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Faster avoidance calculation

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This commit is contained in:
Anuken
2025-07-06 14:23:50 -04:00
parent b5eba35ed9
commit f0d8c06380
7 changed files with 142 additions and 48 deletions
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48
core/src/mindustry/ai/Pathfinder.java
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@@ -107,8 +107,6 @@ public class Pathfinder implements Runnable{
boolean needsRefresh;
int[][] avoidance;
public Pathfinder(){
clearCache();
@@ -123,8 +121,6 @@ public class Pathfinder implements Runnable{
mainList = new Seq<>();
clearCache();
avoidance = new int[4][tiles.length];
for(int i = 0; i < tiles.length; i++){
Tile tile = world.tiles.geti(i);
tiles[i] = packTile(tile);
@@ -146,38 +142,6 @@ public class Pathfinder implements Runnable{
start();
});
//TODO: the before/after game update avoidance code is very slow, but it works as a concept. future versions can do the clearing/area definitions in another thread
Events.run(Trigger.beforeGameUpdate, () -> {
for(var unit : Groups.unit){
if(!unit.isFlying()){
int layer = unit.collisionLayer();
if(layer < avoidance.length){
float scaling = 2f;
int r = Math.max(1, Mathf.ceil(unit.hitSize * 0.6f / tilesize * scaling));
var arr = avoidance[layer];
float rad2 = (unit.hitSize * unitCollisionRadiusScale / tilesize * scaling) * (unit.hitSize * unitCollisionRadiusScale / tilesize * scaling);
for(int dx = -r; dx <= r; dx++){
for(int dy = -r; dy <= r; dy++){
int x = dx + unit.tileX(), y = dy + unit.tileY();
if(x >= 0 && y >= 0 && x < wwidth && y < wheight && (dx*dx + dy*dy) <= rad2){
arr[x + y * wwidth] = Math.max(arr[x + y * wwidth], Integer.MAX_VALUE - unit.id);
}
}
}
}
}
}
});
Events.run(Trigger.afterGameUpdate, () -> {
for(var arr : avoidance){
Arrays.fill(arr, 0);
}
});
Events.on(ResetEvent.class, event -> stop());
Events.on(TileChangeEvent.class, event -> {
@@ -394,11 +358,11 @@ public class Pathfinder implements Runnable{
/** Gets next tile to travel to. Main thread only. */
public @Nullable Tile getTargetTile(Tile tile, Flowfield path, boolean diagonals){
return getTargetTile(tile, path, diagonals, -1, 0);
return getTargetTile(tile, path, diagonals, 0);
}
/** Gets next tile to travel to. Main thread only. */
public @Nullable Tile getTargetTile(Tile tile, Flowfield path, boolean diagonals, int collisionLayer, int unitId){
public @Nullable Tile getTargetTile(Tile tile, Flowfield path, boolean diagonals, int avoidanceId){
if(tile == null) return null;
//uninitialized flowfields are not applicable
@@ -430,7 +394,7 @@ public class Pathfinder implements Runnable{
int value = values[apos];
var points = diagonals ? Geometry.d8 : Geometry.d4;
int[] avoid = collisionLayer == -1 ? null : avoidance[collisionLayer];
int[] avoid = avoidanceId <= 0 ? null : avoidance.getAvoidance();
Tile current = null;
int tl = 0;
@@ -441,7 +405,7 @@ public class Pathfinder implements Runnable{
if(other == null) continue;
int packed = dx/res + dy/res * ww;
int avoidance = avoid == null || unitId == 0 ? 0 : avoid[packed] > Integer.MAX_VALUE - unitId ? 1 : 0;
int avoidance = avoid == null ? 0 : avoid[packed] > Integer.MAX_VALUE - avoidanceId ? 1 : 0;
int cost = values[packed] + avoidance;
if(cost < value && avoidance == 0 && (current == null || cost < tl) && path.passable(packed) &&
@@ -699,8 +663,8 @@ public class Pathfinder implements Runnable{
}
/** @return the next tile to travel to for this flowfield. Main thread only. */
public @Nullable Tile getNextTile(Tile from, int collisionlayer, int unitId){
return pathfinder.getTargetTile(from, this, true, collisionlayer, unitId);
public @Nullable Tile getNextTile(Tile from, int unitAvoidanceId){
return pathfinder.getTargetTile(from, this, true, unitAvoidanceId);
}
public boolean hasCompleteWeights(){