setBlock(Blocks.cliff);
-                tile.setOverlay(Blocks.air);
-                tile.data = (byte)rotation;
-            }
-        }
-    }
-
-    public void cliffs(){
-        for(Tile tile : tiles){
-            if(!tile.block().isStatic()) continue;
-
-            int rotation = 0;
-            for(int i = 0; i < 8; i++){
-                Tile other = tiles.get(tile.x + Geometry.d8[i].x, tile.y + Geometry.d8[i].y);
-                if(other != null && !other.block().isStatic()){
-                    rotation |= (1 << i);
-                }
-            }
-
-            if(rotation != 0){
-                tile.setBlock(Blocks.cliff);
-            }
-
-            tile.data = (byte)rotation;
-        }
-
-        for(Tile tile : tiles){
-            if(tile.block() != Blocks.cliff && tile.block().isStatic()){
-                tile.setBlock(Blocks.air);
-            }
-        }
-    }
-
     public void median(int radius){
         median(radius, 0.5);
     }
@@ -336,13 +279,13 @@ public abstract class BasicGenerator implements WorldGenerator{
         while(!arr.isEmpty()){
             int i = arr.pop();
             int x = Point2.x(i), y = Point2.y(i);
-            tiles.getn(x, y).cost = 2;
+            tiles.getn(x, y).data = 2;
             for(Point2 point : Geometry.d4){
                 int newx = x + point.x, newy = y + point.y;
                 if(tiles.in(newx, newy)){
                     Tile child = tiles.getn(newx, newy);
-                    if(child.block() == Blocks.air && child.cost != 2){
+                    if(child.block() == Blocks.air && child.data != 2){
-                        child.cost = 2;
+                        child.data = 2;
                         arr.add(child.pos());
                     }
                 }
@@ -350,7 +293,7 @@ public abstract class BasicGenerator implements WorldGenerator{
         }
 
         for(Tile tile : tiles){
-            if(tile.cost != 2 && tile.block() == Blocks.air){
+            if(tile.data != 2 && tile.block() == Blocks.air){
                 tile.setBlock(tile.floor().wall);
             }
         }

gradle.properties

@@ -1,3 +1,3 @@
 org.gradle.daemon=true
 org.gradle.jvmargs=-Xms256m -Xmx1024m
-archash=0fafa5b7159c2a6c11f03ebd378a47736101b46e
+archash=a72f08a6812107fdf4462b7c6955efc19a67715b