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Arkadiusz Sygulski
2026-01-14 22:20:14 +01:00
parent 9ca1f64972
commit 7813d2e7dd
11 changed files with 1130 additions and 70 deletions
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src/core/pathfinding/algorithms/AStar.WaterBounded.ts
+15 -27
View File
@@ -1,6 +1,6 @@
import { GameMap, TileRef } from "../../game/GameMap";
import { PathFinder } from "../types";
import { BucketQueue } from "./PriorityQueue";
import { MinHeap } from "./PriorityQueue";
const LAND_BIT = 7;
const MAGNITUDE_MASK = 0x1f;
@@ -33,7 +33,7 @@ export class AStarWaterBounded implements PathFinder<number> {
private readonly gScoreStamp: Uint32Array;
private readonly gScore: Uint32Array;
private readonly cameFrom: Int32Array;
private readonly queue: BucketQueue;
private readonly queue: MinHeap;
private readonly terrain: Uint8Array;
private readonly mapWidth: number;
private readonly heuristicWeight: number;
@@ -54,11 +54,7 @@ export class AStarWaterBounded implements PathFinder<number> {
this.gScore = new Uint32Array(maxSearchArea);
this.cameFrom = new Int32Array(maxSearchArea);
const maxDim = Math.ceil(Math.sqrt(maxSearchArea));
// Account for scaled costs + tie-breaker headroom
const maxF =
(this.heuristicWeight + 1) * BASE_COST * maxDim * 2 + COST_SCALE * maxDim;
this.queue = new BucketQueue(maxF);
this.queue = new MinHeap(maxSearchArea * 4);
}
findPath(start: number | number[], goal: number): number[] | null {
@@ -209,6 +205,8 @@ export class AStarWaterBounded implements PathFinder<number> {
closedStamp[neighborLocal] !== stamp &&
(neighbor === goal || (neighborTerrain & landMask) === 0)
) {
const ny = currentY - 1;
const distToGoal = Math.abs(currentX - goalX) + Math.abs(ny - goalY);
const magnitude = neighborTerrain & MAGNITUDE_MASK;
const cost = BASE_COST + getMagnitudePenalty(magnitude);
const tentativeG = currentG + cost;
@@ -219,11 +217,7 @@ export class AStarWaterBounded implements PathFinder<number> {
cameFrom[neighborLocal] = currentLocal;
gScore[neighborLocal] = tentativeG;
gScoreStamp[neighborLocal] = stamp;
const ny = currentY - 1;
const h =
weight *
BASE_COST *
(Math.abs(currentX - goalX) + Math.abs(ny - goalY));
const h = weight * BASE_COST * distToGoal;
const f = tentativeG + h + crossTieBreaker(currentX, ny);
queue.push(neighborLocal, f);
}
@@ -238,6 +232,8 @@ export class AStarWaterBounded implements PathFinder<number> {
closedStamp[neighborLocal] !== stamp &&
(neighbor === goal || (neighborTerrain & landMask) === 0)
) {
const ny = currentY + 1;
const distToGoal = Math.abs(currentX - goalX) + Math.abs(ny - goalY);
const magnitude = neighborTerrain & MAGNITUDE_MASK;
const cost = BASE_COST + getMagnitudePenalty(magnitude);
const tentativeG = currentG + cost;
@@ -248,11 +244,7 @@ export class AStarWaterBounded implements PathFinder<number> {
cameFrom[neighborLocal] = currentLocal;
gScore[neighborLocal] = tentativeG;
gScoreStamp[neighborLocal] = stamp;
const ny = currentY + 1;
const h =
weight *
BASE_COST *
(Math.abs(currentX - goalX) + Math.abs(ny - goalY));
const h = weight * BASE_COST * distToGoal;
const f = tentativeG + h + crossTieBreaker(currentX, ny);
queue.push(neighborLocal, f);
}
@@ -267,6 +259,8 @@ export class AStarWaterBounded implements PathFinder<number> {
closedStamp[neighborLocal] !== stamp &&
(neighbor === goal || (neighborTerrain & landMask) === 0)
) {
const nx = currentX - 1;
const distToGoal = Math.abs(nx - goalX) + Math.abs(currentY - goalY);
const magnitude = neighborTerrain & MAGNITUDE_MASK;
const cost = BASE_COST + getMagnitudePenalty(magnitude);
const tentativeG = currentG + cost;
@@ -277,11 +271,7 @@ export class AStarWaterBounded implements PathFinder<number> {
cameFrom[neighborLocal] = currentLocal;
gScore[neighborLocal] = tentativeG;
gScoreStamp[neighborLocal] = stamp;
const nx = currentX - 1;
const h =
weight *
BASE_COST *
(Math.abs(nx - goalX) + Math.abs(currentY - goalY));
const h = weight * BASE_COST * distToGoal;
const f = tentativeG + h + crossTieBreaker(nx, currentY);
queue.push(neighborLocal, f);
}
@@ -296,6 +286,8 @@ export class AStarWaterBounded implements PathFinder<number> {
closedStamp[neighborLocal] !== stamp &&
(neighbor === goal || (neighborTerrain & landMask) === 0)
) {
const nx = currentX + 1;
const distToGoal = Math.abs(nx - goalX) + Math.abs(currentY - goalY);
const magnitude = neighborTerrain & MAGNITUDE_MASK;
const cost = BASE_COST + getMagnitudePenalty(magnitude);
const tentativeG = currentG + cost;
@@ -306,11 +298,7 @@ export class AStarWaterBounded implements PathFinder<number> {
cameFrom[neighborLocal] = currentLocal;
gScore[neighborLocal] = tentativeG;
gScoreStamp[neighborLocal] = stamp;
const nx = currentX + 1;
const h =
weight *
BASE_COST *
(Math.abs(nx - goalX) + Math.abs(currentY - goalY));
const h = weight * BASE_COST * distToGoal;
const f = tentativeG + h + crossTieBreaker(nx, currentY);
queue.push(neighborLocal, f);
}