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Remove pathfinding graph node directions (#1223)

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Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>
This commit is contained in:
metalgearsloth
2020-06-29 01:43:06 +10:00
committed by GitHub
parent 24831bf8a0
commit 29f1730d71
7 changed files with 462 additions and 372 deletions
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228
Content.Server/GameObjects/EntitySystems/AI/Pathfinding/Pathfinders/JpsPathfindingJob.cs
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@@ -1,5 +1,6 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using Content.Server.GameObjects.EntitySystems.JobQueues;
@@ -14,6 +15,8 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
{
public class JpsPathfindingJob : Job<Queue<TileRef>>
{
// Some of this is probably fugly due to other structural changes in pathfinding so it could do with optimisation
// Realistically it's probably not getting used given it doesn't support tile costs which can be very useful
public static event Action<SharedAiDebug.JpsRouteDebug> DebugRoute;
private PathfindingNode _startNode;
@@ -78,8 +81,9 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
break;
}
foreach (var (direction, _) in currentNode.Neighbors)
foreach (var node in currentNode.GetNeighbors())
{
var direction = PathfindingHelpers.RelativeDirection(node, currentNode);
var jumpNode = GetJumpPoint(currentNode, direction, _endNode);
if (jumpNode != null && !closedTiles.Contains(jumpNode))
@@ -156,7 +160,15 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
while (count < 1000)
{
count++;
var nextNode = currentNode.GetNeighbor(direction);
PathfindingNode nextNode = null;
foreach (var node in currentNode.GetNeighbors())
{
if (PathfindingHelpers.RelativeDirection(node, currentNode) == direction)
{
nextNode = node;
break;
}
}
// We'll do opposite DirectionTraversable just because of how the method's setup
// Nodes should be 2-way anyway.
@@ -270,43 +282,99 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
private bool IsDiagonalJumpPoint(Direction direction, PathfindingNode currentNode)
{
// If we're going diagonally need to check all cardinals.
// I just just using casts int casts and offset to make it smaller but brain no workyand it wasn't working.
// I tried just casting direction ints and offsets to make it smaller but brain no worky.
// From NorthEast we check (Closed / Open) S - SE, W - NW
PathfindingNode openNeighborOne;
PathfindingNode closedNeighborOne;
PathfindingNode openNeighborTwo;
PathfindingNode closedNeighborTwo;
PathfindingNode openNeighborOne = null;
PathfindingNode closedNeighborOne = null;
PathfindingNode openNeighborTwo = null;
PathfindingNode closedNeighborTwo = null;
switch (direction)
{
case Direction.NorthEast:
openNeighborOne = currentNode.GetNeighbor(Direction.SouthEast);
closedNeighborOne = currentNode.GetNeighbor(Direction.South);
openNeighborTwo = currentNode.GetNeighbor(Direction.NorthWest);
closedNeighborTwo = currentNode.GetNeighbor(Direction.West);
foreach (var neighbor in currentNode.GetNeighbors())
{
var neighborDirection = PathfindingHelpers.RelativeDirection(neighbor, currentNode);
switch (neighborDirection)
{
case Direction.SouthEast:
openNeighborOne = neighbor;
break;
case Direction.South:
closedNeighborOne = neighbor;
break;
case Direction.NorthWest:
openNeighborTwo = neighbor;
break;
case Direction.West:
closedNeighborTwo = neighbor;
break;
}
}
break;
case Direction.SouthEast:
openNeighborOne = currentNode.GetNeighbor(Direction.NorthEast);
closedNeighborOne = currentNode.GetNeighbor(Direction.North);
openNeighborTwo = currentNode.GetNeighbor(Direction.SouthWest);
closedNeighborTwo = currentNode.GetNeighbor(Direction.West);
foreach (var neighbor in currentNode.GetNeighbors())
{
var neighborDirection = PathfindingHelpers.RelativeDirection(neighbor, currentNode);
switch (neighborDirection)
{
case Direction.NorthEast:
openNeighborOne = neighbor;
break;
case Direction.North:
closedNeighborOne = neighbor;
break;
case Direction.SouthWest:
openNeighborTwo = neighbor;
break;
case Direction.West:
closedNeighborTwo = neighbor;
break;
}
}
break;
case Direction.SouthWest:
openNeighborOne = currentNode.GetNeighbor(Direction.NorthWest);
closedNeighborOne = currentNode.GetNeighbor(Direction.North);
openNeighborTwo = currentNode.GetNeighbor(Direction.SouthEast);
closedNeighborTwo = currentNode.GetNeighbor(Direction.East);
foreach (var neighbor in currentNode.GetNeighbors())
{
var neighborDirection = PathfindingHelpers.RelativeDirection(neighbor, currentNode);
switch (neighborDirection)
{
case Direction.NorthWest:
openNeighborOne = neighbor;
break;
case Direction.North:
closedNeighborOne = neighbor;
break;
case Direction.SouthEast:
openNeighborTwo = neighbor;
break;
case Direction.East:
closedNeighborTwo = neighbor;
break;
}
}
break;
case Direction.NorthWest:
openNeighborOne = currentNode.GetNeighbor(Direction.SouthWest);
closedNeighborOne = currentNode.GetNeighbor(Direction.South);
openNeighborTwo = currentNode.GetNeighbor(Direction.NorthEast);
closedNeighborTwo = currentNode.GetNeighbor(Direction.East);
foreach (var neighbor in currentNode.GetNeighbors())
{
var neighborDirection = PathfindingHelpers.RelativeDirection(neighbor, currentNode);
switch (neighborDirection)
{
case Direction.SouthWest:
openNeighborOne = neighbor;
break;
case Direction.South:
closedNeighborOne = neighbor;
break;
case Direction.NorthEast:
openNeighborTwo = neighbor;
break;
case Direction.East:
closedNeighborTwo = neighbor;
break;
}
}
break;
default:
throw new ArgumentOutOfRangeException();
@@ -332,40 +400,96 @@ namespace Content.Server.GameObjects.EntitySystems.AI.Pathfinding.Pathfinders
/// </summary>
private bool IsCardinalJumpPoint(Direction direction, PathfindingNode currentNode)
{
PathfindingNode openNeighborOne;
PathfindingNode closedNeighborOne;
PathfindingNode openNeighborTwo;
PathfindingNode closedNeighborTwo;
PathfindingNode openNeighborOne = null;
PathfindingNode closedNeighborOne = null;
PathfindingNode openNeighborTwo = null;
PathfindingNode closedNeighborTwo = null;
switch (direction)
{
case Direction.North:
openNeighborOne = currentNode.GetNeighbor(Direction.NorthEast);
closedNeighborOne = currentNode.GetNeighbor(Direction.East);
openNeighborTwo = currentNode.GetNeighbor(Direction.NorthWest);
closedNeighborTwo = currentNode.GetNeighbor(Direction.West);
foreach (var neighbor in currentNode.GetNeighbors())
{
var neighborDirection = PathfindingHelpers.RelativeDirection(neighbor, currentNode);
switch (neighborDirection)
{
case Direction.NorthEast:
openNeighborOne = neighbor;
break;
case Direction.East:
closedNeighborOne = neighbor;
break;
case Direction.NorthWest:
openNeighborTwo = neighbor;
break;
case Direction.West:
closedNeighborTwo = neighbor;
break;
}
}
break;
case Direction.East:
openNeighborOne = currentNode.GetNeighbor(Direction.NorthEast);
closedNeighborOne = currentNode.GetNeighbor(Direction.North);
openNeighborTwo = currentNode.GetNeighbor(Direction.SouthEast);
closedNeighborTwo = currentNode.GetNeighbor(Direction.South);
foreach (var neighbor in currentNode.GetNeighbors())
{
var neighborDirection = PathfindingHelpers.RelativeDirection(neighbor, currentNode);
switch (neighborDirection)
{
case Direction.NorthEast:
openNeighborOne = neighbor;
break;
case Direction.North:
closedNeighborOne = neighbor;
break;
case Direction.SouthEast:
openNeighborTwo = neighbor;
break;
case Direction.South:
closedNeighborTwo = neighbor;
break;
}
}
break;
case Direction.South:
openNeighborOne = currentNode.GetNeighbor(Direction.SouthEast);
closedNeighborOne = currentNode.GetNeighbor(Direction.East);
openNeighborTwo = currentNode.GetNeighbor(Direction.SouthWest);
closedNeighborTwo = currentNode.GetNeighbor(Direction.West);
foreach (var neighbor in currentNode.GetNeighbors())
{
var neighborDirection = PathfindingHelpers.RelativeDirection(neighbor, currentNode);
switch (neighborDirection)
{
case Direction.SouthEast:
openNeighborOne = neighbor;
break;
case Direction.East:
closedNeighborOne = neighbor;
break;
case Direction.SouthWest:
openNeighborTwo = neighbor;
break;
case Direction.West:
closedNeighborTwo = neighbor;
break;
}
}
break;
case Direction.West:
openNeighborOne = currentNode.GetNeighbor(Direction.NorthWest);
closedNeighborOne = currentNode.GetNeighbor(Direction.North);
openNeighborTwo = currentNode.GetNeighbor(Direction.SouthWest);
closedNeighborTwo = currentNode.GetNeighbor(Direction.South);
foreach (var neighbor in currentNode.GetNeighbors())
{
var neighborDirection = PathfindingHelpers.RelativeDirection(neighbor, currentNode);
switch (neighborDirection)
{
case Direction.NorthWest:
openNeighborOne = neighbor;
break;
case Direction.North:
closedNeighborOne = neighbor;
break;
case Direction.SouthWest:
openNeighborTwo = neighbor;
break;
case Direction.South:
closedNeighborTwo = neighbor;
break;
}
}
break;
default:
throw new ArgumentOutOfRangeException();