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HAHAHA! IT WORKS! Rotation pathfinding, that is.
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This was incredibly difficult to debug and wound up simply needing two
adjacency grids supplied to CustomDijkstraMap, one for getting to a cell
and one for coming from a cell. Getting to that point was very painful,
but thank you @derrickcreamer for your patient advice on this arduous
journey.
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@tommyettinger
tommyettinger committed Sep 30, 2016
1 parent bff0131 commit 5db2f00
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Showing 3 changed files with 161 additions and 91 deletions.
54 changes: 30 additions & 24 deletions squidlib-util/src/main/java/squidpony/squidai/CustomDijkstraMap.java
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Expand Up @@ -59,9 +59,9 @@ public class CustomDijkstraMap implements Serializable {

/**
* The neighbors map, as produced by adjacency; can be modified by passing neighbors as the first argument to
* {@link Adjacency#portal(int[][], int, int, boolean)} if you want to create portals between non-adjacent cells.
* {@link Adjacency#portal(int[][][], int, int, boolean)} if you want to create portals between non-adjacent cells.
*/
public int[][] neighbors;
public int[][][] neighbors;
/**
* Height of the map. Exciting stuff. Don't change this, instead call initialize().
*/
Expand Down Expand Up @@ -518,8 +518,8 @@ public double[] scan(int[] impassable) {
adjacency.putAllVariants(closed, impassable[i], WALL);
}
}
int[][] neighbors = this.neighbors;
int near, cen, neighborCount = neighbors.length, mid;
int[][] fromNeighbors = neighbors[0];
int near, cen, neighborCount = fromNeighbors.length, mid;

for (IntDoubleOrderedMap.MapEntry entry : goals.mapEntrySet()) {
closed.remove(entry.getIntKey());
Expand Down Expand Up @@ -549,14 +549,14 @@ else if (gradientMap[l] < currentLowest) {
for (IntDoubleOrderedMap.MapEntry cell : open.mapEntrySet()) {
cen = cell.getIntKey();
for (int d = 0; d < neighborCount; d++) {
near = neighbors[d][cen];
near = fromNeighbors[d][cen];
if (!adjacency.validate(near))
// Outside the map
continue;
if(adjacency.isBlocked(cen, d, neighbors, gradientMap, WALL))
continue;
if(adjacency.twoStepRule) {
near = neighbors[d][mid = near];
near = fromNeighbors[d][mid = near];
// Outside the map
if (!adjacency.validate(near))
continue;
Expand Down Expand Up @@ -621,7 +621,8 @@ public double[] partialScan(int limit, int... impassable) {
adjacency.putAllVariants(closed, impassable[i], WALL);
}
}
int near, cen, neighborCount = neighbors.length, mid;
int[][] fromNeighbors = neighbors[0];
int near, invNear, cen, neighborCount = neighbors.length, mid;

for (IntDoubleOrderedMap.MapEntry entry : goals.mapEntrySet()) {
closed.remove(entry.getIntKey());
Expand Down Expand Up @@ -652,14 +653,14 @@ else if (gradientMap[l] < currentLowest) {
for (IntDoubleOrderedMap.MapEntry cell : open.mapEntrySet()) {
cen = cell.getIntKey();
for (int d = 0; d < neighborCount; d++) {
near = neighbors[d][cen];
near = fromNeighbors[d][cen];
if (!adjacency.validate(near))
// Outside the map
continue;
if(adjacency.isBlocked(cen, d, neighbors, gradientMap, WALL))
continue;
if(adjacency.twoStepRule) {
near = neighbors[d][mid = near];
near = fromNeighbors[d][mid = near];
if (!adjacency.validate(near))
// Outside the map
continue;
Expand Down Expand Up @@ -977,6 +978,7 @@ public ArrayList<Coord> findNearestMultiple(Coord start, int limit, Set<Coord> t
public double[] scan(int size, int[] impassable) {
if (!initialized) return null;

int[][] fromNeighbors = neighbors[0];
int near, cen, neighborCount = neighbors.length, mid, tmp, tmp2, xStore, yStore, rStore, nStore;
double valStore;
Adjacency adjacency = this.adjacency;
Expand Down Expand Up @@ -1040,14 +1042,14 @@ else if (gradientMap[l] < currentLowest) {
for (IntDoubleOrderedMap.MapEntry cell : open.mapEntrySet()) {
cen = cell.getIntKey();
for (int d = 0; d < neighborCount; d++) {
near = neighbors[d][cen];
near = fromNeighbors[d][cen];
if (!adjacency.validate(near))
// Outside the map
continue;
//if(adjacency.isBlocked(cen, d, neighbors, gradientMap, WALL))
// continue;
if(adjacency.twoStepRule) {
near = neighbors[d][mid = near];
near = fromNeighbors[d][mid = near];
if (!adjacency.validate(near))
// Outside the map
continue;
Expand Down Expand Up @@ -1253,6 +1255,7 @@ public IntVLA findPath(int length, IntVLA impassable,
if (goals.isEmpty())
return new IntVLA(path);
Adjacency adjacency = this.adjacency;
int[][] toNeighbors = neighbors[1];
scan(impassable2.toArray());
int currentPos = start, pt;
double paidLength = 0.0;
Expand All @@ -1266,18 +1269,18 @@ public IntVLA findPath(int length, IntVLA impassable,
int choice = rng.nextIntHasty(adjacency.maxAdjacent);

for (int d = 0; d < adjacency.maxAdjacent; d++) {
pt = neighbors[reuse[d]][currentPos];
pt = toNeighbors[reuse[d]][currentPos];
if (gradientMap[pt] < best && !path.contains(pt)) {
best = gradientMap[pt];
choice = adjacency.invertAdjacent[reuse[d]];
choice = reuse[d];// adjacency.invertAdjacent[reuse[d]];
}
}


if (best >= gradientMap[currentPos] || physicalMap[neighbors[choice][currentPos]] > FLOOR) {
if (best >= gradientMap[currentPos] || physicalMap[toNeighbors[choice][currentPos]] > FLOOR) {
break;
}
currentPos = neighbors[choice][pt = currentPos];
currentPos = toNeighbors[choice][pt = currentPos];
path.add(currentPos);
paidLength += adjacency.costRules.get(costMap[currentPos] | ((adjacency.extractR(pt) == adjacency.extractR(currentPos) ? 0 : 0x10000)));
frustration++;
Expand Down Expand Up @@ -1532,6 +1535,7 @@ public IntVLA findFleePath(int length, double preferLongerPaths, IntVLA impassab
cachedFleeMap = scan(scanArray);
}
Adjacency adjacency = this.adjacency;
int[][] toNeighbors = neighbors[1];
int currentPos = start, pt;
double paidLength = 0.0;
while (true) {
Expand All @@ -1544,19 +1548,19 @@ public IntVLA findFleePath(int length, double preferLongerPaths, IntVLA impassab
int choice = rng.nextIntHasty(adjacency.maxAdjacent);

for (int d = 0; d < adjacency.maxAdjacent; d++) {
pt = neighbors[reuse[d]][currentPos];
pt = toNeighbors[reuse[d]][currentPos];
if (gradientMap[pt] < best && !path.contains(pt)) {
best = gradientMap[pt];
choice = reuse[d];
}
}


if (best >= gradientMap[currentPos] || physicalMap[neighbors[choice][currentPos]] > FLOOR) {
if (best >= gradientMap[currentPos] || physicalMap[toNeighbors[choice][currentPos]] > FLOOR) {
path.clear();
break;
}
currentPos = neighbors[choice][pt = currentPos];
currentPos = toNeighbors[choice][pt = currentPos];
path.add(currentPos);
paidLength += adjacency.costRules.get(costMap[currentPos] | ((adjacency.extractR(pt) == adjacency.extractR(currentPos) ? 0 : 0x10000)));
frustration++;
Expand Down Expand Up @@ -1617,6 +1621,7 @@ public IntVLA findPathLarge (int size, int length, IntVLA impassable,
if (goals.isEmpty())
return new IntVLA(path);
Adjacency adjacency = this.adjacency;
int[][] toNeighbors = neighbors[1];
scan(size, impassable2.toArray());
int currentPos = start, pt;
double paidLength = 0.0;
Expand All @@ -1630,19 +1635,19 @@ public IntVLA findPathLarge (int size, int length, IntVLA impassable,
int choice = rng.nextIntHasty(adjacency.maxAdjacent);

for (int d = 0; d < adjacency.maxAdjacent; d++) {
pt = neighbors[reuse[d]][currentPos];
pt = toNeighbors[reuse[d]][currentPos];
if (gradientMap[pt] < best && !path.contains(pt)) {
best = gradientMap[pt];
choice = reuse[d];
}
}


if (best >= gradientMap[currentPos] || physicalMap[neighbors[choice][currentPos]] > FLOOR) {
if (best >= gradientMap[currentPos] || physicalMap[toNeighbors[choice][currentPos]] > FLOOR) {
path.clear();
break;
}
currentPos = neighbors[choice][pt = currentPos];
currentPos = toNeighbors[choice][pt = currentPos];
path.add(currentPos);
paidLength += adjacency.costRules.get(costMap[currentPos] | ((adjacency.extractR(pt) == adjacency.extractR(currentPos) ? 0 : 0x10000)));
frustration++;
Expand Down Expand Up @@ -2076,6 +2081,7 @@ public IntVLA findFleePathLarge(int size, int length, double preferLongerPaths,
cachedFleeMap = scan(size, scanArray);
}
Adjacency adjacency = this.adjacency;
int[][] toNeighbors = neighbors[1];
int currentPos = start, pt;
double paidLength = 0.0;
while (true) {
Expand All @@ -2088,19 +2094,19 @@ public IntVLA findFleePathLarge(int size, int length, double preferLongerPaths,
int choice = rng.nextIntHasty(adjacency.maxAdjacent);

for (int d = 0; d < adjacency.maxAdjacent; d++) {
pt = neighbors[reuse[d]][currentPos];
pt = toNeighbors[reuse[d]][currentPos];
if (gradientMap[pt] < best && !path.contains(pt)) {
best = gradientMap[pt];
choice = reuse[d];
}
}


if (best >= gradientMap[currentPos] || physicalMap[neighbors[choice][currentPos]] > FLOOR) {
if (best >= gradientMap[currentPos] || physicalMap[toNeighbors[choice][currentPos]] > FLOOR) {
path.clear();
break;
}
currentPos = neighbors[choice][pt = currentPos];
currentPos = toNeighbors[choice][pt = currentPos];
path.add(currentPos);
paidLength += adjacency.costRules.get(costMap[currentPos] | ((adjacency.extractR(pt) == adjacency.extractR(currentPos) ? 0 : 0x10000)));
frustration++;
Expand Down

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