use obstacle-in-path pathfinding

src/template.js

@@ -33,11 +33,12 @@ export default class Template {
     }
   }
 
-  // TODO: fix disabled incremental pathing causes lag spikes
   // TODO: minion aggro
+  // TODO: incremental pathfinding stuck in thicker than recalculateDestRadius walls
   static #minionLogic(route = []) {
     const checkpointSize = 300
-    const incrementalPathing = 100
+    const maxDestDistance = 100
+    const recalculateDestRadius = 50
 
     return function builtMinionLogic() {
       const entity = this
@@ -46,7 +47,6 @@ export default class Template {
       if (route.length > 0) {
         const routeIndex = entity.memory.routeCheckpoint ?? 0
         const goal = route[routeIndex].clone()
-        const currentTick = entity.game?.currentTick ?? 0
         if (goal instanceof Vector2) {
           if (entity.distanceTo(goal) < checkpointSize) {
             if (routeIndex + 1 < route.length) {
@@ -54,20 +54,15 @@ export default class Template {
             }
           }
 
-          if ((entity.memory.incrementalPathingTimeout ?? -Infinity) < currentTick) {
+          if ((entity.destination?.distanceTo(entity.position) ?? 0) < recalculateDestRadius) {
             const distanceToGoal = entity.distanceTo(goal)
-            if (distanceToGoal > entity.memory.distanceToGoal ?? -Infinity) {
-              entity.memory.incrementalPathingTimeout = currentTick + (1 * (entity.game.tickRate ?? 1))
-            }
-            else if (distanceToGoal > incrementalPathing) {
-              const direction = goal.clone().sub(entity.position).normalize().multiplyScalar(incrementalPathing)
+            if (distanceToGoal > maxDestDistance) {
+              const direction = goal.clone().sub(entity.position).normalize().multiplyScalar(maxDestDistance)
               goal.copy(entity.position.clone().add(direction))
             }
 
-            entity.memory.distanceToGoal = distanceToGoal
+            entity.attackAction(goal)
           }
-
-          entity.attackAction(goal)
         }
 
         if (entity.position.equals(route.at(-1))) {