521 lines
17 KiB
Java
521 lines
17 KiB
Java
package mindustry.ai;
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import arc.*;
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import arc.func.*;
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import arc.math.geom.*;
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import arc.struct.*;
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import arc.util.*;
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import arc.util.async.*;
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import mindustry.annotations.Annotations.*;
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import mindustry.core.*;
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import mindustry.game.EventType.*;
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import mindustry.game.*;
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import mindustry.gen.*;
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import mindustry.world.*;
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import mindustry.world.meta.*;
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import static mindustry.Vars.*;
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public class Pathfinder implements Runnable{
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private static final long maxUpdate = Time.millisToNanos(6);
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private static final int updateFPS = 60;
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private static final int updateInterval = 1000 / updateFPS;
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private static final int impassable = -1;
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private static final int fieldTimeout = 1000 * 60 * 2;
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public static final int
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fieldCore = 0,
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fieldRally = 1;
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public static final Seq<Prov<Flowfield>> fieldTypes = Seq.with(
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EnemyCoreField::new,
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RallyField::new
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);
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public static final int
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costGround = 0,
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costLegs = 1,
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costWater = 2;
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public static final Seq<PathCost> costTypes = Seq.with(
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//ground
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(team, tile) -> (PathTile.team(tile) == team.id || PathTile.team(tile) == 0) && PathTile.solid(tile) ? impassable : 1 +
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PathTile.health(tile) * 5 +
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(PathTile.nearSolid(tile) ? 2 : 0) +
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(PathTile.nearLiquid(tile) ? 6 : 0) +
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(PathTile.deep(tile) ? 6000 : 0) +
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(PathTile.damages(tile) ? 30 : 0),
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//legs
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(team, tile) -> PathTile.legSolid(tile) ? impassable : 1 +
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(PathTile.solid(tile) ? 5 : 0),
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//water
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(team, tile) -> PathTile.solid(tile) || !PathTile.liquid(tile) ? 200 : 2 +
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(PathTile.nearGround(tile) || PathTile.nearSolid(tile) ? 14 : 0) +
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(PathTile.deep(tile) ? -1 : 0) +
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(PathTile.damages(tile) ? 35 : 0)
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);
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//maps team, cost, type to flow field
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Flowfield[][][] cache;
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/** tile data, see PathTileStruct */
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int[][] tiles = new int[0][0];
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/** unordered array of path data for iteration only. DO NOT iterate or access this in the main thread. */
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Seq<Flowfield> threadList = new Seq<>(), mainList = new Seq<>();
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/** handles task scheduling on the update thread. */
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TaskQueue queue = new TaskQueue();
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/** Current pathfinding thread */
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@Nullable Thread thread;
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IntSeq tmpArray = new IntSeq();
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public Pathfinder(){
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clearCache();
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Events.on(WorldLoadEvent.class, event -> {
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stop();
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//reset and update internal tile array
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tiles = new int[world.width()][world.height()];
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threadList = new Seq<>();
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mainList = new Seq<>();
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clearCache();
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for(Tile tile : world.tiles){
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tiles[tile.x][tile.y] = packTile(tile);
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}
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start();
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});
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Events.on(ResetEvent.class, event -> stop());
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Events.on(TileChangeEvent.class, event -> updateTile(event.tile));
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}
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private void clearCache(){
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cache = new Flowfield[256][5][5];
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}
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/** Packs a tile into its internal representation. */
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private int packTile(Tile tile){
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boolean nearLiquid = false, nearSolid = false, nearGround = false;
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for(int i = 0; i < 4; i++){
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Tile other = tile.nearby(i);
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if(other != null){
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if(other.floor().isLiquid) nearLiquid = true;
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if(other.solid()) nearSolid = true;
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if(!other.floor().isLiquid) nearGround = true;
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}
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}
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return PathTile.get(
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tile.build == null || !tile.solid() ? 0 : Math.min((int)(tile.build.health / 40), 80),
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tile.getTeamID(),
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tile.solid(),
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tile.floor().isLiquid,
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tile.staticDarkness() >= 2,
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nearLiquid,
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nearGround,
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nearSolid,
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tile.floor().isDeep(),
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tile.floor().damageTaken > 0.00001f
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);
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}
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/** Starts or restarts the pathfinding thread. */
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private void start(){
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stop();
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thread = Threads.daemon(this);
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}
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/** Stops the pathfinding thread. */
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private void stop(){
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if(thread != null){
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thread.interrupt();
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thread = null;
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}
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queue.clear();
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}
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/** Update a tile in the internal pathfinding grid.
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* Causes a complete pathfinding reclaculation. Main thread only. */
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public void updateTile(Tile tile){
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if(net.client()) return;
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int x = tile.x, y = tile.y;
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tile.getLinkedTiles(t -> {
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if(Structs.inBounds(t.x, t.y, tiles)){
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tiles[t.x][t.y] = packTile(t);
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}
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});
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//can't iterate through array so use the map, which should not lead to problems
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for(Flowfield path : mainList){
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if(path != null){
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synchronized(path.targets){
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path.targets.clear();
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path.getPositions(path.targets);
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}
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}
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}
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queue.post(() -> {
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for(Flowfield data : threadList){
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updateTargets(data, x, y);
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}
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});
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}
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/** Thread implementation. */
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@Override
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public void run(){
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while(true){
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if(net.client()) return;
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try{
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if(state.isPlaying()){
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queue.run();
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//total update time no longer than maxUpdate
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for(Flowfield data : threadList){
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updateFrontier(data, maxUpdate / threadList.size);
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//TODO implement timeouts... or don't
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/*
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//remove flowfields that have 'timed out' so they can be garbage collected and no longer waste space
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if(data.refreshRate > 0 && Time.timeSinceMillis(data.lastUpdateTime) > fieldTimeout){
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//make sure it doesn't get removed twice
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data.lastUpdateTime = Time.millis();
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Team team = data.team;
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Core.app.post(() -> {
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//remove its used state
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if(fieldMap[team.id] != null){
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fieldMap[team.id].remove(data.target);
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fieldMapUsed[team.id].remove(data.target);
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}
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//remove from main thread list
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mainList.remove(data);
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});
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queue.post(() -> {
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//remove from this thread list with a delay
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threadList.remove(data);
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});
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}*/
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}
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}
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try{
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Thread.sleep(updateInterval);
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}catch(InterruptedException e){
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//stop looping when interrupted externally
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return;
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}
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}catch(Throwable e){
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e.printStackTrace();
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}
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}
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}
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public Flowfield getField(Team team, int costType, int fieldType){
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if(cache[team.id][costType][fieldType] == null){
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Flowfield field = fieldTypes.get(fieldType).get();
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field.team = team;
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field.cost = costTypes.get(costType);
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field.targets.clear();
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field.getPositions(field.targets);
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cache[team.id][costType][fieldType] = field;
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queue.post(() -> registerPath(field));
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}
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return cache[team.id][costType][fieldType];
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}
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/** Gets next tile to travel to. Main thread only. */
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public @Nullable Tile getTargetTile(Tile tile, Flowfield path){
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if(tile == null) return null;
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//uninitialized flowfields are not applicable
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if(!path.initialized){
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return tile;
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}
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//if refresh rate is positive, queue a refresh
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if(path.refreshRate > 0 && Time.timeSinceMillis(path.lastUpdateTime) > path.refreshRate){
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path.lastUpdateTime = Time.millis();
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tmpArray.clear();
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path.getPositions(tmpArray);
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synchronized(path.targets){
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//make sure the position actually changed
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if(!(path.targets.size == 1 && tmpArray.size == 1 && path.targets.first() == tmpArray.first())){
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path.targets.clear();
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path.getPositions(path.targets);
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//queue an update
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queue.post(() -> updateTargets(path));
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}
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}
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}
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int[][] values = path.weights;
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int value = values[tile.x][tile.y];
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Tile current = null;
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int tl = 0;
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for(Point2 point : Geometry.d8){
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int dx = tile.x + point.x, dy = tile.y + point.y;
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Tile other = world.tile(dx, dy);
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if(other == null) continue;
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if(values[dx][dy] < value && (current == null || values[dx][dy] < tl) && path.passable(dx, dy) &&
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!(point.x != 0 && point.y != 0 && (!path.passable(tile.x + point.x, tile.y) || !path.passable(tile.x, tile.y + point.y)))){ //diagonal corner trap
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current = other;
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tl = values[dx][dy];
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}
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}
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if(current == null || tl == impassable) return tile;
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return current;
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}
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/**
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* Clears the frontier, increments the search and sets up all flow sources.
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* This only occurs for active teams.
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*/
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private void updateTargets(Flowfield path, int x, int y){
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if(!Structs.inBounds(x, y, path.weights)) return;
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if(path.weights[x][y] == 0){
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//this was a previous target
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path.frontier.clear();
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}else if(!path.frontier.isEmpty()){
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//skip if this path is processing
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return;
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}
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//update cost of the tile TODO maybe only update the cost when it's not passable
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path.weights[x][y] = path.cost.getCost(path.team, tiles[x][y]);
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//clear frontier to prevent contamination
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path.frontier.clear();
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updateTargets(path);
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}
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/** Increments the search and sets up flow sources. Does not change the frontier. */
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private void updateTargets(Flowfield path){
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//increment search, but do not clear the frontier
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path.search++;
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synchronized(path.targets){
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//add targets
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for(int i = 0; i < path.targets.size; i++){
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int pos = path.targets.get(i);
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int tx = Point2.x(pos), ty = Point2.y(pos);
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path.weights[tx][ty] = 0;
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path.searches[tx][ty] = path.search;
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path.frontier.addFirst(pos);
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}
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}
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}
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private void preloadPath(Flowfield path){
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path.targets.clear();
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path.getPositions(path.targets);
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registerPath(path);
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updateFrontier(path, -1);
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}
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/**
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* TODO wrong docs
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* Created a new flowfield that aims to get to a certain target for a certain team.
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* Pathfinding thread only.
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*/
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private void registerPath(Flowfield path){
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path.lastUpdateTime = Time.millis();
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path.setup(tiles.length, tiles[0].length);
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threadList.add(path);
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//add to main thread's list of paths
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Core.app.post(() -> {
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mainList.add(path);
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//TODO
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//if(fieldMap[team.id] != null){
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// fieldMap[team.id].put(target, path);
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//}
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});
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//fill with impassables by default
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for(int x = 0; x < world.width(); x++){
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for(int y = 0; y < world.height(); y++){
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path.weights[x][y] = impassable;
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}
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}
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//add targets
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for(int i = 0; i < path.targets.size; i++){
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int pos = path.targets.get(i);
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path.weights[Point2.x(pos)][Point2.y(pos)] = 0;
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path.frontier.addFirst(pos);
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}
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}
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/** Update the frontier for a path. Pathfinding thread only. */
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private void updateFrontier(Flowfield path, long nsToRun){
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long start = Time.nanos();
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while(path.frontier.size > 0 && (nsToRun < 0 || Time.timeSinceNanos(start) <= nsToRun)){
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Tile tile = world.tile(path.frontier.removeLast());
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if(tile == null || path.weights == null) return; //something went horribly wrong, bail
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int cost = path.weights[tile.x][tile.y];
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//pathfinding overflowed for some reason, time to bail. the next block update will handle this, hopefully
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if(path.frontier.size >= world.width() * world.height()){
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path.frontier.clear();
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return;
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}
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if(cost != impassable){
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for(Point2 point : Geometry.d4){
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int dx = tile.x + point.x, dy = tile.y + point.y;
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if(dx < 0 || dy < 0 || dx >= tiles.length || dy >= tiles[0].length) continue;
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int otherCost = path.cost.getCost(path.team, tiles[dx][dy]);
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if((path.weights[dx][dy] > cost + otherCost || path.searches[dx][dy] < path.search) && otherCost != impassable){
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path.frontier.addFirst(Point2.pack(dx, dy));
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path.weights[dx][dy] = cost + otherCost;
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path.searches[dx][dy] = (short)path.search;
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}
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}
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}
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}
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}
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public static class EnemyCoreField extends Flowfield{
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@Override
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protected void getPositions(IntSeq out){
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for(Tile other : indexer.getEnemy(team, BlockFlag.core)){
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out.add(other.pos());
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}
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//spawn points are also enemies.
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if(state.rules.waves && team == state.rules.defaultTeam){
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for(Tile other : spawner.getSpawns()){
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out.add(other.pos());
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}
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}
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}
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}
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public static class RallyField extends Flowfield{
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@Override
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protected void getPositions(IntSeq out){
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for(Tile other : indexer.getAllied(team, BlockFlag.rally)){
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out.add(other.pos());
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}
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}
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}
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public static class PositionTarget extends Flowfield{
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public final Position position;
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public PositionTarget(Position position){
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this.position = position;
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this.refreshRate = 900;
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}
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@Override
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public void getPositions(IntSeq out){
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out.add(Point2.pack(World.toTile(position.getX()), World.toTile(position.getY())));
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}
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}
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/**
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* Data for a flow field to some set of destinations.
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* Concrete subclasses must specify a way to fetch costs and destinations.
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* */
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public static abstract class Flowfield{
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/** Refresh rate in milliseconds. Return any number <= 0 to disable. */
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protected int refreshRate;
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/** Team this path is for. Set before using. */
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protected Team team = Team.derelict;
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/** Function for calculating path cost. Set before using. */
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protected PathCost cost = costTypes.get(costGround);
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/** costs of getting to a specific tile */
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public int[][] weights;
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/** search IDs of each position - the highest, most recent search is prioritized and overwritten */
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int[][] searches;
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/** search frontier, these are Pos objects */
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IntQueue frontier = new IntQueue();
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/** all target positions; these positions have a cost of 0, and must be synchronized on! */
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final IntSeq targets = new IntSeq();
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/** current search ID */
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int search = 1;
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/** last updated time */
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long lastUpdateTime;
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/** whether this flow field is ready to be used */
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boolean initialized;
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void setup(int width, int height){
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this.weights = new int[width][height];
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this.searches = new int[width][height];
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this.frontier.ensureCapacity((width + height) * 3);
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this.initialized = true;
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}
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protected boolean passable(int x, int y){
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return cost.getCost(team, pathfinder.tiles[x][y]) != impassable;
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}
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/** Gets targets to pathfind towards. This must run on the main thread. */
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protected abstract void getPositions(IntSeq out);
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}
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interface PathCost{
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int getCost(Team traversing, int tile);
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}
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/** Holds a copy of tile data for a specific tile position. */
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@Struct
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class PathTileStruct{
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//scaled block health
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@StructField(8) int health;
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//team of block, if applicable (0 by default)
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@StructField(8) int team;
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//general solid state
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boolean solid;
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//whether this block is a liquid that boats can move on
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boolean liquid;
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//whether this block is solid for leg units that can move over some solid blocks
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boolean legSolid;
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//whether this block is near liquids
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boolean nearLiquid;
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//whether this block is near a solid floor tile
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boolean nearGround;
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//whether this block is near a solid object
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boolean nearSolid;
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//whether this block is deep / drownable
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boolean deep;
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//whether the floor damages
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boolean damages;
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}
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}
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