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This commit is contained in:
Anuken
2023-11-11 12:28:10 -05:00
parent 0cf27034cf
commit cacfe06362
1 changed files with 148 additions and 102 deletions
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250
core/src/mindustry/ai/HierarchyPathFinder.java
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@@ -61,8 +61,13 @@ public class HierarchyPathFinder implements Runnable{
IntSet usedEdges = new IntSet();
//tasks to run on pathfinding thread
TaskQueue queue = new TaskQueue();
//individual requests based on unit
//individual requests based on unit - MAIN THREAD ONLY
ObjectMap<Unit, PathRequest> unitRequests = new ObjectMap<>();
//TODO: very dangerous usage;
//TODO - it is accessed from the main thread
//TODO - it is written to on the pathfinding thread
//maps position in world in (x + y * width format) to a cache of flow fields
IntMap<FieldCache> fields = new IntMap<>();
@@ -79,7 +84,6 @@ public class HierarchyPathFinder implements Runnable{
@Nullable Thread thread;
//path requests are per-unit
//these contain
static class PathRequest{
final Unit unit;
final int destination, team;
@@ -111,8 +115,10 @@ public class HierarchyPathFinder implements Runnable{
//maps cluster index to field weights; 0 means uninitialized
final IntMap<int[]> fields = new IntMap<>();
//TODO: node map for merging
//TODO: how to extend flowfields?
//main thread only!
long lastUpdateId = state.updateId;
//TODO: how are the nodes merged? CAN they be merged?
public FieldCache(PathCost cost, int team, int goalPos){
this.cost = cost;
@@ -128,7 +134,7 @@ public class HierarchyPathFinder implements Runnable{
Events.on(WorldLoadEvent.class, event -> {
stop();
//TODO 5 path costs, arbitrary number
//TODO: can the pathfinding thread even see these?
clusters = new Cluster[256][][];
cwidth = Mathf.ceil((float)world.width() / clusterSize);
cheight = Mathf.ceil((float)world.height() / clusterSize);
@@ -136,7 +142,6 @@ public class HierarchyPathFinder implements Runnable{
start();
});
//TODO very inefficient, this is only for debugging
Events.on(TileChangeEvent.class, e -> {
e.tile.getLinkedTiles(t -> {
@@ -160,10 +165,6 @@ public class HierarchyPathFinder implements Runnable{
}
});
//TODO: if near center of cluster:
//- re-do inner A* only
//- otherwise, re-do everything
//TODO: recalculate affected flow fields? or just all of them?
});
@@ -176,9 +177,17 @@ public class HierarchyPathFinder implements Runnable{
Core.app.post(() -> unitRequests.remove(req.unit));
}
}
for(var field : fields.values()){
//skipped N update -> drop it
if(field.lastUpdateId <= state.updateId - 20){
//make sure it's only modified on the main thread...? but what about calling get() on this thread??
queue.post(() -> fields.remove(field.goalPos));
}
}
});
if(debug && false){
if(debug){
Events.run(Trigger.draw, () -> {
int team = Team.sharded.id;
int cost = costGround;
@@ -189,7 +198,9 @@ public class HierarchyPathFinder implements Runnable{
Lines.stroke(1f);
for(int cx = 0; cx < cwidth; cx++){
for(int cy = 0; cy < cheight; cy++){
var cluster = clusters[Team.sharded.id][cost][cy * cwidth + cx];
if(clusters[Team.sharded.id] == null || clusters[team][cost] == null) continue;
var cluster = clusters[team][cost][cy * cwidth + cx];
if(cluster != null){
Lines.stroke(0.5f);
Draw.color(Color.gray);
@@ -279,6 +290,14 @@ 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);
@@ -329,6 +348,8 @@ public class HierarchyPathFinder implements Runnable{
/** @return a cluster at coordinates; can be null if not cluster was created yet*/
@Nullable Cluster getCluster(int team, int pathCost, int clusterIndex){
if(clusters == null) return null;
Cluster[][] dim1 = clusters[team];
if(dim1 == null) return null;
@@ -356,6 +377,8 @@ public class HierarchyPathFinder implements Runnable{
}
Cluster updateCluster(int team, int pathCost, int cx, int cy){
//TODO: what if clusters are null for thread visibility reasons?
Cluster[][] dim1 = clusters[team];
if(dim1 == null){
@@ -378,7 +401,7 @@ public class HierarchyPathFinder implements Runnable{
}
}
PathCost cost = ControlPathfinder.costTypes.get(pathCost);
PathCost cost = idToCost(pathCost);
for(int direction = 0; direction < 4; direction++){
int otherX = cx + Geometry.d4x(direction), otherY = cy + Geometry.d4y(direction);
@@ -446,7 +469,7 @@ public class HierarchyPathFinder implements Runnable{
}
void updateInnerEdges(int team, int cost, int cx, int cy, Cluster cluster){
updateInnerEdges(team, ControlPathfinder.costTypes.get(cost), cx, cy, cluster);
updateInnerEdges(team, idToCost(cost), cx, cy, cluster);
}
void updateInnerEdges(int team, PathCost cost, int cx, int cy, Cluster cluster){
@@ -556,7 +579,7 @@ public class HierarchyPathFinder implements Runnable{
int cx = current % wwidth, cy = current / wwidth;
//found the goal (it's in the portal rectangle)
//TODO portal rectangle approach does not work.
//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);
}
@@ -615,59 +638,54 @@ public class HierarchyPathFinder implements Runnable{
return Integer.MAX_VALUE;
}
//TODO
PathCost cost = ControlPathfinder.costGround;
//TODO: cluster can be null!!
PathCost cost = idToCost(pathCost);
Cluster cluster = getCreateCluster(team, pathCost, cx, cy);
int minX = cx * clusterSize, minY = cy * clusterSize, maxX = Math.min(minX + clusterSize - 1, wwidth - 1), maxY = Math.min(minY + clusterSize - 1, wheight - 1);
int bestPortalPair = Integer.MAX_VALUE;
float bestCost = Float.MAX_VALUE;
if(cluster != null){ //TODO create on demand??
//A* to every node, find the best one (I know there's a better algorithm for this, probably dijkstra)
for(int dir = 0; dir < 4; dir++){
var portals = cluster.portals[dir];
if(portals == null) continue;
//A* to every node, find the best one (I know there's a better algorithm for this, probably dijkstra)
for(int dir = 0; dir < 4; dir++){
var portals = cluster.portals[dir];
if(portals == null) continue;
for(int j = 0; j < portals.size; j++){
for(int j = 0; j < portals.size; j++){
int
other = portals.items[j],
otherFrom = Point2.x(other), otherTo = Point2.y(other),
otherAverage = (otherFrom + otherTo) / 2,
ox = cx * clusterSize + offsets[dir * 2] * (clusterSize - 1),
oy = cy * clusterSize + offsets[dir * 2 + 1] * (clusterSize - 1),
otherX = (moveDirs[dir * 2] * otherAverage + ox),
otherY = (moveDirs[dir * 2 + 1] * otherAverage + oy);
int
other = portals.items[j],
otherFrom = Point2.x(other), otherTo = Point2.y(other),
otherAverage = (otherFrom + otherTo) / 2,
ox = cx * clusterSize + offsets[dir * 2] * (clusterSize - 1),
oy = cy * clusterSize + offsets[dir * 2 + 1] * (clusterSize - 1),
otherX = (moveDirs[dir * 2] * otherAverage + ox),
otherY = (moveDirs[dir * 2 + 1] * otherAverage + oy);
float connectionCost = innerAstar(
team, cost,
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),
(moveDirs[dir * 2 + 1] * otherTo + oy)
);
float connectionCost = innerAstar(
team, cost,
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),
(moveDirs[dir * 2 + 1] * otherTo + oy)
);
//better cost found, update and return
if(connectionCost != -1f && connectionCost < bestCost){
bestPortalPair = Point2.pack(dir, j);
bestCost = connectionCost;
}
//better cost found, update and return
if(connectionCost != -1f && connectionCost < bestCost){
bestPortalPair = Point2.pack(dir, j);
bestCost = connectionCost;
}
}
if(bestPortalPair != Integer.MAX_VALUE){
return makeNodeIndex(cx, cy, Point2.x(bestPortalPair), Point2.y(bestPortalPair));
}
}
if(bestPortalPair != Integer.MAX_VALUE){
return makeNodeIndex(cx, cy, Point2.x(bestPortalPair), Point2.y(bestPortalPair));
}
return Integer.MAX_VALUE;
}
@@ -701,7 +719,6 @@ public class HierarchyPathFinder implements Runnable{
if(startNodeIndex == endNodeIndex){
result.clear();
result.add(startNodeIndex);
//TODO alloc
return result;
}
@@ -766,15 +783,7 @@ public class HierarchyPathFinder implements Runnable{
return null;
}
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()});
}
void checkEdges(PathRequest request, int team, int pathCost, int current, int goal, int cx, int cy, LongSeq connections){
private void checkEdges(PathRequest request, int team, 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];
float cost = IntraEdge.cost(con);
@@ -788,9 +797,6 @@ public class HierarchyPathFinder implements Runnable{
request.frontier.add(next, newCost + clusterNodeHeuristic(team, pathCost, next, goal));
request.cameFrom.put(next, current);
//TODO debug
line(nodeToVec(current, Tmp.v1), nodeToVec(next, Tmp.v2));
}
}
}
@@ -806,7 +812,6 @@ public class HierarchyPathFinder implements Runnable{
int counter = 0;
//actually do the flow field part
//TODO spread this out across many frames
while(frontier.size > 0){
int tile = frontier.removeLast();
int baseX = tile % wwidth, baseY = tile / wwidth;
@@ -858,9 +863,58 @@ public class HierarchyPathFinder implements Runnable{
}
}
public void initializePathRequest(PathRequest request, int team, int unitX, int unitY, int goalX, int goalY){
int costId = 0;
PathCost pcost = ControlPathfinder.costGround;
private void addFlowCluster(FieldCache cache, int cluster, boolean addingFrontier){
addFlowCluster(cache, cluster % cwidth, cluster / cwidth, addingFrontier);
}
private void addFlowCluster(FieldCache cache, int cx, int cy, boolean addingFrontier){
//out of bounds
if(cx < 0 || cy < 0 || cx >= cwidth || cy >= cheight) return;
var fields = cache.fields;
int key = cx + cy * cwidth;
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 + moveDirs[dir * 2], oy = cy + moveDirs[dir * 2 + 1];
if(ox < 0 || oy < 0 || ox >= cwidth || ox >= cheight) continue;
var otherField = cache.fields.get(ox + oy * cwidth);
if(otherField == null) continue;
int
relOffset = (dir + 2) % 4,
movex = moveDirs[relOffset * 2],
movey = moveDirs[relOffset * 2 + 1],
otherx1 = offsets[relOffset * 2] * (clusterSize - 1),
othery1 = offsets[relOffset * 2 + 1] * (clusterSize - 1);
//scan the edge of the cluster
for(int i = 0; i < clusterSize; i++){
int x = otherx1 + movex * i, y = othery1 + movey * i;
//check to make sure it's not 0 (uninitialized flowfield data)
if(otherField[x + y * clusterSize] != 0){
int worldX = x + ox * clusterSize, worldY = y + oy * clusterSize;
//add the world-relative position to the frontier, so it recalculates
cache.frontier.addFirst(worldX + worldY * wwidth);
}
}
}
}
}
}
private void initializePathRequest(PathRequest request, int team, int costId, int unitX, int unitY, int goalX, int goalY){
PathCost pcost = idToCost(costId);
int goalPos = (goalX + goalY * wwidth);
@@ -869,21 +923,22 @@ public class HierarchyPathFinder implements Runnable{
var nodePath = clusterAstar(request, costId, node, dest);
//TODO: how to reuse
FieldCache cache = this.fields.get(goalPos, () -> new FieldCache(pcost, team, goalPos));
//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;
if(cache.frontier.isEmpty()){
//create the cache if it doesn't exist, and initialize it
if(cache == null){
fields.put(goalPos, cache = new FieldCache(pcost, team, goalPos));
cache.frontier.addFirst(goalPos);
addingFrontier = false; //when it's a new field, there is no need to add to the frontier to merge the flowfield
}
if(nodePath != null){
int fsize = clusterSize * clusterSize;
int cx = unitX / clusterSize, cy = unitY / clusterSize;
var fields = cache.fields;
fields.put(cx + cy * cwidth, new int[fsize]);
addFlowCluster(cache, cx, cy, addingFrontier);
for(int i = -1; i < nodePath.size; i++){
int
@@ -895,41 +950,35 @@ public class HierarchyPathFinder implements Runnable{
ox = cluster % cwidth + dx,
oy = cluster / cwidth + dy;
//store current cluster in the path list
if(!fields.containsKey(cluster)){
fields.put(cluster, new int[fsize]);
}
addFlowCluster(cache, cluster, addingFrontier);
//store directionals TODO out of bounds
//store directionals TODO can be out of bounds
for(Point2 p : Geometry.d4){
int other = cluster + p.x + p.y * cwidth;
if(!fields.containsKey(other)){
fields.put(other, new int[fsize]);
}
addFlowCluster(cache, cluster + p.x + p.y * cwidth, addingFrontier);
}
//store directional/flipped version of cluster
if(ox >= 0 && oy >= 0 && ox < cwidth && oy < cheight){
int other = ox + oy * cwidth;
if(!fields.containsKey(other)){
fields.put(other, new int[fsize]);
}
addFlowCluster(cache, other, addingFrontier);
//store directionals again
for(Point2 p : Geometry.d4){
int other2 = other + p.x + p.y * cwidth;
if(!fields.containsKey(other2)){
fields.put(other2, new int[fsize]);
}
addFlowCluster(cache, other + p.x + p.y * cwidth, addingFrontier);
}
}
}
}
}
private PathCost idToCost(int costId){
return ControlPathfinder.costTypes.get(costId);
}
public boolean getPathPosition(Unit unit, int pathId, Vec2 destination, Vec2 out, boolean[] noResultFound){
int costId = 0;
PathCost cost = idToCost(costId);
PathRequest request = unitRequests.get(unit);
int
@@ -939,7 +988,6 @@ public class HierarchyPathFinder implements Runnable{
//use existing request if it exists.
if(request != null && request.destination == destPos){
//TODO: collect old requests that have not been accessed in a while. not sure where.
request.lastUpdateId = state.updateId;
Tile tileOn = unit.tileOn();
@@ -962,9 +1010,9 @@ public class HierarchyPathFinder implements Runnable{
int packed = world.packArray(dx, dy);
int otherCost = getCost(fieldCache.fields, dx, dy);
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(tileOn.x + point.x, tileOn.y)) ||
(!passable(ControlPathfinder.costGround, unit.team.id, world.packArray(tileOn.x, tileOn.y + point.y)))))){ //diagonal corner trap
if(otherCost < value && (current == null || otherCost < tl) && passable(cost, unit.team.id, packed) &&
!(point.x != 0 && point.y != 0 && (!passable(cost, unit.team.id, world.packArray(tileOn.x + point.x, tileOn.y)) ||
(!passable(cost, unit.team.id, world.packArray(tileOn.x, tileOn.y + point.y)))))){ //diagonal corner trap
current = other;
tl = otherCost;
@@ -986,7 +1034,7 @@ public class HierarchyPathFinder implements Runnable{
//on the pathfinding thread: initialize the request, meaning
queue.post(() -> {
initializePathRequest(f, unit.team.id, unit.tileX(), unit.tileY(), destX, destY);
initializePathRequest(f, unit.team.id, costId, unit.tileX(), unit.tileY(), destX, destY);
});
}
@@ -1085,8 +1133,6 @@ public class HierarchyPathFinder implements Runnable{
clustersToInnerUpdate.clear();
clustersToUpdate.clear();
//TODO: update everything else too
//each update time (not total!) no longer than maxUpdate
for(FieldCache cache : fields.values()){
updateFields(cache, maxUpdate);