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proxy + pathfinding optimization

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kepler155c@gmail.com
2017-10-26 18:56:55 -04:00
parent 7fd93e8a8b
commit cac15722b8
15 changed files with 174 additions and 1271 deletions
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282
sys/apis/jumper/pathfinder.lua
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@@ -41,53 +41,24 @@ if (...) then
-- Dependencies
local _PATH = (...):gsub('%.pathfinder$','')
local Utils = require (_PATH .. '.core.utils')
local Assert = require (_PATH .. '.core.assert')
local Heap = require (_PATH .. '.core.bheap')
local Heuristic = require (_PATH .. '.core.heuristics')
local Grid = require (_PATH .. '.grid')
local Path = require (_PATH .. '.core.path')
-- Internalization
local t_insert, t_remove = table.insert, table.remove
local floor = math.floor
local pairs = pairs
local assert = assert
local type = type
local setmetatable, getmetatable = setmetatable, getmetatable
local setmetatable = setmetatable
--- Finders (search algorithms implemented). Refers to the search algorithms actually implemented in Jumper.
--
-- <li>[A*](http://en.wikipedia.org/wiki/A*_search_algorithm)</li>
-- <li>[Dijkstra](http://en.wikipedia.org/wiki/Dijkstra%27s_algorithm)</li>
-- <li>[Theta Astar](http://aigamedev.com/open/tutorials/theta-star-any-angle-paths/)</li>
-- <li>[BFS](http://en.wikipedia.org/wiki/Breadth-first_search)</li>
-- <li>[DFS](http://en.wikipedia.org/wiki/Depth-first_search)</li>
-- <li>[JPS](http://harablog.wordpress.com/2011/09/07/jump-point-search/)</li>
-- @finder Finders
-- @see Pathfinder:getFinders
local Finders = {
['ASTAR'] = require (_PATH .. '.search.astar'),
-- ['DIJKSTRA'] = require (_PATH .. '.search.dijkstra'),
-- ['THETASTAR'] = require (_PATH .. '.search.thetastar'),
['BFS'] = require (_PATH .. '.search.bfs'),
-- ['DFS'] = require (_PATH .. '.search.dfs'),
-- ['JPS'] = require (_PATH .. '.search.jps')
}
-- Will keep track of all nodes expanded during the search
-- to easily reset their properties for the next pathfinding call
local toClear = {}
--- Search modes. Refers to the search modes. In ORTHOGONAL mode, 4-directions are only possible when moving,
-- including North, East, West, South. In DIAGONAL mode, 8-directions are possible when moving,
-- including North, East, West, South and adjacent directions.
--
-- <li>ORTHOGONAL</li>
-- <li>DIAGONAL</li>
-- @mode Modes
-- @see Pathfinder:getModes
local searchModes = {['DIAGONAL'] = true, ['ORTHOGONAL'] = true}
-- Performs a traceback from the goal node to the start node
-- Only happens when the path was found
@@ -103,259 +74,27 @@ if (...) then
-- @tparam grid grid a `grid`
-- @tparam[opt] string finderName the name of the `Finder` (search algorithm) to be used for search.
-- Defaults to `ASTAR` when not given (see @{Pathfinder:getFinders}).
-- @tparam[optchain] string|int|func walkable the value for __walkable__ nodes.
-- If this parameter is a function, it should be prototyped as __f(value)__, returning a boolean:
-- __true__ when value matches a __walkable__ `node`, __false__ otherwise.
-- @treturn pathfinder a new `pathfinder` instance
-- @usage
-- -- Example one
-- local finder = Pathfinder:new(myGrid, 'ASTAR', 0)
--
-- -- Example two
-- local function walkable(value)
-- return value > 0
-- end
-- local finder = Pathfinder(myGrid, 'JPS', walkable)
function Pathfinder:new(grid, finderName, walkable)
-- local finder = Pathfinder:new(myGrid, 'ASTAR')
function Pathfinder:new(heuristic)
local newPathfinder = {}
setmetatable(newPathfinder, Pathfinder)
--newPathfinder:setGrid(grid)
newPathfinder:setFinder(finderName)
--newPathfinder:setWalkable(walkable)
newPathfinder:setMode('DIAGONAL')
newPathfinder:setHeuristic('MANHATTAN')
newPathfinder:setTunnelling(false)
self._finder = Finders.ASTAR
self._heuristic = heuristic
return newPathfinder
end
--- Evaluates [clearance](http://aigamedev.com/open/tutorial/clearance-based-pathfinding/#TheTrueClearanceMetric)
-- for the whole `grid`. It should be called only once, unless the collision map or the
-- __walkable__ attribute changes. The clearance values are calculated and cached within the grid nodes.
-- @class function
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
-- @usage myFinder:annotateGrid()
function Pathfinder:annotateGrid()
assert(self._walkable, 'Finder must implement a walkable value')
for x=self._grid._max_x,self._grid._min_x,-1 do
for y=self._grid._max_y,self._grid._min_y,-1 do
local node = self._grid:getNodeAt(x,y)
if self._grid:isWalkableAt(x,y,self._walkable) then
local nr = self._grid:getNodeAt(node._x+1, node._y)
local nrd = self._grid:getNodeAt(node._x+1, node._y+1)
local nd = self._grid:getNodeAt(node._x, node._y+1)
if nr and nrd and nd then
local m = nrd._clearance[self._walkable] or 0
m = (nd._clearance[self._walkable] or 0)<m and (nd._clearance[self._walkable] or 0) or m
m = (nr._clearance[self._walkable] or 0)<m and (nr._clearance[self._walkable] or 0) or m
node._clearance[self._walkable] = m+1
else
node._clearance[self._walkable] = 1
end
else node._clearance[self._walkable] = 0
end
end
end
self._grid._isAnnotated[self._walkable] = true
return self
end
--- Removes [clearance](http://aigamedev.com/open/tutorial/clearance-based-pathfinding/#TheTrueClearanceMetric)values.
-- Clears cached clearance values for the current __walkable__.
-- @class function
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
-- @usage myFinder:clearAnnotations()
function Pathfinder:clearAnnotations()
assert(self._walkable, 'Finder must implement a walkable value')
for node in self._grid:iter() do
node:removeClearance(self._walkable)
end
self._grid._isAnnotated[self._walkable] = false
return self
end
--- Sets the `grid`. Defines the given `grid` as the one on which the `pathfinder` will perform the search.
-- @class function
-- @tparam grid grid a `grid`
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
-- @usage myFinder:setGrid(myGrid)
function Pathfinder:setGrid(grid)
assert(Assert.inherits(grid, Grid), 'Wrong argument #1. Expected a \'grid\' object')
self._grid = grid
self._grid._eval = self._walkable and type(self._walkable) == 'function'
return self
end
--- Returns the `grid`. This is a reference to the actual `grid` used by the `pathfinder`.
-- @class function
-- @treturn grid the `grid`
-- @usage local myGrid = myFinder:getGrid()
function Pathfinder:getGrid()
return self._grid
end
--- Sets the __walkable__ value or function.
-- @class function
-- @tparam string|int|func walkable the value for walkable nodes.
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
-- @usage
-- -- Value '0' is walkable
-- myFinder:setWalkable(0)
--
-- -- Any value greater than 0 is walkable
-- myFinder:setWalkable(function(n)
-- return n>0
-- end
function Pathfinder:setWalkable(walkable)
assert(Assert.matchType(walkable,'stringintfunctionnil'),
('Wrong argument #1. Expected \'string\', \'number\' or \'function\', got %s.'):format(type(walkable)))
self._walkable = walkable
self._grid._eval = type(self._walkable) == 'function'
return self
end
--- Gets the __walkable__ value or function.
-- @class function
-- @treturn string|int|func the `walkable` value or function
-- @usage local walkable = myFinder:getWalkable()
function Pathfinder:getWalkable()
return self._walkable
end
--- Defines the `finder`. It refers to the search algorithm used by the `pathfinder`.
-- Default finder is `ASTAR`. Use @{Pathfinder:getFinders} to get the list of available finders.
-- @class function
-- @tparam string finderName the name of the `finder` to be used for further searches.
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
-- @usage
-- --To use Breadth-First-Search
-- myFinder:setFinder('BFS')
-- @see Pathfinder:getFinders
function Pathfinder:setFinder(finderName)
if not finderName then
if not self._finder then
finderName = 'ASTAR'
else return
end
end
assert(Finders[finderName],'Not a valid finder name!')
self._finder = finderName
return self
end
--- Returns the name of the `finder` being used.
-- @class function
-- @treturn string the name of the `finder` to be used for further searches.
-- @usage local finderName = myFinder:getFinder()
function Pathfinder:getFinder()
return self._finder
end
--- Returns the list of all available finders names.
-- @class function
-- @treturn {string,...} array of built-in finders names.
-- @usage
-- local finders = myFinder:getFinders()
-- for i, finderName in ipairs(finders) do
-- print(i, finderName)
-- end
function Pathfinder:getFinders()
return Utils.getKeys(Finders)
end
--- Sets a heuristic. This is a function internally used by the `pathfinder` to find the optimal path during a search.
-- Use @{Pathfinder:getHeuristics} to get the list of all available `heuristics`. One can also define
-- his own `heuristic` function.
-- @class function
-- @tparam func|string heuristic `heuristic` function, prototyped as __f(dx,dy)__ or as a `string`.
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
-- @see Pathfinder:getHeuristics
-- @see core.heuristics
-- @usage myFinder:setHeuristic('MANHATTAN')
function Pathfinder:setHeuristic(heuristic)
assert(Heuristic[heuristic] or (type(heuristic) == 'function'),'Not a valid heuristic!')
self._heuristic = Heuristic[heuristic] or heuristic
return self
end
--- Returns the `heuristic` used. Returns the function itself.
-- @class function
-- @treturn func the `heuristic` function being used by the `pathfinder`
-- @see core.heuristics
-- @usage local h = myFinder:getHeuristic()
function Pathfinder:getHeuristic()
return self._heuristic
end
--- Gets the list of all available `heuristics`.
-- @class function
-- @treturn {string,...} array of heuristic names.
-- @see core.heuristics
-- @usage
-- local heur = myFinder:getHeuristic()
-- for i, heuristicName in ipairs(heur) do
-- ...
-- end
function Pathfinder:getHeuristics()
return Utils.getKeys(Heuristic)
end
--- Defines the search `mode`.
-- The default search mode is the `DIAGONAL` mode, which implies 8-possible directions when moving (north, south, east, west and diagonals).
-- In `ORTHOGONAL` mode, only 4-directions are allowed (north, south, east and west).
-- Use @{Pathfinder:getModes} to get the list of all available search modes.
-- @class function
-- @tparam string mode the new search `mode`.
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
-- @see Pathfinder:getModes
-- @see Modes
-- @usage myFinder:setMode('ORTHOGONAL')
function Pathfinder:setMode(mode)
assert(searchModes[mode],'Invalid mode')
self._allowDiagonal = (mode == 'DIAGONAL')
return self
end
--- Returns the search mode.
-- @class function
-- @treturn string the current search mode
-- @see Modes
-- @usage local mode = myFinder:getMode()
function Pathfinder:getMode()
return (self._allowDiagonal and 'DIAGONAL' or 'ORTHOGONAL')
end
--- Gets the list of all available search modes.
-- @class function
-- @treturn {string,...} array of search modes.
-- @see Modes
-- @usage local modes = myFinder:getModes()
-- for modeName in ipairs(modes) do
-- ...
-- end
function Pathfinder:getModes()
return Utils.getKeys(searchModes)
end
--- Enables tunnelling. Defines the ability for the `pathfinder` to tunnel through walls when heading diagonally.
-- This feature __is not compatible__ with Jump Point Search algorithm (i.e. enabling it will not affect Jump Point Search)
-- @class function
-- @tparam bool bool a boolean
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
-- @usage myFinder:setTunnelling(true)
function Pathfinder:setTunnelling(bool)
assert(Assert.isBool(bool), ('Wrong argument #1. Expected boolean, got %s'):format(type(bool)))
self._tunnel = bool
return self
end
--- Returns tunnelling feature state.
-- @class function
-- @treturn bool tunnelling feature actual state
-- @usage local isTunnellingEnabled = myFinder:getTunnelling()
function Pathfinder:getTunnelling()
return self._tunnel
end
--- Calculates a `path`. Returns the `path` from location __[startX, startY]__ to location __[endX, endY]__.
-- Both locations must exist on the collision map. The starting location can be unwalkable.
-- @class function
@@ -363,11 +102,9 @@ if (...) then
-- @tparam int startY the y-coordinate for the starting location
-- @tparam int endX the x-coordinate for the goal location
-- @tparam int endY the y-coordinate for the goal location
-- @tparam int clearance the amount of clearance (i.e the pathing agent size) to consider
-- @treturn path a path (array of nodes) when found, otherwise nil
-- @usage local path = myFinder:getPath(1,1,5,5)
function Pathfinder:getPath(startX, startY, startZ, ih, endX, endY, endZ, oh, clearance)
function Pathfinder:getPath(startX, startY, startZ, ih, endX, endY, endZ, oh)
self:reset()
local startNode = self._grid:getNodeAt(startX, startY, startZ)
local endNode = self._grid:getNodeAt(endX, endY, endZ)
@@ -381,14 +118,15 @@ if (...) then
assert(startNode, ('Invalid location [%d, %d, %d]'):format(startX, startY, startZ))
assert(endNode and self._grid:isWalkableAt(endX, endY, endZ),
('Invalid or unreachable location [%d, %d, %d]'):format(endX, endY, endZ))
local _endNode = Finders[self._finder](self, startNode, endNode, clearance, toClear)
local _endNode = self._finder(self, startNode, endNode, toClear)
if _endNode then
return Utils.traceBackPath(self, _endNode, startNode)
end
return nil
end
--- Resets the `pathfinder`. This function is called internally between successive pathfinding calls, so you should not
--- Resets the `pathfinder`. This function is called internally between
-- successive pathfinding calls, so you should not
-- use it explicitely, unless under specific circumstances.
-- @class function
-- @treturn pathfinder self (the calling `pathfinder` itself, can be chained)
@@ -399,7 +137,6 @@ if (...) then
return self
end
-- Returns Pathfinder class
Pathfinder._VERSION = _VERSION
Pathfinder._RELEASEDATE = _RELEASEDATE
@@ -408,5 +145,4 @@ if (...) then
return self:new(...)
end
})
end