ApfelTeeSaft/PlanetFleet
1
0
Fork 0
mirror of https://github.com/ApfelTeeSaft/PlanetFleet.git synced 2026-08-26 19:33:38 +00:00
Code Issues Packages Projects Releases Wiki Activity

vastly optimized pathfinding

Browse Source
This commit is contained in:
devZoGok
2025-01-10 19:10:31 +02:00
parent 0c994d0cce
commit eebe03fef5
10 changed files with 40487 additions and 40437 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Assets/Models/Maps/222/222.lua
+7 -6
View File
@@ -16,18 +16,19 @@ resourceDeposits = {
{id = ResourceId.RESOURCE, pos = {x = 50, y = 0, z = 0}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, initAmmount = 30000},
},
units = {
{id = UnitId.TANK, pos = {x = -50.000000, y = 0.000000, z = -50.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
--{id = UnitId.ENGINEER, pos = {x = -10.000000, y = 0.000000, z = -10.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
{id = UnitId.ENGINEER, pos = {x = -10.000000, y = 0.000000, z = -10.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
--{id = UnitId.TANK, pos = {x = -50.000000, y = 0.000000, z = -50.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
--{id = UnitId.POINT_DEFENSE, pos = {x = 0.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
}
},
{
resourceDeposits = {},
units = {
{id = UnitId.WAR_MECH, pos = {x = 3.000000, y = 0.000000, z = 12.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
{id = UnitId.TANK, pos = {x = 0.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
{id = UnitId.POINT_DEFENSE, pos = {x = 0.000000, y = 0.000000, z = 20.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100},
{id = UnitId.SCOUT_TRANSPORT, pos = {x = 40.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
--{id = UnitId.WAR_MECH, pos = {x = 3.000000, y = 0.000000, z = 12.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
--{id = UnitId.TANK, pos = {x = 0.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
--{id = UnitId.POINT_DEFENSE, pos = {x = 0.000000, y = 0.000000, z = 20.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100},
--{id = UnitId.SCOUT_TRANSPORT, pos = {x = 40.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
{id = UnitId.WAR_MECH, pos = {x = 45.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
{id = UnitId.ENGINEER, pos = {x = 45.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}},
--{id = UnitId.EXTRACTOR, pos = {x = 30.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100},
--{id = UnitId.LAB, pos = {x = 50.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100},
Assets/Models/Maps/aaa/aaa.lua
+3970 -3970
View File
File diff suppressed because it is too large Load Diff
Assets/Models/Maps/water/water.lua
+36435 -36422
View File
File diff suppressed because it is too large Load Diff
CMakeLists.txt
+1 -1
View File
@@ -11,7 +11,7 @@ endif()
set(CMAKE_CXX_STANDART 17)
set(CMAKE_BUILD_TYPE Debug)
set(BUILD_TESTS OFF)
set(BUILD_TESTS ON)
set(BUILD_SHARED_LIBS OFF CACHE BOOL FORCED)
cmake_policy(SET CMP0015 NEW)
map.cpp
+1 -1
View File
@@ -520,7 +520,7 @@ namespace battleship{
void Map::load(string mapName){
this->mapName = mapName;
Pathfinder::getSingleton()->setImpassibleNodeVal(u16(0 - 1));
Pathfinder::getSingleton()->setImpassibleNodeVal(u32(0 - 1));
string path = GameManager::getSingleton()->getPath();
AssetManager::getSingleton()->load(path + "Textures/", true);
pathfinder.cpp
+36 -27
View File
@@ -16,55 +16,64 @@ namespace battleship{
return pathfinder;
}
int Pathfinder::findMinDistVert(vector<pair<int, bool>> &cells, u32 distances[]){
int numCells = cells.size(), minDistVert;
for(int i = 0; i < numCells; i++)
if(!cells[i].second){
minDistVert = i;
break;
}
for(int i = 0; i < numCells; i++){
bool checked = cells[i].second;
if(!checked && distances[i] < distances[minDistVert])
minDistVert = i;
}
return minDistVert;
}
vector<int> Pathfinder::findPath(vector<Map::Cell> &cells, int source, int dest, int unitType){
vector<int> Pathfinder::findPath(vector<Map::Cell> &cells, vector<float> &heuristics, int source, int dest, int unitType){
const int size = cells.size();
u32 *distances = new u32[size];
vector<int> *paths = new vector<int>[size];
paths[source].push_back(source);
vector<pair<int, bool>> cellsByCheck;
vector<bool> cellChecked;
for(int i = 0; i < size; i++){
cellsByCheck.push_back(pair(i, false));
distances[i] = (i == source ? 0 : impassibleNodeVal);
cellChecked.push_back(false);
}
bool useHeur = !heuristics.empty();
vector<int> possibleMinCells = vector<int>{source};
cellChecked[source] = true;
while(!cellsByCheck[dest].second){
int vertStrich = findMinDistVert(cellsByCheck, distances);
int vertStrich = possibleMinCells[0], vsId = 0;
for(int i = 0; i < possibleMinCells.size(); i++){
float sum1 = distances[possibleMinCells[i]] + (useHeur ? heuristics[possibleMinCells[i]] : 0);
float sum2 = distances[possibleMinCells[vsId]] + (useHeur ? heuristics[possibleMinCells[vsId]] : 0);
if(sum1 < sum2 || (useHeur && sum1 == sum2 && heuristics[i] < heuristics[vertStrich])){
vertStrich = possibleMinCells[i];
vsId = i;
}
}
cellChecked[possibleMinCells[vsId]] = false;
possibleMinCells.erase(possibleMinCells.begin() + vsId);
cellsByCheck[vertStrich].second = true;
int numEdges = cells[vertStrich].edges.size();
for(int i = 0; i < numEdges; i++){
int edgeNode = cells[vertStrich].edges[i].destCellId;
if(cellsByCheck[edgeNode].second) continue;
if(!cellChecked[edgeNode]){
cellChecked[edgeNode] = true;
possibleMinCells.push_back(edgeNode);
}
bool canMoveToStrichCell = true;
bool ship = ((UnitType)unitType == UnitType::UNDERWATER || (UnitType)unitType == UnitType::SEA_LEVEL);
if((ship && cells[vertStrich].type != Map::Cell::WATER) || ((UnitType)unitType == UnitType::LAND && cells[vertStrich].type != Map::Cell::LAND))
canMoveToStrichCell = false;
continue;
int edgeNode = cells[vertStrich].edges[i].destCellId, cellTypeFactor = (canMoveToStrichCell ? 1 : 100);
bool isChecked = cellsByCheck[edgeNode].second;
if(!isChecked && (distances[vertStrich] + cells[vertStrich].edges[i].weight * cellTypeFactor < distances[edgeNode])){
distances[edgeNode] = distances[vertStrich] + cells[vertStrich].edges[i].weight * cellTypeFactor;
if(distances[vertStrich] + cells[vertStrich].edges[i].weight < distances[edgeNode]){
distances[edgeNode] = distances[vertStrich] + cells[vertStrich].edges[i].weight;
paths[edgeNode] = paths[vertStrich];
paths[edgeNode].push_back(edgeNode);
}
pathfinder.h
+1 -2
View File
@@ -11,12 +11,11 @@ namespace battleship{
class Pathfinder{
public:
static Pathfinder* getSingleton();
std::vector<int> findPath(std::vector<Map::Cell>&, int, int, int = -1);
std::vector<int> findPath(std::vector<Map::Cell>&, std::vector<float>&, int, int, int = -1);
inline vb01::u32 getImpassibleNodeVal(){return impassibleNodeVal;}
inline void setImpassibleNodeVal(vb01::u32 val){this->impassibleNodeVal = val;}
private:
Pathfinder(){}
int findMinDistVert(std::vector<std::pair<int, bool>>&, vb01::u32[]);
vb01::u32 impassibleNodeVal;
};
pathfinderTest.cpp
+28 -6
View File
@@ -1,6 +1,7 @@
#include "pathfinderTest.h"
#include "pathfinder.h"
#include <vector.h>
#include <util.h>
#include <vector>
@@ -11,11 +12,12 @@ namespace battleship{
vector<Map::Cell> PathfinderTest::generateCellGraph(int numCellsOnSide){
vector<Map::Cell> cells;
float cellSize = 2;
for(int i = 0; i < numCellsOnSide; i++)
for(int j = 0; j < numCellsOnSide; j++){
vector<Map::Edge> edges = Map::generateAdjacentNodeEdges(numCellsOnSide, i, numCellsOnSide, j, 1);
cells.push_back(Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, edges));
vector<Map::Edge> edges = Map::generateAdjacentNodeEdges(numCellsOnSide, i, numCellsOnSide, j, 1000);
cells.push_back(Map::Cell(Vector3(j * cellSize, 0, i * cellSize), Map::Cell::Type::LAND, edges));
}
return cells;
@@ -32,6 +34,22 @@ namespace battleship{
return sumPathWeights;
}
vector<float> PathfinderTest::generateHeuristics(vector<Map::Cell> &cells, int dest, int type){
vector<float> heur;
int numSideCells = sqrt(cells.size());
if(type == 0)
for(Map::Cell &cell : cells)
heur.push_back(145 * cells[dest].pos.getDistanceFrom(cell.pos));
else if(type == 1)
for(int i = 0; i < cells.size(); i++){
int x = i % numSideCells, y = i / numSideCells;
heur.push_back(2 * (numSideCells - 1) - (x + y));
}
return heur;
}
void PathfinderTest::testFindPath(){
cells = vector<Map::Cell>{
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 0, 0), Map::Edge(2, 0, 1), Map::Edge(4, 0, 2)}),
@@ -46,7 +64,9 @@ namespace battleship{
const u16 INF = u16(0 - 1);
pathfinder->setImpassibleNodeVal(INF);
vector<int> path = pathfinder->findPath(cells, 0, cells.size() - 1);
int src = 0, dest = cells.size() - 1;
vector<float> heur;
vector<int> path = pathfinder->findPath(cells, heur, src, dest, 3);
CPPUNIT_ASSERT(path == vector<int>({0, 1, 2, 4, 3, 6}));
int sumPathWeights = calcPathLength(path);
@@ -54,13 +74,15 @@ namespace battleship{
}
void PathfinderTest::testFindBigPath(){
int numIterations = 1;
cells = generateCellGraph(60);
cells = generateCellGraph(250);
int numIterations = 1, src = 0, dest = cells.size() - 1;
vector<float> heur;
heur = generateHeuristics(cells, dest, 0);
s64 sumTime = 0;
for(int i = 0; i < numIterations; i++){
s64 t0 = getTime();
pathfinder->findPath(cells, 0, cells.size() - 1);
pathfinder->findPath(cells, heur, src, dest, 3);
s64 t1 = getTime();
sumTime += t1 - t0;
}
pathfinderTest.h
+1
View File
@@ -26,6 +26,7 @@ namespace battleship{
std::vector<Map::Cell> cells;
std::vector<Map::Cell> generateCellGraph(int);
std::vector<float> generateHeuristics(std::vector<Map::Cell>&, int, int = 0);
int calcPathLength(std::vector<int>&);
};
}
vehicle.cpp
+7 -2
View File
@@ -259,9 +259,14 @@ namespace battleship{
if(type != UnitType::HOVER && !(waterVehCanMove || landVehCanMove)) return;
Pathfinder *pathfinder = Pathfinder::getSingleton();
int dest = map->getCellId(destPos);
vector<int> path = pathfinder->findPath(cells, source, dest, (int)type);
vector<float> heuristics;
for(Map::Cell &cell : cells)
heuristics.push_back(145 * (cells[dest].pos.getDistanceFrom(cell.pos)));
vector<int> path = Pathfinder::getSingleton()->findPath(cells, heuristics, source, dest, (int)type);
bool pathTruncated = false;
for(int i = 0; i < path.size(); i++){