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AI pathfinding cache #411

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AI pathfinding cache #411

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6a0dc46
initial
Doubleumc Aug 24, 2024
e771584
Merge remote-tracking branch 'upstream/master' into AI-pathfinding-cache
Doubleumc Aug 24, 2024
6872ad1
Merge remote-tracking branch 'upstream/master' into AI-pathfinding-cache
Doubleumc Sep 13, 2024
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2 changes: 1 addition & 1 deletion code/__DEFINES/xeno_ai.dm
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#define XENO_CALCULATING_PATH(X) (X in SSxeno_pathfinding.hash_path)
#define XENO_CALCULATING_PATH(X) (X in SSxeno_pathfinding.agent_lookup)

#define DIRECTION_CHANGE_PENALTY 2
#define NO_WEED_PENALTY 2
Expand Down
138 changes: 77 additions & 61 deletions code/controllers/subsystem/pathfinding.dm
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Original file line number Diff line number Diff line change
Expand Up @@ -3,48 +3,57 @@ SUBSYSTEM_DEF(xeno_pathfinding)
priority = SS_PRIORITY_XENO_PATHFINDING
flags = SS_NO_INIT|SS_TICKER|SS_BACKGROUND
wait = 1
/// A list of mobs scheduled to process
var/list/datum/xeno_pathinfo/current_processing = list()
/// A list of paths to calculate
var/list/datum/xeno_pathinfo/paths_to_calculate = list()

var/list/hash_path = list()
/// A list of path_agents scheduled to process
var/list/current_processing = list()
/// A list of path_agents to calculate
var/list/paths_to_calculate = list()
/// Assoc list of path_agents for xenos, in the form of: xeno = path_agent
var/list/agent_lookup = list()
var/current_position = 1

/// Assoc list of paths for goals, in the form of: goal = path_search
var/list/path_lookup = list()

/datum/controller/subsystem/xeno_pathfinding/stat_entry(msg)
msg = "P:[length(paths_to_calculate)]"
return ..()

/datum/controller/subsystem/xeno_pathfinding/fire(resumed = FALSE)
if(!resumed)
current_processing = paths_to_calculate.Copy()
path_lookup.Cut()

while(length(current_processing))
// A* Pathfinding. Uses priority queue
if(current_position < 1 || current_position > length(current_processing))
current_position = length(current_processing)

var/datum/xeno_pathinfo/current_run = current_processing[current_position]
var/datum/path_agent/current_run = current_processing[current_position]
current_position++

var/turf/target = current_run.finish
var/datum/path_search/current_path = path_lookup[current_run.goal]
if(!current_path)
current_path = new(current_run.goal)
path_lookup[current_run.goal] = current_path

var/mob/living/carbon/xenomorph/X = current_run.travelling_xeno
var/turf/target = current_run.origin

var/list/visited_nodes = current_run.visited_nodes
var/list/distances = current_run.distances
var/list/f_distances = current_run.f_distances
var/list/prev = current_run.prev
var/mob/living/carbon/xenomorph/X = current_run.agent

var/list/visited_nodes = current_path.visited_nodes
var/list/distances = current_path.distances
var/list/f_distances = current_path.f_distances
var/list/prev = current_path.prev

while(length(visited_nodes))
current_run.current_node = visited_nodes[visited_nodes.len]
current_path.current_node = visited_nodes[visited_nodes.len]
visited_nodes.len--
if(current_run.current_node == target)
if(current_path.current_node == target)
break

for(var/direction in GLOB.cardinals)
var/turf/neighbor = get_step(current_run.current_node, direction)
var/distance_between = distances[current_run.current_node] * DISTANCE_PENALTY
var/turf/neighbor = get_step(current_path.current_node, direction)
var/distance_between = distances[current_path.current_node] * DISTANCE_PENALTY
if(isnull(distances[neighbor]))
if(get_dist(neighbor, X) > current_run.path_range)
continue
Expand All @@ -61,7 +70,7 @@ SUBSYSTEM_DEF(xeno_pathfinding)
var/atom/A = i
distance_between += A.object_weight

var/list/L = LinkBlocked(X, current_run.current_node, neighbor, current_run.ignore, TRUE)
var/list/L = LinkBlocked(X, current_path.current_node, neighbor, current_run.ignore, TRUE)
L += check_special_blockers(X, neighbor)
if(length(L))
for(var/i in L)
Expand All @@ -72,7 +81,7 @@ SUBSYSTEM_DEF(xeno_pathfinding)
distances[neighbor] = distance_between
var/f_distance = distance_between + ASTAR_COST_FUNCTION(neighbor)
f_distances[neighbor] = f_distance
prev[neighbor] = current_run.current_node
prev[neighbor] = current_path.current_node
if(neighbor in visited_nodes)
visited_nodes -= neighbor

Expand Down Expand Up @@ -118,9 +127,9 @@ SUBSYSTEM_DEF(xeno_pathfinding)
var/list/path = list()
var/turf/current_node = target
while(current_node)
if(current_node == current_run.start)
path.Insert(1, current_node)
if(current_node == current_run.goal)
break
path += current_node
current_node = prev[current_node]

current_run.to_return.Invoke(path)
Expand All @@ -138,86 +147,93 @@ SUBSYSTEM_DEF(xeno_pathfinding)
return pass_back

/datum/controller/subsystem/xeno_pathfinding/proc/stop_calculating_path(mob/living/carbon/xenomorph/X)
var/datum/xeno_pathinfo/data = hash_path[X]
var/datum/path_agent/data = agent_lookup[X]
qdel(data)

/datum/controller/subsystem/xeno_pathfinding/proc/calculate_path(atom/start, atom/finish, path_range, mob/living/carbon/xenomorph/travelling_xeno, datum/callback/CB, list/ignore)
if(!get_turf(start) || !get_turf(finish))
/datum/controller/subsystem/xeno_pathfinding/proc/calculate_path(atom/origin, atom/goal, path_range, mob/living/carbon/xenomorph/travelling_xeno, datum/callback/CB, list/ignore)
if(!get_turf(origin) || !get_turf(goal))
return

var/datum/xeno_pathinfo/data = hash_path[travelling_xeno]
var/datum/path_agent/data = agent_lookup[travelling_xeno]
SSxeno_pathfinding.current_processing -= data


if(!data)
data = new()
data.RegisterSignal(travelling_xeno, COMSIG_PARENT_QDELETING, TYPE_PROC_REF(/datum/xeno_pathinfo, qdel_wrapper))
data.RegisterSignal(travelling_xeno, COMSIG_PARENT_QDELETING, TYPE_PROC_REF(/datum/path_agent, qdel_wrapper))

hash_path[travelling_xeno] = data
agent_lookup[travelling_xeno] = data
paths_to_calculate += data

data.current_node = get_turf(start)
data.start = data.current_node

var/turf/target = get_turf(finish)

data.finish = target
data.travelling_xeno = travelling_xeno
data.agent = travelling_xeno
data.origin = get_turf(origin)
data.goal = get_turf(goal)
data.to_return = CB
data.path_range = path_range
data.ignore = ignore

data.distances[data.current_node] = 0
data.f_distances[data.current_node] = ASTAR_COST_FUNCTION(data.current_node)
//data.ignore = ignore

data.visited_nodes += data.current_node

/datum/xeno_pathinfo
var/turf/start
var/turf/finish
var/mob/living/carbon/xenomorph/travelling_xeno
/datum/path_agent
var/atom/movable/agent
var/turf/origin
var/turf/goal
var/datum/callback/to_return
var/path_range
var/list/ignore

/datum/path_agent/proc/qdel_wrapper()
SIGNAL_HANDLER
qdel(src)

/datum/path_agent/Destroy(force)
SSxeno_pathfinding.agent_lookup -= agent
SSxeno_pathfinding.paths_to_calculate -= src
SSxeno_pathfinding.current_processing -= src

agent = null
origin = null
goal = null
to_return = null
ignore = null

return ..()

/datum/path_search
var/turf/goal
var/turf/current_node
var/list/ignore
var/list/visited_nodes
var/list/distances
var/list/f_distances
var/list/prev

/datum/xeno_pathinfo/proc/qdel_wrapper()
SIGNAL_HANDLER
qdel(src)

/datum/xeno_pathinfo/New()
/datum/path_search/New(turf/goal)
. = ..()
visited_nodes = list()
src.goal = get_turf(goal)
current_node = src.goal

distances = list()
distances[current_node] = 0
f_distances = list()
f_distances[current_node] = 0
visited_nodes = list(current_node)
prev = list()

/datum/xeno_pathinfo/Destroy(force)
SSxeno_pathfinding.hash_path -= travelling_xeno
SSxeno_pathfinding.paths_to_calculate -= src
SSxeno_pathfinding.current_processing -= src
/datum/path_search/Destroy(force)
SSxeno_pathfinding.path_lookup -= goal

#ifdef TESTING
addtimer(CALLBACK(src, PROC_REF(clear_colors), distances), 5 SECONDS)
#endif

start = null
finish = null
travelling_xeno = null
to_return = null
goal = null
current_node = null
visited_nodes = null
distances = null
f_distances = null
prev = null

return ..()

#ifdef TESTING
/datum/xeno_pathinfo/proc/clear_colors(list/L)
/datum/path_search/proc/clear_colors(list/L)
for(var/i in L)
var/turf/T = i
for(var/l in T)
Expand Down
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