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add bbox checks to pathfinding graphs

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Thayol
2025-01-21 23:57:45 +09:00
parent 8ce1a2266f
commit fa2dbb5237
5 changed files with 176 additions and 76 deletions
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src/entity.js
+74 -24
View File
@@ -25,6 +25,7 @@ export default class Entity {
maxHealth = 1
memory = {}
pathfindingCooldown = 0
pathfindingObstacleLimit = null
position = null
radius = 0
rotation = 0
@@ -266,16 +267,26 @@ export default class Entity {
}
closestTargetTo(cursor, range) {
const visibleEntityIds = this.visibleEntities()
const entities = this.game?.entities
if (entities == null) { return }
const targetsInRange = entities.filter((it) => this.team != it.team && it.distanceTo(cursor) <= range + this.radius + it.radius)
if (targetsInRange.length < 1) { return }
return entities
.filter((it) => visibleEntityIds.includes(it.id) && this.team != it.team && it.distanceTo(cursor) <= range + this.radius + it.radius)
.reduce((e1, e2) => (e1?.distanceTo(cursor) ?? Infinity) < e2.distanceTo(cursor) ? e1 : e2, null)
const absoluteClosestTarget = targetsInRange.reduce((e1, e2) => (e1?.distanceTo(cursor) ?? Infinity) < e2.distanceTo(cursor) ? e1 : e2, null)
const entityIdsInDirectVision = this.entitiesInVision()
if (entityIdsInDirectVision.includes(absoluteClosestTarget.id)) {
return absoluteClosestTarget
}
const targetsInDirectVision = targetsInRange.filter((it) => entityIdsInDirectVision.includes(it.id))
if (targetsInDirectVision.length < 1) { return }
const visibleEntityIds = this.visibleEntities()
const visibleEntitiesInRange = targetsInRange.it((it) => visibleEntityIds.includes(it.id))
return visibleEntitiesInRange.filter((it) => visibleEntityIds.includes(it.id) && this.team != it.team && it.distanceTo(cursor) <= range + this.radius + it.radius)
}
// TODO: collision and ghosting checks are duplicated
customBboxCollidables(bbox) {
const entitiesAndTerrains = (this.game?.entities ?? []).filter((it) => it.id != this.id).concat(this.game?.terrains ?? [])
return entitiesAndTerrains.filter((it) => it.collision && !(this.ghosting && it.ghostable) && SATX.bboxCheck(bbox, it.bbox))
@@ -339,6 +350,7 @@ export default class Entity {
this.health = Math.min(Math.max(0, this.health + amount), this.maxHealth)
}
// TODO: something is pushing ghostables out of ghosted entities' way
fixPosition() {
const fixedPosition = this.fixFuturePosition(this.position)
if (this.position.equals(fixedPosition)) { return }
@@ -347,17 +359,17 @@ export default class Entity {
}
fixFuturePosition(futurePosition) {
const maxX = this.game?.width ?? Infinity
const maxY = this.game?.height ?? Infinity
const radius = this.radius
if (!this.willCollide(futurePosition)) {
return futurePosition
return SATX.clamp(futurePosition, maxX, maxY, radius)
}
let direction = new Vector2(0, 5)
let multiplier = 1
const rotationSlices = 16
const origin = new Vector2()
const maxX = this.game?.width ?? Infinity
const maxY = this.game?.height ?? Infinity
const radius = this.radius
for (let limit = 1; limit <= 10000; limit++) {
const rads = (limit % rotationSlices) * 2 * Math.PI / rotationSlices
@@ -572,12 +584,19 @@ export default class Entity {
const fixedDest = this.fixFuturePosition(this.#dest)
const pathfinding = this.#noPathfindingUntil <= currentTick
const obstacles = new Map()
let pathGotObstructed = false
if (pathfinding && this.#path.length > 0) {
const sectionDest = this.#path.at(0)
const lineOfSight = this.isInLineOfSight(sectionDest)
if (!lineOfSight) {
this.#path = []
const sectionObstacles = this.obstaclesInStraightPath(sectionDest)
if (sectionObstacles.length > 0) {
pathGotObstructed = true
for (const obstacle of sectionObstacles) {
if (!obstacles.has(obstacle.id)) {
obstacles.set(obstacle.id, obstacle)
}
}
}
}
@@ -588,40 +607,71 @@ export default class Entity {
}
}
if (pathfinding && (this.#path.length < 1 || (this.#path.at(-1)?.distanceTo(fixedDest) ?? 0) > 0.01)) {
if (pathfinding && (pathGotObstructed || this.#path.length < 1 || (this.#path.at(-1)?.distanceTo(fixedDest) ?? 0) > 0.01)) {
const start = SATX.vectorToFloat32Array(this.position)
const goal = SATX.vectorToFloat32Array(fixedDest)
const obstacles = new Map() // TODO: limit number of obstacles for non-important entities (property on the class?)
const obstacleWaypoints = new Map()
const obstacleColliders = new Map()
const obstacleBboxes = new Map()
// TODO: pathfinding takes longer after bbox check implementation (maybe separate obstacleColliders into two, and index match)
for (let failsafe = 0; failsafe < 1000; failsafe++) {
const initialObstaclesMargin = this.radius + 20
const initialObstacles = this.customBboxCollidables(new Float32Array([
this.position.y + initialObstaclesMargin,
this.position.x + initialObstaclesMargin,
this.position.y - initialObstaclesMargin,
this.position.x - initialObstaclesMargin,
]))
for (const obstacle of initialObstacles) {
if (!obstacles.has(obstacle.id)) {
obstacles.set(obstacle.id, obstacle)
}
}
for (let failsafe = 0; failsafe <= (this.pathfindingObstacleLimit ?? 1000); failsafe++) {
if (failsafe >= 10) { console.error('Failsafe is reached!!!'); process.exit(0) }
const obstaclesArray = Array.from(obstacles.values())
for (const obstacle of obstaclesArray) {
if (!obstacleWaypoints.has(obstacle.id)) {
const waypoint = obstacle.unadjustedWaypoints().map(([w, d]) => SATX.vectorToFloat32Array(this.adjustWaypoint(w, d)))
obstacleWaypoints.set(obstacle.id, waypoint)
}
if (!obstacleColliders.has(obstacle.id)) {
const bbox = obstacle.bbox
const colliders = obstacle.colliders()
obstacleColliders.set(obstacle.id, [bbox, colliders])
obstacleWaypoints.set(obstacle.id, waypoint)
obstacleColliders.set(obstacle.id, colliders)
obstacleBboxes.set(obstacle.id, bbox)
}
}
const waypoints = [
start,
goal,
...obstaclesArray.map((it) => obstacleWaypoints.get(it.id)).flat()
...Array.from(obstacleWaypoints.values()).flat()
]
const bboxesSize = obstacleBboxes.size * 5
const bboxes = new Float32Array(bboxesSize)
let i = 0
for (const obstacle of obstacleBboxes.values()) {
bboxes[i] = obstacle[0]
bboxes[i + 1] = obstacle[1]
bboxes[i + 2] = obstacle[2]
bboxes[i + 3] = obstacle[3]
bboxes[i + 4] = Math.floor(i / 5)
i += 5
}
const colliders = Array.from(obstacleColliders.values())
const graph = Pathfind.buildGraph(waypoints, colliders, this.radius)
const graph = Pathfind.buildGraph(waypoints, bboxes, colliders, this.radius)
const path = Pathfind.shortestPath(graph, start, goal).map((waypoint) => new Vector2(waypoint[0], waypoint[1]))
if (path.length == 0) { break } // goal unreachable
if (path.length == 0) {
// WARNING: This unsets the destination because if an unreachable spot is clicked,
// pathfinding cycles all obstacles forever. A possible alternative could
// be setting a pathfinding timeout, but then moveAction must reset that!
this.#dest = null
break
}
let obstacleInPath = false
let lastSection = this.position
@@ -639,8 +689,8 @@ export default class Entity {
lastSection = section
}
if (!obstacleInPath) {
this.#path = path
if (!obstacleInPath) {
break
}
}
src/index.js
+3 -2
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@@ -1,7 +1,7 @@
import { WebSocketExpress } from 'websocket-express'
import express from 'express'
import Game from './game.js'
import { Dungeon } from './level.js'
import { Dungeon, Ravine } from './level.js'
const app = new WebSocketExpress()
const port = 1280
@@ -39,5 +39,6 @@ app.ws('/ws', async (req, res) => {
app.listen(port, () => {
console.info(`Server started! Visit http://localhost:${port}`)
Dungeon.scenario(game)
// Dungeon.scenario(game)
Ravine.scenario(game)
})
src/level.js
+43 -29
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@@ -1,5 +1,4 @@
import { Vector2 } from 'three'
import Ability from './ability.js'
import Entity from './entity.js'
import Team from './team.js'
import Template from './template.js'
@@ -10,36 +9,51 @@ export class Dungeon {
game.width = 3000
game.height = 3000
const playerSpawn = new Vector2(game.width / 2, game.height / 2)
game.spawnEntity(new Entity(Template.player({ id: '1', spawnPosition: playerSpawn, position: new Vector2(playerSpawn.x - 1300, playerSpawn.y - 500), team: Team.blue })))
const dummyLogic = function dummyLogic() {
const entity = this
if (entity.position.x > 1250) {
entity.moveAction(new Vector2(500, entity.position.y))
}
else if (entity.position.x < 550 || entity.destination == null) {
entity.moveAction(new Vector2(1300, entity.position.y))
// const playerSpawn = new Vector2(game.width / 2, game.height / 2)
// game.spawnEntity(new Entity(Template.player({ id: '1', spawnPosition: playerSpawn, position: new Vector2(playerSpawn.x - 1300, playerSpawn.y - 500), team: Team.blue })))
// const dummyLogic = function dummyLogic() {
// const entity = this
// if (entity.position.x > 1250) {
// entity.moveAction(new Vector2(500, entity.position.y))
// }
// else if (entity.position.x < 550 || entity.destination == null) {
// entity.moveAction(new Vector2(1300, entity.position.y))
// }
// if (game.currentTick > 0 && game.currentTick % (6 * game.tickRate) == 0) {
// entity.castAction('q', playerSpawn)
// }
// }
// const dummy = { radius: 100, visualRadius: 50, abilities: { q: Ability.straightShot.id }, logic: dummyLogic }
// game.spawnEntity(new Entity({ ...dummy, position: new Vector2(1 * (game.width / 5), 1 * (game.height / 4)) }))
// game.spawnEntity(new Entity({ ...dummy, position: new Vector2(1 * (game.width / 5), 3 * (game.height / 4)) }))
// game.addTerrain(new Terrain([
// new Vector2(3.5 * (game.width / 10), 1.6 * (game.height / 5)),
// new Vector2(3.5 * (game.width / 10), 1.4 * (game.height / 5)),
// new Vector2(4 * (game.width / 10), 1.4 * (game.height / 5)),
// new Vector2(4 * (game.width / 10), 1.6 * (game.height / 5)),
// ]))
// game.addTerrain(new Terrain([
// new Vector2(3 * (game.width / 10), 2 * (game.height / 5)),
// new Vector2(3 * (game.width / 10), 1 * (game.height / 5)),
// new Vector2(4 * (game.width / 10), 1 * (game.height / 5)),
// new Vector2(4 * (game.width / 10), 2 * (game.height / 5)),
// ], false))
const from = new Vector2(100, 100)
game.height = 2000
game.spawnEntity(new Entity(Template.player({ id: '1', spawnPosition: from, pathfindingObstacleLimit: 1, pathfindingCooldown: 0 })))
for (let i = 100; i < game.width; i += 300) {
const highest = ((i - 100) % 600) == 0 ? 0 : 500
const lowest = ((i - 100) % 600) == 0 ? 1500 : 2000
game.addTerrain(new Terrain([
new Vector2(i + 100, game.height - highest),
new Vector2(i, game.height - highest),
new Vector2(i, game.height - lowest),
new Vector2(i + 100, game.height - lowest),
]))
}
if (game.currentTick > 0 && game.currentTick % (6 * game.tickRate) == 0) {
entity.castAction('q', playerSpawn)
}
}
const dummy = { radius: 100, visualRadius: 50, abilities: { q: Ability.straightShot.id }, logic: dummyLogic }
game.spawnEntity(new Entity({ ...dummy, position: new Vector2(1 * (game.width / 5), 1 * (game.height / 4)) }))
game.spawnEntity(new Entity({ ...dummy, position: new Vector2(1 * (game.width / 5), 3 * (game.height / 4)) }))
game.addTerrain(new Terrain([
new Vector2(3.5 * (game.width / 10), 1.6 * (game.height / 5)),
new Vector2(3.5 * (game.width / 10), 1.4 * (game.height / 5)),
new Vector2(4 * (game.width / 10), 1.4 * (game.height / 5)),
new Vector2(4 * (game.width / 10), 1.6 * (game.height / 5)),
]))
game.addTerrain(new Terrain([
new Vector2(3 * (game.width / 10), 2 * (game.height / 5)),
new Vector2(3 * (game.width / 10), 1 * (game.height / 5)),
new Vector2(4 * (game.width / 10), 1 * (game.height / 5)),
new Vector2(4 * (game.width / 10), 2 * (game.height / 5)),
], false))
game.start()
}
src/pathfind.js
+35 -11
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@@ -77,17 +77,26 @@ export default class Pathfind {
return []
}
static buildGraph(waypoints = [], colliders = [], radius = 0, mergeNodes = true) {
static buildGraph(waypoints, bboxes, obstacles, radius) {
const filteredWaypoints = []
const checked = new Set()
if (radius > 0) {
for (const waypoint of waypoints) {
const bbox = Entity.bbox(waypoint[0], waypoint[1], radius) // TODO: duplicate bbox calculation logic for speed
const bboxCheckedObstacles = colliders.filter((it) => SATX.bboxCheck(bbox, it[0]))
const bbox = Entity.bbox(waypoint[0], waypoint[1], radius)
const bboxCheckedObstacles = []
for (let i = 0; i < bboxes.length; i += 5) {
if (bbox[0] <= bboxes[i + 2]) { continue }
if (bbox[1] <= bboxes[i + 3]) { continue }
if (bbox[2] >= bboxes[i]) { continue }
if (bbox[3] >= bboxes[i + 1]) { continue }
bboxCheckedObstacles.push(obstacles[bboxes[i + 4]])
}
if (bboxCheckedObstacles.length > 0) {
const collider = Entity.collider(waypoint[0], waypoint[1], radius)
const colliding = bboxCheckedObstacles.some((it) => it[1].some((c) => SATX.collideObject(collider, c)))
const colliding = bboxCheckedObstacles.flat().some((it) => SATX.collideObject(collider, it))
if (colliding) {
continue
}
@@ -124,11 +133,21 @@ export default class Pathfind {
checked.add(key)
checked.add(Pathfind.floatKey4(mergedWaypoints[j], mergedWaypoints[j + 1], mergedWaypoints[i], mergedWaypoints[i + 1]))
const bbox = Entity.tunnelBbox(mergedWaypoints[i], mergedWaypoints[i + 1], mergedWaypoints[j], mergedWaypoints[j + 1], radius) // TODO: duplicate bbox calculation logic for speed
const bboxCheckedObstacles = colliders.filter((it) => SATX.bboxCheck(bbox, it[0]))
const bbox = Entity.tunnelBbox(mergedWaypoints[i], mergedWaypoints[i + 1], mergedWaypoints[j], mergedWaypoints[j + 1], radius)
const bboxCheckedObstacles = []
for (let i = 0; i < bboxes.length; i += 5) {
if (bbox[0] <= bboxes[i + 2]) { continue }
if (bbox[1] <= bboxes[i + 3]) { continue }
if (bbox[2] >= bboxes[i]) { continue }
if (bbox[3] >= bboxes[i + 1]) { continue }
bboxCheckedObstacles.push(obstacles[bboxes[i + 4]])
}
if (bboxCheckedObstacles.length > 0) {
const tunnel = Entity.tunnelCollider(mergedWaypoints[i], mergedWaypoints[i + 1], mergedWaypoints[j], mergedWaypoints[j + 1], radius)
const colliding = bboxCheckedObstacles.some((it) => it[1].some((c) => SATX.collideObject(tunnel, c)))
const colliding = bboxCheckedObstacles.some((it) => it.some((c) => SATX.collideObject(tunnel, c)))
if (colliding) {
continue
}
@@ -152,10 +171,6 @@ export default class Pathfind {
}
}
if (!mergeNodes) {
return nodes
}
const graph = new Float32Array(nodes.length * 5)
let graphIndex = 0
for (const node of nodes) {
@@ -167,6 +182,15 @@ export default class Pathfind {
graphIndex += 5
}
// const niceGraph = []
// for (let i = 0; i < graph.length / 5; i += 5) {
// niceGraph.push({
// from: [graph[i], graph[i + 1]],
// to: [graph[i + 2], graph[i + 3]],
// distance: graph[i + 4],
// })
// }
// console.log(niceGraph)
return graph
}
src/template.js
+20 -9
View File
@@ -1,14 +1,16 @@
import { Vector2 } from 'three'
import Ability from './ability.js'
import Team from './team.js'
export default class Template {
static minion(team, options = {}) {
return {
abilities: { a: options.ranged ? Ability.rangedAttack.id : Ability.meleeAttack.id },
height: options.ranged ? 40 : 38,
logic: this.#minionLogic(options.route),
logic: this.#minionLogic(options.route, (team != Team.blue)),
maxHealth: options.ranged ? 300 : 450,
pathfindingCooldown: 0.2,
pathfindingObstacleLimit: 0,
position: options.route?.at(0) ?? options.position ?? new Vector2(0, 0),
radius: 48,
speed: 325,
@@ -29,15 +31,16 @@ export default class Template {
height: 80,
logic: this.#playerLogic,
maxHealth: 600,
spawnPosition: new Vector2(500, 150),
pathfindingObstacleLimit: 3,
radius: 65,
spawnPosition: new Vector2(500, 150),
visionRange: 1350,
visualRadius: 40,
...overrides,
}
}
static #minionLogic(route = []) {
static #minionLogic(route = [], odd = false) {
const checkpointSize = 300
const maxDestDistance = 100
const recalculateDestRadius = 50
@@ -47,8 +50,15 @@ export default class Template {
const entity = this
if (entity.dead) { entity.despawn() }
const currentTick = entity.game?.currentTick ?? 0
const minionResponseTime = Math.floor(0.1 * (entity.game?.tickRate ?? 1))
if (!(currentTick % minionResponseTime == 0 && Math.floor(currentTick / minionResponseTime) % 2 == (odd ? 1 : 0))) {
return
}
const target = entity.closestTargetTo(entity.position, aggroRadius)
if (target != null) {
entity.ghosting = false
entity.attackAction(target.position)
}
@@ -63,13 +73,14 @@ export default class Template {
}
if ((entity.destination?.distanceTo(entity.position) ?? 0) < recalculateDestRadius) {
const distanceToGoal = entity.distanceTo(goal)
if (distanceToGoal > maxDestDistance) {
const direction = goal.clone().sub(entity.position).normalize().multiplyScalar(maxDestDistance)
goal.copy(entity.position.clone().add(direction))
}
// const distanceToGoal = entity.distanceTo(goal)
// if (distanceToGoal > maxDestDistance) {
// const direction = goal.clone().sub(entity.position).normalize().multiplyScalar(maxDestDistance)
// goal.copy(entity.position.clone().add(direction))
// }
entity.attackAction(goal)
entity.ghosting = true
entity.moveAction(goal)
}
}