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Cleanup

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This commit is contained in:
Anuken
2023-11-16 11:00:31 -05:00
parent af71006f3f
commit c72eb5bd9c
2 changed files with 58 additions and 71 deletions
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127
core/src/mindustry/ai/HierarchyPathFinder.java
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@@ -29,7 +29,7 @@ public class HierarchyPathFinder implements Runnable{
static final int clusterSize = 12;
static final boolean debug = OS.hasProp("mindustry.debug");
static final boolean debug = false;//OS.hasProp("mindustry.debug");
static final int[] offsets = {
1, 0, //right: bottom to top
@@ -145,6 +145,12 @@ public class HierarchyPathFinder implements Runnable{
}
}
static class Cluster{
IntSeq[] portals = new IntSeq[4];
//maps rotation + index of portal to list of IntraEdge objects
LongSeq[][] portalConnections = new LongSeq[4][];
}
public HierarchyPathFinder(){
Events.on(ResetEvent.class, event -> stop());
@@ -257,9 +263,7 @@ public class HierarchyPathFinder implements Runnable{
float
x1 = Tmp.v1.x, y1 = Tmp.v1.y,
x2 = Tmp.v2.x, y2 = Tmp.v2.y,
mx = (cx * clusterSize + clusterSize / 2f) * tilesize, my = (cy * clusterSize + clusterSize / 2f) * tilesize;
//Lines.curve(x1, y1, mx, my, mx, my, x2, y2, 20);
x2 = Tmp.v2.x, y2 = Tmp.v2.y;
Lines.line(x1, y1, x2, y2);
}
@@ -267,19 +271,6 @@ public class HierarchyPathFinder implements Runnable{
}
}
}
//TODO draw connections.
/*
Draw.color(Color.magenta);
for(var con : cluster.cons){
float
x1 = Point2.x(con.posFrom) * tilesize, y1 = Point2.y(con.posFrom) * tilesize,
x2 = Point2.x(con.posTo) * tilesize, y2 = Point2.y(con.posTo) * tilesize,
mx = (cx * clusterSize + clusterSize/2f) * tilesize, my = (cy * clusterSize + clusterSize/2f) * tilesize;
//Lines.curve(x1, y1, mx, my, mx, my, x2, y2, 20);
Lines.line(x1, y1, x2, y2);
}*/
}
}
}
@@ -312,24 +303,7 @@ public class HierarchyPathFinder implements Runnable{
}
}
static void line(Vec2 a, Vec2 b){
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()});
}
//DEBUGGING ONLY
Vec2 nodeToVec(int current, Vec2 out){
portalToVec(0, NodeIndex.cluster(current), NodeIndex.dir(current), NodeIndex.portal(current), out);
return out;
}
void portalToVec(int pathCost, int cluster, int direction, int portalIndex, Vec2 out){
portalToVec(clusters[Team.sharded.id][pathCost][cluster], cluster % cwidth, cluster / cwidth, direction, portalIndex, out);
}
//debugging only!
void portalToVec(Cluster cluster, int cx, int cy, int direction, int portalIndex, Vec2 out){
int pos = cluster.portals[direction].items[portalIndex];
int from = Point2.x(pos), to = Point2.y(pos);
@@ -595,13 +569,24 @@ public class HierarchyPathFinder implements Runnable{
costs.put(startPos, 0);
frontier.add(startPos, 0);
if(goalX2 < goalX1){
int tmp = goalX1;
goalX1 = goalX2;
goalX2 = tmp;
}
if(goalY2 < goalY1){
int tmp = goalY1;
goalY1 = goalY2;
goalY2 = tmp;
}
while(frontier.size > 0){
int current = frontier.poll();
int cx = current % wwidth, cy = current / wwidth;
//found the goal (it's in the portal rectangle)
//TODO portal rectangle approach does not work, making this slower than it should be
if((cx >= goalX1 && cy >= goalY1 && cx <= goalX2 && cy <= goalY2) || current == goalPos){
return costs.get(current);
}
@@ -610,10 +595,7 @@ public class HierarchyPathFinder implements Runnable{
int newx = cx + point.x, newy = cy + point.y;
int next = newx + wwidth * newy;
if(newx > maxX || newy > maxY || newx < minX || newy < minY) continue;
//TODO fallback mode for enemy walls or whatever
if(tcost(team, cost, next) == impassable) continue;
if(newx > maxX || newy > maxY || newx < minX || newy < minY || tcost(team, cost, next) == impassable) continue;
float add = tileCost(team, cost, current, next);
@@ -688,7 +670,6 @@ public class HierarchyPathFinder implements Runnable{
minX, minY, maxX, maxY,
tileX + tileY * wwidth,
otherX + otherY * wwidth,
//TODO these are wrong and never actually trigger
(moveDirs[dir * 2] * otherFrom + ox),
(moveDirs[dir * 2 + 1] * otherFrom + oy),
(moveDirs[dir * 2] * otherTo + ox),
@@ -914,9 +895,7 @@ public class HierarchyPathFinder implements Runnable{
if(!fields.containsKey(key)){
fields.put(key, new int[clusterSize * clusterSize]);
//TODO: now, scan d4 for nearby clusters.
if(addingFrontier){
for(int dir = 0; dir < 4; dir++){
int ox = cx + nextOffsets[dir * 2], oy = cy + nextOffsets[dir * 2 + 1];
@@ -970,7 +949,6 @@ public class HierarchyPathFinder implements Runnable{
var nodePath = clusterAstar(request, costId, node, dest);
//TODO: how to reuse properly. what if the flowfields don't go through this position (the fields are finished?) how to incrementally extend the flowfield?
FieldCache cache = fields.get(goalPos);
//if true, extra values are added on the sides of existing field cells that face new cells.
boolean addingFrontier = true;
@@ -1033,7 +1011,8 @@ public class HierarchyPathFinder implements Runnable{
PathRequest request = unitRequests.get(unit);
//if the destination can be trivially reached in a straight line, do that.
if(!raycast(team, cost, tileX, tileY, actualDestX, actualDestY)){
//near the destination, standard raycasting tends to break down, so use the more permissive 'near' variant that doesn't take into account edges of walls
if(unit.within(destination, tilesize * 2.5f) ? !raycastNear(team, cost, tileX, tileY, actualDestX, actualDestY) : !raycast(team, cost, tileX, tileY, actualDestX, actualDestY)){
out.set(destination);
return true;
}
@@ -1056,6 +1035,7 @@ public class HierarchyPathFinder implements Runnable{
}
fieldCache.lastUpdateId = state.updateId;
//TODO: 30 iterations every frame is incredibly slow and terrible and drops the FPS on mobile devices significantly.
int maxIterations = 30; //TODO higher/lower number?
int i = 0;
@@ -1084,9 +1064,9 @@ public class HierarchyPathFinder implements Runnable{
anyNearSolid = true;
}
if(relCost == 7 || relCost == 8) otherCost = value + 1;
if(relCost == 7) otherCost = value;
//check for corner preventing movement
//check for corner preventing movement TODO will break with the new last tile pos stuff
if((checkCorner(unit, tileOn, other, dir - 1) || checkCorner(unit, tileOn, other, dir + 1)) &&
(checkSolid(unit, tileOn, dir - 2) || checkSolid(unit, tileOn, dir + 2))){ //there must be a tile to the left or right to keep the unit from going back and forth forever
@@ -1095,11 +1075,11 @@ public class HierarchyPathFinder implements Runnable{
continue;
}
if(otherCost < value && otherCost != impassable && (otherCost != 0 || packed == destPos) && (current == null || otherCost < minCost) && passable(cost, unit.team.id, packed) &&
if(otherCost < value && otherCost != impassable && (otherCost != 0 || packed == destPos) && (current == null || otherCost < minCost) && passable(unit.team.id, cost, packed) &&
//diagonal corner trap
!(
(!passable(cost, team, world.packArray(tileOn.x + point.x, tileOn.y)) ||
(!passable(cost, team, world.packArray(tileOn.x, tileOn.y + point.y))))
(!passable(team, cost, world.packArray(tileOn.x + point.x, tileOn.y)) ||
(!passable(team, cost, world.packArray(tileOn.x, tileOn.y + point.y))))
)
){
current = other;
@@ -1119,7 +1099,6 @@ public class HierarchyPathFinder implements Runnable{
}
}
//TODO: there are some serious issues with tileOn and the raycast position, intense vibration
request.lastTargetTile = any ? tileOn : null;
if(debug && tileOn != null && false){
Fx.placeBlock.at(tileOn.worldx(), tileOn.worldy(), 1);
@@ -1128,6 +1107,8 @@ public class HierarchyPathFinder implements Runnable{
if(request.lastTargetTile != null){
out.set(request.lastTargetTile);
//TODO: broken
//request.lastTile = tileOn.pos();
return true;
}
}
@@ -1206,17 +1187,6 @@ public class HierarchyPathFinder implements Runnable{
if(avoid(team, type, x + y * wwidth)) return true;
if(x == x2 && y == y2) return false;
//TODO no diagonals???? is this a good idea?
/*
//no diagonal ver
if(2 * err + dy > dx - 2 * err){
err -= dy;
x += sx;
}else{
err += dx;
y += sy;
}*/
//diagonal ver
e2 = 2 * err;
if(e2 > -dy){
@@ -1228,6 +1198,29 @@ public class HierarchyPathFinder implements Runnable{
err += dx;
y += sy;
}
}
return true;
}
private static boolean raycastNear(int team, PathCost type, int x1, int y1, int x2, int y2){
int ww = wwidth, wh = wheight;
int x = x1, dx = Math.abs(x2 - x), sx = x < x2 ? 1 : -1;
int y = y1, dy = Math.abs(y2 - y), sy = y < y2 ? 1 : -1;
int e2, err = dx - dy;
while(x >= 0 && y >= 0 && x < ww && y < wh){
if(!passable(team, type, x + y * wwidth)) return true;
if(x == x2 && y == y2) return false;
//no diagonal ver
if(2 * err + dy > dx - 2 * err){
err -= dy;
x += sx;
}else{
err += dx;
y += sy;
}
}
@@ -1239,7 +1232,7 @@ public class HierarchyPathFinder implements Runnable{
return cost == impassable || cost >= 2;
}
private static boolean passable(PathCost cost, int team, int pos){
private static boolean passable(int team, PathCost cost, 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);
@@ -1280,7 +1273,7 @@ public class HierarchyPathFinder implements Runnable{
// - DONE invalidations should be batched every few seconds (let's say, 2)
for(var req : threadPathRequests){
var field = fields.get(req.destination);
if(field != null && field.fields.containsKey(index)){
if((field != null && field.fields.containsKey(index)) || req.notFound){
invalidRequests.add(req);
}
}
@@ -1411,12 +1404,6 @@ public class HierarchyPathFinder implements Runnable{
}
}
static class Cluster{
IntSeq[] portals = new IntSeq[4];
//maps rotation + index of portal to list of IntraEdge objects
LongSeq[][] portalConnections = new LongSeq[4][];
}
@Struct
static class IntraEdgeStruct{
@StructField(8)