Pathfinding improvements

core/src/mindustry/ai/ControlPathfinder.java

@@ -7,6 +7,7 @@
 import arc.math.geom.*;
 import arc.struct.*;
 import arc.util.*;
+import mindustry.content.*;
 import mindustry.core.*;
 import mindustry.game.EventType.*;
 import mindustry.game.*;
@@ -51,7 +52,7 @@ public class ControlPathfinder{
  costLegs = (team, tile) ->
  PathTile.legSolid(tile) ? impassable : 1 +
  (PathTile.deep(tile) ? 6000 : 0) +
- (PathTile.solid(tile) ? 2 : 0),
+ (PathTile.nearLegSolid(tile) ? 3 : 0),
 
  costNaval = (team, tile) ->
  //impassable same-team neutral block, or non-liquid
@@ -232,11 +233,11 @@ public boolean getPathPosition(Unit unit, int pathId, Vec2 destination, Vec2 out
  req.curId = pathId;
 
  //check for the unit getting stuck every N seconds
- if((req.stuckTimer += Time.delta) >= 60f * 2.5f){
+ if((req.stuckTimer += Time.delta) >= 60f * 1.5f){
  req.stuckTimer = 0f;
  //force recalculate
  if(req.lastPos.within(unit, 1.5f)){
- req.lastWorldUpdate = -1;
+ req.forceRecalculate();
  }
  req.lastPos.set(unit);
  }
@@ -280,6 +281,18 @@ public boolean getPathPosition(Unit unit, int pathId, Vec2 destination, Vec2 out
  Tile tile = tile(items[req.rayPathIndex]);
  out.set(tile);
 
+ if(req.rayPathIndex > 0){
+ float angleToNext = tile(items[req.rayPathIndex - 1]).angleTo(tile);
+ float angleToDest = unit.angleTo(tile);
+ //force recalculate when the unit moves backwards
+ if(Angles.angleDist(angleToNext, angleToDest) > 80f && !unit.within(tile, 1f)){
+ if(showDebug){
+ Fx.placeBlock.at(unit, 1f);
+ }
+ req.forceRecalculate();
+ }
+ }
+
  if(unit.within(tile, range)){
  req.pathIndex = req.rayPathIndex = Math.max(req.pathIndex, req.rayPathIndex + 1);
  }
@@ -482,6 +495,7 @@ static class PathRequest{
  volatile PathCost cost;
  volatile int team;
  volatile int lastWorldUpdate;
+ volatile boolean forcedRecalc;
 
  final Vec2 lastPos = new Vec2();
  float stuckTimer = 0f;
@@ -506,23 +520,32 @@ static class PathRequest{
 
  long lastUpdateId;
  long lastTime;
+ long forceRecalcTime;
 
  volatile int lastId, curId;
 
  public PathRequest(PathfindThread thread){
  this.thread = thread;
  }
 
+ public void forceRecalculate(){
+ //keep it at 3 times/sec
+ if(Time.timeSinceMillis(forceRecalcTime) < 1000 / 3) return;
+ forcedRecalc = true;
+ forceRecalcTime = Time.millis();
+ }
+
  void update(long maxUpdateNs){
  if(curId != lastId){
  clear(true);
  }
  lastId = curId;
 
  //re-do everything when world updates, but keep the old path around
- if(Time.timeSinceMillis(lastTime) > 1000 * 3 && (worldUpdateId != lastWorldUpdate || !destination.epsilonEquals(lastDestination, 2f))){
+ if(forcedRecalc || (Time.timeSinceMillis(lastTime) > 1000 * 3 && (worldUpdateId != lastWorldUpdate || !destination.epsilonEquals(lastDestination, 2f)))){
  lastTime = Time.millis();
  lastWorldUpdate = worldUpdateId;
+ forcedRecalc = false;
  clear(false);
  }
 

core/src/mindustry/ai/Pathfinder.java

@@ -6,7 +6,6 @@
 import arc.struct.*;
 import arc.util.*;
 import mindustry.annotations.Annotations.*;
-import mindustry.content.*;
 import mindustry.core.*;
 import mindustry.game.EventType.*;
 import mindustry.game.*;
@@ -153,7 +152,7 @@ private void clearCache(){
 
  /** Packs a tile into its internal representation. */
  public int packTile(Tile tile){
- boolean nearLiquid = false, nearSolid = false, nearGround = false, solid = tile.solid(), allDeep = tile.floor().isDeep();
+ boolean nearLiquid = false, nearSolid = false, nearLegSolid = false, nearGround = false, solid = tile.solid(), allDeep = tile.floor().isDeep();
 
  for(int i = 0; i < 4; i++){
  Tile other = tile.nearby(i);
@@ -165,6 +164,7 @@ public int packTile(Tile tile){
  if(osolid && !other.block().teamPassable) nearSolid = true;
  if(!floor.isLiquid) nearGround = true;
  if(!floor.isDeep()) allDeep = false;
+ if(other.legSolid()) nearLegSolid = true;
 
  //other tile is now near solid
  if(solid && !tile.block().teamPassable){
@@ -180,10 +180,11 @@ public int packTile(Tile tile){
  tid == 0 && tile.build != null && state.rules.coreCapture ? 255 : tid, //use teamid = 255 when core capture is enabled to mark out derelict structures
  solid,
  tile.floor().isLiquid,
- tile.staticDarkness() >= 2 || (tile.floor().solid && tile.block() == Blocks.air),
+ tile.legSolid(),
  nearLiquid,
  nearGround,
  nearSolid,
+ nearLegSolid,
  tile.floor().isDeep(),
  tile.floor().damageTaken > 0.00001f,
  allDeep,
@@ -564,6 +565,8 @@ class PathTileStruct{
  boolean nearGround;
  //whether this block is near a solid object
  boolean nearSolid;
+ //whether this block is near a block that is solid for legged units
+ boolean nearLegSolid;
  //whether this block is deep / drownable
  boolean deep;
  //whether the floor damages

core/src/mindustry/entities/EntityCollisions.java

@@ -5,7 +5,6 @@
 import arc.math.geom.*;
 import arc.struct.*;
 import arc.util.*;
-import mindustry.content.*;
 import mindustry.gen.*;
 import mindustry.world.*;
 
@@ -129,7 +128,7 @@ public <T extends Hitboxc> void updatePhysics(EntityGroup<T> group){
 
  public static boolean legsSolid(int x, int y){
  Tile tile = world.tile(x, y);
- return tile == null || tile.staticDarkness() >= 2 || (tile.floor().solid && tile.block() == Blocks.air);
+ return tile == null || tile.legSolid();
  }
 
  public static boolean waterSolid(int x, int y){

core/src/mindustry/world/Tile.java

@@ -547,6 +547,11 @@ public int staticDarkness(){
  return block.solid && block.fillsTile && !block.synthetic() ? data : 0;
  }
 
+ /** @return whether this tile is solid for legged units */
+ public boolean legSolid(){
+ return staticDarkness() >= 2 || (floor.solid && block == Blocks.air);
+ }
+
  /** @return true if these tiles are right next to each other. */
  public boolean adjacentTo(Tile tile){
  return relativeTo(tile) != -1;