fix: Fixes FastAStar (#788)
* Fixes FastAStar algorithm, thanks @nullptr-w8 * Cleans up the code a little * Removes SlowAStar * Changes [Path recall runes to waypoints
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Kamron Batman
GitHub
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commit
fd440f29ce
4 changed files with 77 additions and 392 deletions
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@ -24,22 +24,23 @@ namespace Server.PathAlgorithms.FastAStar
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private const int PlaneHeight = 20;
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public static PathAlgorithm Instance = new FastAStarAlgorithm();
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private static readonly Direction[] m_Path = new Direction[AreaSize * AreaSize];
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private static readonly PathNode[] m_Nodes = new PathNode[NodeCount];
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private static readonly BitArray m_Touched = new(NodeCount);
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private static readonly BitArray m_OnOpen = new(NodeCount);
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private static readonly int[] m_Successors = new int[8];
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private static readonly Direction[] _path = new Direction[AreaSize * AreaSize];
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private static readonly PathNode[] _nodes = new PathNode[NodeCount];
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private static readonly BitArray _touched = new(NodeCount);
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private static readonly BitArray _onOpen = new(NodeCount);
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private static readonly int[] _successors = new int[8];
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private static int m_xOffset, m_yOffset;
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private static int m_OpenList;
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private static int _xOffset;
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private static int _yOffset;
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private static int _openList;
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private Point3D m_Goal;
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private Point3D _goal;
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public int Heuristic(int x, int y, int z)
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{
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x -= m_Goal.X - m_xOffset;
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y -= m_Goal.Y - m_yOffset;
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z -= m_Goal.Z;
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x -= _goal.X - _xOffset;
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y -= _goal.Y - _yOffset;
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z -= _goal.Z;
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x *= 11;
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y *= 11;
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@ -52,59 +53,59 @@ namespace Server.PathAlgorithms.FastAStar
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private void RemoveFromChain(int node)
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{
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if (node < 0 || node >= NodeCount)
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if (node is < 0 or >= NodeCount)
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{
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return;
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}
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if (!m_Touched[node] || !m_OnOpen[node])
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if (!_touched[node] || !_onOpen[node])
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{
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return;
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}
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var prev = m_Nodes[node].prev;
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var next = m_Nodes[node].next;
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var prev = _nodes[node].prev;
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var next = _nodes[node].next;
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if (m_OpenList == node)
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if (_openList == node)
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{
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m_OpenList = next;
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_openList = next;
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}
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if (prev != -1)
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{
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m_Nodes[prev].next = next;
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_nodes[prev].next = next;
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}
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if (next != -1)
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{
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m_Nodes[next].prev = prev;
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_nodes[next].prev = prev;
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}
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m_Nodes[node].prev = -1;
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m_Nodes[node].next = -1;
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_nodes[node].prev = -1;
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_nodes[node].next = -1;
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}
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private void AddToChain(int node)
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{
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if (node < 0 || node >= NodeCount)
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if (node is < 0 or >= NodeCount)
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{
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return;
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}
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RemoveFromChain(node);
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if (m_OpenList != -1)
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if (_openList != -1)
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{
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m_Nodes[m_OpenList].prev = node;
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_nodes[_openList].prev = node;
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}
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m_Nodes[node].next = m_OpenList;
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m_Nodes[node].prev = -1;
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_nodes[node].next = _openList;
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_nodes[node].prev = -1;
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m_OpenList = node;
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_openList = node;
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m_Touched[node] = true;
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m_OnOpen[node] = true;
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_touched[node] = true;
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_onOpen[node] = true;
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}
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public override Direction[] Find(Mobile m, Map map, Point3D start, Point3D goal)
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@ -114,37 +115,38 @@ namespace Server.PathAlgorithms.FastAStar
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return null;
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}
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m_Touched.SetAll(false);
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_touched.SetAll(false);
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_onOpen.SetAll(false);
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m_Goal = goal;
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_goal = goal;
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m_xOffset = (start.X + goal.X - AreaSize) / 2;
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m_yOffset = (start.Y + goal.Y - AreaSize) / 2;
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_xOffset = (start.X + goal.X - AreaSize) / 2;
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_yOffset = (start.Y + goal.Y - AreaSize) / 2;
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var fromNode = GetIndex(start.X, start.Y, start.Z);
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var destNode = GetIndex(goal.X, goal.Y, goal.Z);
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m_OpenList = fromNode;
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_openList = fromNode;
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m_Nodes[m_OpenList].cost = 0;
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m_Nodes[m_OpenList].total = Heuristic(start.X - m_xOffset, start.Y - m_yOffset, start.Z);
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m_Nodes[m_OpenList].parent = -1;
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m_Nodes[m_OpenList].next = -1;
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m_Nodes[m_OpenList].prev = -1;
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m_Nodes[m_OpenList].z = start.Z;
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_nodes[_openList].cost = 0;
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_nodes[_openList].total = Heuristic(start.X - _xOffset, start.Y - _yOffset, start.Z);
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_nodes[_openList].parent = -1;
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_nodes[_openList].next = -1;
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_nodes[_openList].prev = -1;
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_nodes[_openList].z = start.Z;
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m_OnOpen[m_OpenList] = true;
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m_Touched[m_OpenList] = true;
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_onOpen[_openList] = true;
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_touched[_openList] = true;
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var bc = m as BaseCreature;
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int backtrack = 0, depth = 0;
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var path = m_Path;
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var path = _path;
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while (m_OpenList != -1)
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while (_openList != -1)
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{
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var bestNode = FindBest(m_OpenList);
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var bestNode = FindBest(_openList);
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if (++depth > MaxDepth)
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{
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@ -159,7 +161,7 @@ namespace Server.PathAlgorithms.FastAStar
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MoveImpl.Goal = goal;
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var vals = m_Successors;
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var vals = _successors;
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var count = GetSuccessors(bestNode, m, map);
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MoveImpl.AlwaysIgnoreDoors = false;
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@ -175,30 +177,25 @@ namespace Server.PathAlgorithms.FastAStar
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{
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var newNode = vals[i];
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var wasTouched = m_Touched[newNode];
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var wasTouched = _touched[newNode];
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if (wasTouched)
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{
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continue;
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}
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var newCost = m_Nodes[bestNode].cost + 1;
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var newCost = _nodes[bestNode].cost + 1;
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var newTotal = newCost + Heuristic(
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newNode % AreaSize,
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newNode / AreaSize % AreaSize,
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m_Nodes[newNode].z
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_nodes[newNode].z
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);
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if (m_Nodes[newNode].total <= newTotal)
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{
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continue;
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}
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_nodes[newNode].parent = bestNode;
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_nodes[newNode].cost = newCost;
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_nodes[newNode].total = newTotal;
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m_Nodes[newNode].parent = bestNode;
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m_Nodes[newNode].cost = newCost;
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m_Nodes[newNode].total = newTotal;
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if (m_OnOpen[newNode])
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if (_onOpen[newNode])
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{
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continue;
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}
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@ -211,7 +208,7 @@ namespace Server.PathAlgorithms.FastAStar
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}
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var pathCount = 0;
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var parent = m_Nodes[newNode].parent;
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var parent = _nodes[newNode].parent;
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while (parent != -1)
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{
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@ -222,7 +219,7 @@ namespace Server.PathAlgorithms.FastAStar
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newNode / AreaSize % AreaSize
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);
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newNode = parent;
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parent = m_Nodes[newNode].parent;
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parent = _nodes[newNode].parent;
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if (newNode == fromNode)
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{
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@ -246,8 +243,8 @@ namespace Server.PathAlgorithms.FastAStar
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private int GetIndex(int x, int y, int z)
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{
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x -= m_xOffset;
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y -= m_yOffset;
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x -= _xOffset;
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y -= _yOffset;
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z += PlaneOffset;
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z /= PlaneHeight;
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@ -256,24 +253,24 @@ namespace Server.PathAlgorithms.FastAStar
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private int FindBest(int node)
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{
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var least = m_Nodes[node].total;
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var least = _nodes[node].total;
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var leastNode = node;
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while (node != -1)
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{
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if (m_Nodes[node].total < least)
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if (_nodes[node].total < least)
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{
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least = m_Nodes[node].total;
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least = _nodes[node].total;
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leastNode = node;
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}
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node = m_Nodes[node].next;
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node = _nodes[node].next;
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}
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RemoveFromChain(leastNode);
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m_Touched[leastNode] = true;
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m_OnOpen[leastNode] = false;
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_touched[leastNode] = true;
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_onOpen[leastNode] = false;
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return leastNode;
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}
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@ -282,11 +279,11 @@ namespace Server.PathAlgorithms.FastAStar
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{
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var px = p % AreaSize;
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var py = p / AreaSize % AreaSize;
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var pz = m_Nodes[p].z;
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var pz = _nodes[p].z;
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var p3D = new Point3D(px + m_xOffset, py + m_yOffset, pz);
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var p3D = new Point3D(px + _xOffset, py + _yOffset, pz);
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var vals = m_Successors;
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var vals = _successors;
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var count = 0;
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for (var i = 0; i < 8; ++i)
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@ -332,18 +329,18 @@ namespace Server.PathAlgorithms.FastAStar
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x += px;
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y += py;
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if (x < 0 || x >= AreaSize || y < 0 || y >= AreaSize)
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if (x is < 0 or >= AreaSize || y is < 0 or >= AreaSize)
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{
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continue;
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}
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if (CalcMoves.CheckMovement(m, map, p3D, (Direction)i, out var z))
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{
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var idx = GetIndex(x + m_xOffset, y + m_yOffset, z);
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var idx = GetIndex(x + _xOffset, y + _yOffset, z);
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if (idx >= 0 && idx < NodeCount)
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{
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m_Nodes[idx].z = z;
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_nodes[idx].z = z;
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vals[count++] = idx;
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}
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}
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