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Pathfinder fallback system

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Anuken 2022-02-14 10:16:15 -05:00
parent c17be987d2
commit 41f50ff8ea
4 changed files with 43 additions and 14 deletions
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1
core/assets/icons/icons.properties
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@ -536,3 +536,4 @@
63167=disperse|block-disperse-ui
63166=large-shield-projector|block-large-shield-projector-ui
63165=payload-mass-driver|block-payload-mass-driver-ui
63164=world-cell|block-world-cell-ui

BIN
core/assets/logicids.dat
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46
core/src/mindustry/ai/ControlPathfinder.java
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@ -21,16 +21,22 @@ public class ControlPathfinder{
private static final long maxUpdate = Time.millisToNanos(20);
private static final int updateFPS = 60;
private static final int updateInterval = 1000 / updateFPS;
private static final int wallImpassable = -2;
public static boolean showDebug = false;
public static final Seq<PathCost> costTypes = Seq.with(
//ground
(team, tile) -> (PathTile.allDeep(tile) || PathTile.solid(tile)) ? impassable : 1 +
(team, tile) ->
//deep is impassable
PathTile.allDeep(tile) ? impassable :
((PathTile.team(tile) != team && PathTile.team(tile) != 0) && PathTile.solid(tile)) ? wallImpassable :
PathTile.solid(tile) ? impassable :
1 +
(PathTile.nearSolid(tile) ? 6 : 0) +
(PathTile.nearLiquid(tile) ? 8 : 0) +
(PathTile.deep(tile) ? 6000 : 0) +
(PathTile.damages(tile) ? 40 : 0),
(PathTile.damages(tile) ? 50 : 0),
//legs
(team, tile) -> PathTile.legSolid(tile) ? impassable : 1 +
@ -165,6 +171,7 @@ public class ControlPathfinder{
req.pathType = pathType;
req.destination.set(destination);
req.curId = pathId;
req.team = unit.team.id;
req.lastUpdateId = state.updateId;
req.lastPos.set(unit);
req.lastWorldUpdate = worldUpdateId;
@ -178,6 +185,7 @@ public class ControlPathfinder{
}else{
var req = requests.get(unit);
req.lastUpdateId = state.updateId;
req.team = unit.team.id;
if(req.curId != req.lastId || req.curId != pathId){
req.pathIndex = 0;
req.rayPathIndex = -1;
@ -350,17 +358,21 @@ public class ControlPathfinder{
return Math.abs(x - x2) + Math.abs(y - y2);
}
private static int tcost(int team, int type, int tilePos){
return costTypes.items[type].getCost(team, pathfinder.tiles[tilePos]);
}
private static int cost(int type, int tilePos){
return costTypes.items[type].getCost(null, pathfinder.tiles[tilePos]);
return costTypes.items[type].getCost(-1, pathfinder.tiles[tilePos]);
}
private static boolean avoid(int type, int tilePos){
int cost = cost(type, tilePos);
return cost == impassable || cost >= 2;
return cost <= impassable || cost >= 2;
}
private static boolean solid(int type, int tilePos){
return cost(type, tilePos) == impassable;
return cost(type, tilePos) <= impassable;
}
private static float tileCost(int type, int a, int b){
@ -416,8 +428,10 @@ public class ControlPathfinder{
volatile boolean done = false;
volatile boolean foundEnd = false;
volatile boolean fallback = false;
volatile Unit unit;
volatile int pathType;
volatile int team;
volatile int lastWorldUpdate;
final Vec2 lastPos = new Vec2();
@ -485,9 +499,16 @@ public class ControlPathfinder{
if(newx >= wwidth || newy >= wheight || newx < 0 || newy < 0) continue;
if(cost(pathType, next) == impassable) continue;
float passTest = tcost(team, pathType, next);
//in fallback mode, enemy walls are passable
if((passTest <= impassable) && !(fallback && passTest == wallImpassable)) continue;
float add = tileCost(pathType, current, next);
//the cost can include an impassable enemy wall, so handle that and add a base cost
float newCost = costs.get(current) + (add == wallImpassable ? 12 : add);
float newCost = costs.get(current) + tileCost(pathType, current, next);
//a cost of 0 means "not set"
if(!costs.containsKey(next) || newCost < costs.get(next)){
costs.put(next, newCost);
@ -516,6 +537,7 @@ public class ControlPathfinder{
rayPathIndex = -1;
if(foundEnd){
fallback = false;
int cur = goal;
while(cur != start){
result.add(cur);
@ -525,11 +547,16 @@ public class ControlPathfinder{
result.reverse();
smoothPath();
done = true;
}else if(!fallback && pathType != 1){
clear(true);
//it's not over!
fallback = true;
}else{
done = true;
}
//TODO free resources?
done = true;
}
void smoothPath(){
@ -559,6 +586,7 @@ public class ControlPathfinder{
start = world.packArray(unit.tileX(), unit.tileY());
goal = world.packArray(World.toTile(destination.x), World.toTile(destination.y));
fallback = false;
cameFrom.put(start, start);
costs.put(start, 0);

10
core/src/mindustry/ai/Pathfinder.java
View file

@ -42,7 +42,7 @@ public class Pathfinder implements Runnable{
public static final Seq<PathCost> costTypes = Seq.with(
//ground
(team, tile) -> (PathTile.allDeep(tile) || (PathTile.team(tile) == team.id || PathTile.team(tile) == 0) && PathTile.solid(tile)) ? impassable : 1 +
(team, tile) -> (PathTile.allDeep(tile) || (PathTile.team(tile) == team || PathTile.team(tile) == 0) && PathTile.solid(tile)) ? impassable : 1 +
PathTile.health(tile) * 5 +
(PathTile.nearSolid(tile) ? 2 : 0) +
(PathTile.nearLiquid(tile) ? 6 : 0) +
@ -306,7 +306,7 @@ public class Pathfinder implements Runnable{
}
//update cost of the tile TODO maybe only update the cost when it's not passable
path.weights[packed] = path.cost.getCost(path.team, tiles[packed]);
path.weights[packed] = path.cost.getCost(path.team.id, tiles[packed]);
//clear frontier to prevent contamination
path.frontier.clear();
@ -391,7 +391,7 @@ public class Pathfinder implements Runnable{
if(dx < 0 || dy < 0 || dx >= wwidth || dy >= wheight) continue;
int newPos = tile + point.x + point.y * wwidth;
int otherCost = path.cost.getCost(path.team, tiles[newPos]);
int otherCost = path.cost.getCost(path.team.id, tiles[newPos]);
if((path.weights[newPos] > cost + otherCost || path.searches[newPos] < path.search) && otherCost != impassable){
path.frontier.addFirst(newPos);
@ -485,7 +485,7 @@ public class Pathfinder implements Runnable{
}
protected boolean passable(int pos){
return cost.getCost(team, pathfinder.tiles[pos]) != impassable;
return cost.getCost(team.id, pathfinder.tiles[pos]) != impassable;
}
/** Gets targets to pathfind towards. This must run on the main thread. */
@ -493,7 +493,7 @@ public class Pathfinder implements Runnable{
}
public interface PathCost{
int getCost(Team traversing, int tile);
int getCost(int team, int tile);
}
/** Holds a copy of tile data for a specific tile position. */