Pathfinding improvements

core/src/mindustry/ai/ControlPathfinder.java

@@ -7,6 +7,7 @@ import arc.math.*;
 import arc.math.geom.*;
 import arc.struct.*;
 import arc.util.*;
+import mindustry.content.*;
 import mindustry.core.*;
 import mindustry.game.EventType.*;
 import mindustry.game.*;
@@ -51,7 +52,7 @@ public class ControlPathfinder{
     costLegs = (team, tile) ->
     PathTile.legSolid(tile) ? impassable : 1 +
     (PathTile.deep(tile) ? 6000 : 0) +
-    (PathTile.solid(tile) ? 2 : 0),
+    (PathTile.nearLegSolid(tile) ? 3 : 0),
 
     costNaval = (team, tile) ->
     //impassable same-team neutral block, or non-liquid
@@ -232,11 +233,11 @@ public class ControlPathfinder{
             req.curId = pathId;
 
             //check for the unit getting stuck every N seconds
-            if((req.stuckTimer += Time.delta) >= 60f * 2.5f){
+            if((req.stuckTimer += Time.delta) >= 60f * 1.5f){
                 req.stuckTimer = 0f;
                 //force recalculate
                 if(req.lastPos.within(unit, 1.5f)){
-                    req.lastWorldUpdate = -1;
+                    req.forceRecalculate();
                 }
                 req.lastPos.set(unit);
             }
@@ -280,6 +281,18 @@ public class ControlPathfinder{
                     Tile tile = tile(items[req.rayPathIndex]);
                     out.set(tile);
 
+                    if(req.rayPathIndex > 0){
+                        float angleToNext = tile(items[req.rayPathIndex - 1]).angleTo(tile);
+                        float angleToDest = unit.angleTo(tile);
+                        //force recalculate when the unit moves backwards
+                        if(Angles.angleDist(angleToNext, angleToDest) > 80f && !unit.within(tile, 1f)){
+                            if(showDebug){
+                                Fx.placeBlock.at(unit, 1f);
+                            }
+                            req.forceRecalculate();
+                        }
+                    }
+
                     if(unit.within(tile, range)){
                         req.pathIndex = req.rayPathIndex = Math.max(req.pathIndex, req.rayPathIndex + 1);
                     }
@@ -482,6 +495,7 @@ public class ControlPathfinder{
         volatile PathCost cost;
         volatile int team;
         volatile int lastWorldUpdate;
+        volatile boolean forcedRecalc;
 
         final Vec2 lastPos = new Vec2();
         float stuckTimer = 0f;
@@ -506,6 +520,7 @@ public class ControlPathfinder{
 
         long lastUpdateId;
         long lastTime;
+        long forceRecalcTime;
 
         volatile int lastId, curId;
 
@@ -513,6 +528,13 @@ public class ControlPathfinder{
             this.thread = thread;
         }
 
+        public void forceRecalculate(){
+            //keep it at 3 times/sec
+            if(Time.timeSinceMillis(forceRecalcTime) < 1000 / 3) return;
+            forcedRecalc = true;
+            forceRecalcTime = Time.millis();
+        }
+
         void update(long maxUpdateNs){
             if(curId != lastId){
                 clear(true);
@@ -520,9 +542,10 @@ public class ControlPathfinder{
             lastId = curId;
 
             //re-do everything when world updates, but keep the old path around
-            if(Time.timeSinceMillis(lastTime) > 1000 * 3 && (worldUpdateId != lastWorldUpdate || !destination.epsilonEquals(lastDestination, 2f))){
+            if(forcedRecalc || (Time.timeSinceMillis(lastTime) > 1000 * 3 && (worldUpdateId != lastWorldUpdate || !destination.epsilonEquals(lastDestination, 2f)))){
                 lastTime = Time.millis();
                 lastWorldUpdate = worldUpdateId;
+                forcedRecalc = false;
                 clear(false);
             }
 

core/src/mindustry/ai/Pathfinder.java

@@ -6,7 +6,6 @@ import arc.math.geom.*;
 import arc.struct.*;
 import arc.util.*;
 import mindustry.annotations.Annotations.*;
-import mindustry.content.*;
 import mindustry.core.*;
 import mindustry.game.EventType.*;
 import mindustry.game.*;
@@ -153,7 +152,7 @@ public class Pathfinder implements Runnable{
 
     /** Packs a tile into its internal representation. */
     public int packTile(Tile tile){
-        boolean nearLiquid = false, nearSolid = false, nearGround = false, solid = tile.solid(), allDeep = tile.floor().isDeep();
+        boolean nearLiquid = false, nearSolid = false, nearLegSolid = false, nearGround = false, solid = tile.solid(), allDeep = tile.floor().isDeep();
 
         for(int i = 0; i < 4; i++){
             Tile other = tile.nearby(i);
@@ -165,6 +164,7 @@ public class Pathfinder implements Runnable{
                 if(osolid && !other.block().teamPassable) nearSolid = true;
                 if(!floor.isLiquid) nearGround = true;
                 if(!floor.isDeep()) allDeep = false;
+                if(other.legSolid()) nearLegSolid = true;
 
                 //other tile is now near solid
                 if(solid && !tile.block().teamPassable){
@@ -180,10 +180,11 @@ public class Pathfinder implements Runnable{
             tid == 0 && tile.build != null && state.rules.coreCapture ? 255 : tid, //use teamid = 255 when core capture is enabled to mark out derelict structures
             solid,
             tile.floor().isLiquid,
-            tile.staticDarkness() >= 2 || (tile.floor().solid && tile.block() == Blocks.air),
+            tile.legSolid(),
             nearLiquid,
             nearGround,
             nearSolid,
+            nearLegSolid,
             tile.floor().isDeep(),
             tile.floor().damageTaken > 0.00001f,
             allDeep,
@@ -564,6 +565,8 @@ public class Pathfinder implements Runnable{
         boolean nearGround;
         //whether this block is near a solid object
         boolean nearSolid;
+        //whether this block is near a block that is solid for legged units
+        boolean nearLegSolid;
         //whether this block is deep / drownable
         boolean deep;
         //whether the floor damages

core/src/mindustry/entities/EntityCollisions.java

@@ -5,7 +5,6 @@ import arc.math.*;
 import arc.math.geom.*;
 import arc.struct.*;
 import arc.util.*;
-import mindustry.content.*;
 import mindustry.gen.*;
 import mindustry.world.*;
 
@@ -129,7 +128,7 @@ public class EntityCollisions{
 
     public static boolean legsSolid(int x, int y){
         Tile tile = world.tile(x, y);
-        return tile == null || tile.staticDarkness() >= 2 || (tile.floor().solid && tile.block() == Blocks.air);
+        return tile == null || tile.legSolid();
     }
 
     public static boolean waterSolid(int x, int y){

core/src/mindustry/world/Tile.java

@@ -547,6 +547,11 @@ public class Tile implements Position, QuadTreeObject, Displayable{
         return block.solid && block.fillsTile && !block.synthetic() ? data : 0;
     }
 
+    /** @return whether this tile is solid for legged units */
+    public boolean legSolid(){
+        return staticDarkness() >= 2 || (floor.solid && block == Blocks.air);
+    }
+
     /** @return true if these tiles are right next to each other. */
     public boolean adjacentTo(Tile tile){
         return relativeTo(tile) != -1;