From 85def73bd951f8cd0023a7c70281fd22bcd0669e Mon Sep 17 00:00:00 2001 From: Arkadiusz Sygulski Date: Tue, 13 Jan 2026 21:39:54 +0100 Subject: [PATCH] Pathfinding Refinement (#2878) # Pathfinding pt. 3 ## Description: This PR introduces final change to the pathfinding - path refinement. It optimizes Line of Sight refinement by searching with for the best tile with a binary search instead of linearly. And then spends the recovered budget on better refinement of the first and last 50 tiles of the journey - the place where user is most likely to look at. Additionally this PR re-introduces magnitude check and makes the ships prefer sailing close to the coast, but not too close. ## Please complete the following: - [x] I have added screenshots for all UI updates - [x] I process any text displayed to the user through translateText() and I've added it to the en.json file - [x] I have added relevant tests to the test directory - [x] I confirm I have thoroughly tested these changes and take full responsibility for any bugs introduced ## What? | Before | After | | :--- | :--- | | image | image | | image | image | ## Performance There is actually a severe performance impact of these changes. The path initial path takes almost 2x as long to generate - this is because pre processing can only do so much if the initial path is ugly. Luckily in real gameplay we only need to do this calculation once per edge, so the actual observed performance impact should be much smaller. Cache FTW. | | No Cache | Cache | | :--- | :--- | :--- | | Before | 277.04ms | 208.58ms | | After | 498.34ms | 264.27ms | ## DebugSpan Small utility, it allows any code to be easily instrumented for performance. The idea is the same as with [OTEL Spans](https://opentelemetry.io/docs/concepts/signals/traces/). Produce a span, create sub-spans, measure whatever you need. Works only when `globalThis.__DEBUG_SPAN_ENABLED__ === true`, otherwise no-op. Cool stuff, try it out: ```ts // Convenient wrapper, small performance impact return DebugSpan.wrap('add', () => a + b) // Synchronous API, basically free DebugSpan.start('work') work() DebugSpan.end() // Create sub spans DebugSpan.wrap('complex', () => { const aPlusB = DebugSpan.wrap('add', () => a + b) DebugSpan.set('additionResult', () => aPlusB) // Store data return aPlusB * c }) // Access spans, data and timing const span = DebugSpan.getLast() const compelxSpan = DebugSpan.getLast('complex') console.log(complexSpan.duration, complexSpan.data['additionResult']) ``` These are virtually free and can be enabled on-demand **in production** and available in the devtools. Under the hood devtools integration is just a wrapper around [Performance API](https://developer.mozilla.org/en-US/docs/Web/API/Performance_API). For clarity data keys not prefixed by `$` are omitted from the integration. Every key prefixed with `$` must be fully JSON serializable. image --- src/core/pathfinding/PathFinder.ts | 4 +- src/core/pathfinding/PathFinderBuilder.ts | 10 +- src/core/pathfinding/algorithms/AStar.Rail.ts | 5 +- .../pathfinding/algorithms/AStar.Water.ts | 106 ++++-- ...AStar.Bounded.ts => AStar.WaterBounded.ts} | 96 +++-- .../algorithms/AStar.WaterHierarchical.ts | 229 +++--------- .../pathfinding/algorithms/AbstractGraph.ts | 138 +------ .../algorithms/ConnectedComponents.ts | 3 + .../smoothing/BresenhamPathSmoother.ts | 168 --------- .../pathfinding/smoothing/PathSmoother.ts | 7 - .../smoothing/SmoothingTransformer.ts | 18 - .../transformers/SmoothingWaterTransformer.ts | 341 ++++++++++++++++++ src/core/utilities/DebugSpan.ts | 159 ++++++++ tests/pathfinding/playground/api/maps.ts | 174 +++++---- .../pathfinding/playground/api/pathfinding.ts | 103 +++--- tests/pathfinding/playground/public/client.js | 65 ++-- .../pathfinding/playground/public/index.html | 4 + .../pathfinding/playground/public/styles.css | 4 + tests/pathfinding/playground/server.ts | 14 - tests/pathfinding/utils.ts | 28 +- 20 files changed, 963 insertions(+), 713 deletions(-) rename src/core/pathfinding/algorithms/{AStar.Bounded.ts => AStar.WaterBounded.ts} (68%) delete mode 100644 src/core/pathfinding/smoothing/BresenhamPathSmoother.ts delete mode 100644 src/core/pathfinding/smoothing/PathSmoother.ts delete mode 100644 src/core/pathfinding/smoothing/SmoothingTransformer.ts create mode 100644 src/core/pathfinding/transformers/SmoothingWaterTransformer.ts create mode 100644 src/core/utilities/DebugSpan.ts diff --git a/src/core/pathfinding/PathFinder.ts b/src/core/pathfinding/PathFinder.ts index 51ecf4e5c..f77776c36 100644 --- a/src/core/pathfinding/PathFinder.ts +++ b/src/core/pathfinding/PathFinder.ts @@ -11,10 +11,10 @@ import { import { StationPathFinder } from "./PathFinder.Station"; import { PathFinderBuilder } from "./PathFinderBuilder"; import { StepperConfig } from "./PathFinderStepper"; -import { BresenhamSmoothingTransformer } from "./smoothing/BresenhamPathSmoother"; import { ComponentCheckTransformer } from "./transformers/ComponentCheckTransformer"; import { MiniMapTransformer } from "./transformers/MiniMapTransformer"; import { ShoreCoercingTransformer } from "./transformers/ShoreCoercingTransformer"; +import { SmoothingWaterTransformer } from "./transformers/SmoothingWaterTransformer"; import { PathStatus, SteppingPathFinder } from "./types"; /** @@ -46,7 +46,7 @@ export class PathFinding { return PathFinderBuilder.create(pf) .wrap((pf) => new ComponentCheckTransformer(pf, componentCheckFn)) - .wrap((pf) => new BresenhamSmoothingTransformer(pf, miniMap)) + .wrap((pf) => new SmoothingWaterTransformer(pf, miniMap)) .wrap((pf) => new ShoreCoercingTransformer(pf, miniMap)) .wrap((pf) => new MiniMapTransformer(pf, game.map(), miniMap)) .buildWithStepper(tileStepperConfig(game)); diff --git a/src/core/pathfinding/PathFinderBuilder.ts b/src/core/pathfinding/PathFinderBuilder.ts index 51d7b6460..d4eff7633 100644 --- a/src/core/pathfinding/PathFinderBuilder.ts +++ b/src/core/pathfinding/PathFinderBuilder.ts @@ -1,3 +1,4 @@ +import { DebugSpan } from "../utilities/DebugSpan"; import { PathFinderStepper, StepperConfig } from "./PathFinderStepper"; import { PathFinder, SteppingPathFinder } from "./types"; @@ -27,10 +28,17 @@ export class PathFinderBuilder { } build(): PathFinder { - return this.wrappers.reduce( + const pathFinder = this.wrappers.reduce( (pf, wrapper) => wrapper(pf), this.core as PathFinder, ); + + const _findPath = pathFinder.findPath; + pathFinder.findPath = function (from: T | T[], to: T): T[] | null { + return DebugSpan.wrap("findPath", () => _findPath.call(this, from, to)); + }; + + return pathFinder; } /** diff --git a/src/core/pathfinding/algorithms/AStar.Rail.ts b/src/core/pathfinding/algorithms/AStar.Rail.ts index 0457115fb..095115b96 100644 --- a/src/core/pathfinding/algorithms/AStar.Rail.ts +++ b/src/core/pathfinding/algorithms/AStar.Rail.ts @@ -1,4 +1,5 @@ import { GameMap } from "../../game/GameMap"; +import { DebugSpan } from "../../utilities/DebugSpan"; import { PathFinder } from "../types"; import { AStar, AStarAdapter } from "./AStar"; @@ -11,7 +12,9 @@ export class AStarRail implements PathFinder { } findPath(from: number | number[], to: number): number[] | null { - return this.aStar.findPath(from, to); + return DebugSpan.wrap("AStar.Rail:findPath", () => + this.aStar.findPath(from, to), + ); } } diff --git a/src/core/pathfinding/algorithms/AStar.Water.ts b/src/core/pathfinding/algorithms/AStar.Water.ts index 920f1a475..6452114a5 100644 --- a/src/core/pathfinding/algorithms/AStar.Water.ts +++ b/src/core/pathfinding/algorithms/AStar.Water.ts @@ -3,6 +3,16 @@ import { PathFinder } from "../types"; import { BucketQueue, PriorityQueue } from "./PriorityQueue"; const LAND_BIT = 7; // Bit 7 in terrain indicates land +const MAGNITUDE_MASK = 0x1f; +const COST_SCALE = 100; +const BASE_COST = 1 * COST_SCALE; + +// Prefer magnitude 3-10 (3-10 tiles from shore) +function getMagnitudePenalty(magnitude: number): number { + if (magnitude < 3) return 10 * COST_SCALE; // too close to shore + if (magnitude <= 10) return 0; // sweet spot + return 1 * COST_SCALE; // deep water, slight penalty +} export interface AStarWaterConfig { heuristicWeight?: number; @@ -27,7 +37,7 @@ export class AStarWater implements PathFinder { this.terrain = (map as any).terrain as Uint8Array; this.width = map.width(); this.numNodes = map.width() * map.height(); - this.heuristicWeight = config?.heuristicWeight ?? 15; + this.heuristicWeight = config?.heuristicWeight ?? 5; this.maxIterations = config?.maxIterations ?? 1_000_000; this.closedStamp = new Uint32Array(this.numNodes); @@ -35,7 +45,10 @@ export class AStarWater implements PathFinder { this.gScore = new Uint32Array(this.numNodes); this.cameFrom = new Int32Array(this.numNodes); - const maxF = this.heuristicWeight * (map.width() + map.height()); + // Account for scaled costs + tie-breaker headroom + const maxDim = map.width() + map.height(); + const maxF = + (this.heuristicWeight + 1) * BASE_COST * maxDim + COST_SCALE * maxDim; this.queue = new BucketQueue(maxF); } @@ -64,13 +77,32 @@ export class AStarWater implements PathFinder { queue.clear(); const starts = Array.isArray(start) ? start : [start]; + + // For cross-product tie-breaker (prefer diagonal paths) + const s0 = starts[0]; + const startX = s0 % width; + const startY = (s0 / width) | 0; + const dxGoal = goalX - startX; + const dyGoal = goalY - startY; + // Normalization factor to keep tie-breaker small (< COST_SCALE) + const crossNorm = Math.max(1, Math.abs(dxGoal) + Math.abs(dyGoal)); + + // Cross-product tie-breaker: measures deviation from start-goal line + const crossTieBreaker = (nx: number, ny: number): number => { + const dxN = nx - goalX; + const dyN = ny - goalY; + const cross = Math.abs(dxGoal * dyN - dyGoal * dxN); + return Math.floor((cross * (COST_SCALE - 1)) / crossNorm / crossNorm); + }; + for (const s of starts) { gScore[s] = 0; gScoreStamp[s] = stamp; cameFrom[s] = -1; const sx = s % width; const sy = (s / width) | 0; - const h = weight * (Math.abs(sx - goalX) + Math.abs(sy - goalY)); + const h = + weight * BASE_COST * (Math.abs(sx - goalX) + Math.abs(sy - goalY)); queue.push(s, h); } @@ -91,15 +123,19 @@ export class AStarWater implements PathFinder { } const currentG = gScore[current]; - const tentativeG = currentG + 1; const currentX = current % width; + const currentY = (current / width) | 0; if (current >= width) { const neighbor = current - width; + const neighborTerrain = terrain[neighbor]; if ( closedStamp[neighbor] !== stamp && - (neighbor === goal || (terrain[neighbor] & landMask) === 0) + (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const magnitude = neighborTerrain & MAGNITUDE_MASK; + const cost = BASE_COST + getMagnitudePenalty(magnitude); + const tentativeG = currentG + cost; if ( gScoreStamp[neighbor] !== stamp || tentativeG < gScore[neighbor] @@ -107,11 +143,12 @@ export class AStarWater implements PathFinder { cameFrom[neighbor] = current; gScore[neighbor] = tentativeG; gScoreStamp[neighbor] = stamp; - const nx = neighbor % width; - const ny = (neighbor / width) | 0; - const f = - tentativeG + - weight * (Math.abs(nx - goalX) + Math.abs(ny - goalY)); + const ny = currentY - 1; + const h = + weight * + BASE_COST * + (Math.abs(currentX - goalX) + Math.abs(ny - goalY)); + const f = tentativeG + h + crossTieBreaker(currentX, ny); queue.push(neighbor, f); } } @@ -119,10 +156,14 @@ export class AStarWater implements PathFinder { if (current < numNodes - width) { const neighbor = current + width; + const neighborTerrain = terrain[neighbor]; if ( closedStamp[neighbor] !== stamp && - (neighbor === goal || (terrain[neighbor] & landMask) === 0) + (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const magnitude = neighborTerrain & MAGNITUDE_MASK; + const cost = BASE_COST + getMagnitudePenalty(magnitude); + const tentativeG = currentG + cost; if ( gScoreStamp[neighbor] !== stamp || tentativeG < gScore[neighbor] @@ -130,11 +171,12 @@ export class AStarWater implements PathFinder { cameFrom[neighbor] = current; gScore[neighbor] = tentativeG; gScoreStamp[neighbor] = stamp; - const nx = neighbor % width; - const ny = (neighbor / width) | 0; - const f = - tentativeG + - weight * (Math.abs(nx - goalX) + Math.abs(ny - goalY)); + const ny = currentY + 1; + const h = + weight * + BASE_COST * + (Math.abs(currentX - goalX) + Math.abs(ny - goalY)); + const f = tentativeG + h + crossTieBreaker(currentX, ny); queue.push(neighbor, f); } } @@ -142,10 +184,14 @@ export class AStarWater implements PathFinder { if (currentX !== 0) { const neighbor = current - 1; + const neighborTerrain = terrain[neighbor]; if ( closedStamp[neighbor] !== stamp && - (neighbor === goal || (terrain[neighbor] & landMask) === 0) + (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const magnitude = neighborTerrain & MAGNITUDE_MASK; + const cost = BASE_COST + getMagnitudePenalty(magnitude); + const tentativeG = currentG + cost; if ( gScoreStamp[neighbor] !== stamp || tentativeG < gScore[neighbor] @@ -153,10 +199,12 @@ export class AStarWater implements PathFinder { cameFrom[neighbor] = current; gScore[neighbor] = tentativeG; gScoreStamp[neighbor] = stamp; - const ny = (neighbor / width) | 0; - const f = - tentativeG + - weight * (Math.abs(currentX - 1 - goalX) + Math.abs(ny - goalY)); + const nx = currentX - 1; + const h = + weight * + BASE_COST * + (Math.abs(nx - goalX) + Math.abs(currentY - goalY)); + const f = tentativeG + h + crossTieBreaker(nx, currentY); queue.push(neighbor, f); } } @@ -164,10 +212,14 @@ export class AStarWater implements PathFinder { if (currentX !== width - 1) { const neighbor = current + 1; + const neighborTerrain = terrain[neighbor]; if ( closedStamp[neighbor] !== stamp && - (neighbor === goal || (terrain[neighbor] & landMask) === 0) + (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const magnitude = neighborTerrain & MAGNITUDE_MASK; + const cost = BASE_COST + getMagnitudePenalty(magnitude); + const tentativeG = currentG + cost; if ( gScoreStamp[neighbor] !== stamp || tentativeG < gScore[neighbor] @@ -175,10 +227,12 @@ export class AStarWater implements PathFinder { cameFrom[neighbor] = current; gScore[neighbor] = tentativeG; gScoreStamp[neighbor] = stamp; - const ny = (neighbor / width) | 0; - const f = - tentativeG + - weight * (Math.abs(currentX + 1 - goalX) + Math.abs(ny - goalY)); + const nx = currentX + 1; + const h = + weight * + BASE_COST * + (Math.abs(nx - goalX) + Math.abs(currentY - goalY)); + const f = tentativeG + h + crossTieBreaker(nx, currentY); queue.push(neighbor, f); } } diff --git a/src/core/pathfinding/algorithms/AStar.Bounded.ts b/src/core/pathfinding/algorithms/AStar.WaterBounded.ts similarity index 68% rename from src/core/pathfinding/algorithms/AStar.Bounded.ts rename to src/core/pathfinding/algorithms/AStar.WaterBounded.ts index 923f06083..aa8bdd693 100644 --- a/src/core/pathfinding/algorithms/AStar.Bounded.ts +++ b/src/core/pathfinding/algorithms/AStar.WaterBounded.ts @@ -3,6 +3,16 @@ import { PathFinder } from "../types"; import { BucketQueue } from "./PriorityQueue"; const LAND_BIT = 7; +const MAGNITUDE_MASK = 0x1f; +const COST_SCALE = 100; +const BASE_COST = 1 * COST_SCALE; + +// Prefer magnitude 3-10 (3-10 tiles from shore) +function getMagnitudePenalty(magnitude: number): number { + if (magnitude < 3) return 3 * COST_SCALE; // too close to shore + if (magnitude <= 10) return 0; // sweet spot + return 1 * COST_SCALE; // deep water, slight penalty +} export interface BoundedAStarConfig { heuristicWeight?: number; @@ -16,7 +26,7 @@ export interface SearchBounds { maxY: number; } -export class AStarBounded implements PathFinder { +export class AStarWaterBounded implements PathFinder { private stamp = 1; private readonly closedStamp: Uint32Array; @@ -36,7 +46,7 @@ export class AStarBounded implements PathFinder { ) { this.terrain = (map as any).terrain as Uint8Array; this.mapWidth = map.width(); - this.heuristicWeight = config?.heuristicWeight ?? 1; + this.heuristicWeight = config?.heuristicWeight ?? 3; this.maxIterations = config?.maxIterations ?? 100_000; this.closedStamp = new Uint32Array(maxSearchArea); @@ -45,7 +55,9 @@ export class AStarBounded implements PathFinder { this.cameFrom = new Int32Array(maxSearchArea); const maxDim = Math.ceil(Math.sqrt(maxSearchArea)); - const maxF = this.heuristicWeight * maxDim * 2; + // Account for scaled costs + tie-breaker headroom + const maxF = + (this.heuristicWeight + 1) * BASE_COST * maxDim * 2 + COST_SCALE * maxDim; this.queue = new BucketQueue(maxF); } @@ -133,6 +145,24 @@ export class AStarBounded implements PathFinder { queue.clear(); const starts = Array.isArray(start) ? start : [start]; + + // For cross-product tie-breaker (prefer diagonal paths) + const s0 = starts[0]; + const startX = s0 % mapWidth; + const startY = (s0 / mapWidth) | 0; + const dxGoal = goalX - startX; + const dyGoal = goalY - startY; + // Normalization factor to keep tie-breaker small (< COST_SCALE) + const crossNorm = Math.max(1, Math.abs(dxGoal) + Math.abs(dyGoal)); + + // Cross-product tie-breaker: measures deviation from start-goal line + const crossTieBreaker = (nx: number, ny: number): number => { + const dxN = nx - goalX; + const dyN = ny - goalY; + const cross = Math.abs(dxGoal * dyN - dyGoal * dxN); + return Math.floor((cross * (COST_SCALE - 1)) / crossNorm / crossNorm); + }; + for (const s of starts) { const startLocal = toLocal(s, true); if (startLocal < 0 || startLocal >= numLocalNodes) { @@ -143,7 +173,8 @@ export class AStarBounded implements PathFinder { cameFrom[startLocal] = -1; const sx = s % mapWidth; const sy = (s / mapWidth) | 0; - const h = weight * (Math.abs(sx - goalX) + Math.abs(sy - goalY)); + const h = + weight * BASE_COST * (Math.abs(sx - goalX) + Math.abs(sy - goalY)); queue.push(startLocal, h); } @@ -164,7 +195,6 @@ export class AStarBounded implements PathFinder { } const currentG = gScore[currentLocal]; - const tentativeG = currentG + 1; // Convert to global coords for neighbor calculation const current = toGlobal(currentLocal); @@ -174,10 +204,14 @@ export class AStarBounded implements PathFinder { if (currentY > minY) { const neighbor = current - mapWidth; const neighborLocal = currentLocal - boundsWidth; + const neighborTerrain = terrain[neighbor]; if ( closedStamp[neighborLocal] !== stamp && - (neighbor === goal || (terrain[neighbor] & landMask) === 0) + (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const magnitude = neighborTerrain & MAGNITUDE_MASK; + const cost = BASE_COST + getMagnitudePenalty(magnitude); + const tentativeG = currentG + cost; if ( gScoreStamp[neighborLocal] !== stamp || tentativeG < gScore[neighborLocal] @@ -185,10 +219,12 @@ export class AStarBounded implements PathFinder { cameFrom[neighborLocal] = currentLocal; gScore[neighborLocal] = tentativeG; gScoreStamp[neighborLocal] = stamp; - const f = - tentativeG + + const ny = currentY - 1; + const h = weight * - (Math.abs(currentX - goalX) + Math.abs(currentY - 1 - goalY)); + BASE_COST * + (Math.abs(currentX - goalX) + Math.abs(ny - goalY)); + const f = tentativeG + h + crossTieBreaker(currentX, ny); queue.push(neighborLocal, f); } } @@ -197,10 +233,14 @@ export class AStarBounded implements PathFinder { if (currentY < maxY) { const neighbor = current + mapWidth; const neighborLocal = currentLocal + boundsWidth; + const neighborTerrain = terrain[neighbor]; if ( closedStamp[neighborLocal] !== stamp && - (neighbor === goal || (terrain[neighbor] & landMask) === 0) + (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const magnitude = neighborTerrain & MAGNITUDE_MASK; + const cost = BASE_COST + getMagnitudePenalty(magnitude); + const tentativeG = currentG + cost; if ( gScoreStamp[neighborLocal] !== stamp || tentativeG < gScore[neighborLocal] @@ -208,10 +248,12 @@ export class AStarBounded implements PathFinder { cameFrom[neighborLocal] = currentLocal; gScore[neighborLocal] = tentativeG; gScoreStamp[neighborLocal] = stamp; - const f = - tentativeG + + const ny = currentY + 1; + const h = weight * - (Math.abs(currentX - goalX) + Math.abs(currentY + 1 - goalY)); + BASE_COST * + (Math.abs(currentX - goalX) + Math.abs(ny - goalY)); + const f = tentativeG + h + crossTieBreaker(currentX, ny); queue.push(neighborLocal, f); } } @@ -220,10 +262,14 @@ export class AStarBounded implements PathFinder { if (currentX > minX) { const neighbor = current - 1; const neighborLocal = currentLocal - 1; + const neighborTerrain = terrain[neighbor]; if ( closedStamp[neighborLocal] !== stamp && - (neighbor === goal || (terrain[neighbor] & landMask) === 0) + (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const magnitude = neighborTerrain & MAGNITUDE_MASK; + const cost = BASE_COST + getMagnitudePenalty(magnitude); + const tentativeG = currentG + cost; if ( gScoreStamp[neighborLocal] !== stamp || tentativeG < gScore[neighborLocal] @@ -231,10 +277,12 @@ export class AStarBounded implements PathFinder { cameFrom[neighborLocal] = currentLocal; gScore[neighborLocal] = tentativeG; gScoreStamp[neighborLocal] = stamp; - const f = - tentativeG + + const nx = currentX - 1; + const h = weight * - (Math.abs(currentX - 1 - goalX) + Math.abs(currentY - goalY)); + BASE_COST * + (Math.abs(nx - goalX) + Math.abs(currentY - goalY)); + const f = tentativeG + h + crossTieBreaker(nx, currentY); queue.push(neighborLocal, f); } } @@ -243,10 +291,14 @@ export class AStarBounded implements PathFinder { if (currentX < maxX) { const neighbor = current + 1; const neighborLocal = currentLocal + 1; + const neighborTerrain = terrain[neighbor]; if ( closedStamp[neighborLocal] !== stamp && - (neighbor === goal || (terrain[neighbor] & landMask) === 0) + (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const magnitude = neighborTerrain & MAGNITUDE_MASK; + const cost = BASE_COST + getMagnitudePenalty(magnitude); + const tentativeG = currentG + cost; if ( gScoreStamp[neighborLocal] !== stamp || tentativeG < gScore[neighborLocal] @@ -254,10 +306,12 @@ export class AStarBounded implements PathFinder { cameFrom[neighborLocal] = currentLocal; gScore[neighborLocal] = tentativeG; gScoreStamp[neighborLocal] = stamp; - const f = - tentativeG + + const nx = currentX + 1; + const h = weight * - (Math.abs(currentX + 1 - goalX) + Math.abs(currentY - goalY)); + BASE_COST * + (Math.abs(nx - goalX) + Math.abs(currentY - goalY)); + const f = tentativeG + h + crossTieBreaker(nx, currentY); queue.push(neighborLocal, f); } } diff --git a/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts b/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts index 019893d6a..ce8ceb2a7 100644 --- a/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts +++ b/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts @@ -1,39 +1,19 @@ import { GameMap, TileRef } from "../../game/GameMap"; +import { DebugSpan } from "../../utilities/DebugSpan"; import { PathFinder } from "../types"; import { AbstractGraphAStar } from "./AStar.AbstractGraph"; -import { AStarBounded } from "./AStar.Bounded"; +import { AStarWaterBounded } from "./AStar.WaterBounded"; import { AbstractGraph, AbstractNode } from "./AbstractGraph"; import { BFSGrid } from "./BFS.Grid"; import { LAND_MARKER } from "./ConnectedComponents"; -type PathDebugInfo = { - nodePath: TileRef[] | null; - initialPath: TileRef[] | null; - graph: { - clusterSize: number; - nodes: Array<{ id: number; tile: TileRef }>; - edges: Array<{ - id: number; - nodeA: number; - nodeB: number; - from: TileRef; - to: TileRef; - cost: number; - }>; - }; - timings: { [key: string]: number }; -}; - export class AStarWaterHierarchical implements PathFinder { private tileBFS: BFSGrid; private abstractAStar: AbstractGraphAStar; - private localAStar: AStarBounded; - private localAStarMultiCluster: AStarBounded; + private localAStar: AStarWaterBounded; + private localAStarMultiCluster: AStarWaterBounded; private sourceResolver: SourceResolver; - public debugInfo: PathDebugInfo | null = null; - public debugMode: boolean = false; - constructor( private map: GameMap, private graph: AbstractGraph, @@ -51,23 +31,31 @@ export class AStarWaterHierarchical implements PathFinder { // BoundedAStar for cluster-bounded local pathfinding const maxLocalNodes = clusterSize * clusterSize; - this.localAStar = new AStarBounded(map, maxLocalNodes); + this.localAStar = new AStarWaterBounded(map, maxLocalNodes); // BoundedAStar for multi-cluster (3x3) local pathfinding const multiClusterSize = clusterSize * 3; const maxMultiClusterNodes = multiClusterSize * multiClusterSize; - this.localAStarMultiCluster = new AStarBounded(map, maxMultiClusterNodes); + this.localAStarMultiCluster = new AStarWaterBounded( + map, + maxMultiClusterNodes, + ); // SourceResolver for multi-source search this.sourceResolver = new SourceResolver(this.map, this.graph); } findPath(from: number | number[], to: number): number[] | null { - if (Array.isArray(from)) { - return this.findPathMultiSource(from as TileRef[], to as TileRef); - } + return DebugSpan.wrap("AStar.WaterHierarchical:findPath", () => { + DebugSpan.set("$to", () => to); + DebugSpan.set("$from", () => from); - return this.findPathSingle(from as TileRef, to as TileRef, this.debugMode); + if (Array.isArray(from)) { + return this.findPathMultiSource(from as TileRef[], to as TileRef); + } + + return this.findPathSingle(from as TileRef, to as TileRef); + }); } private findPathMultiSource( @@ -94,192 +82,66 @@ export class AStarWaterHierarchical implements PathFinder { return this.findPathSingle(winningSource, target); } - findPathSingle( - from: TileRef, - to: TileRef, - debug: boolean = false, - ): TileRef[] | null { - if (debug) { - const allEdges: Array<{ - id: number; - nodeA: number; - nodeB: number; - from: TileRef; - to: TileRef; - cost: number; - }> = []; - - for (let edgeId = 0; edgeId < this.graph.edgeCount; edgeId++) { - const edge = this.graph.getEdge(edgeId); - if (!edge) continue; - - const nodeA = this.graph.getNode(edge.nodeA); - const nodeB = this.graph.getNode(edge.nodeB); - if (!nodeA || !nodeB) continue; - - allEdges.push({ - id: edge.id, - nodeA: edge.nodeA, - nodeB: edge.nodeB, - from: nodeA.tile, - to: nodeB.tile, - cost: edge.cost, - }); - } - - this.debugInfo = { - nodePath: null, - initialPath: null, - graph: { - clusterSize: this.graph.clusterSize, - nodes: this.graph - .getAllNodes() - .map((node) => ({ id: node.id, tile: node.tile })), - edges: allEdges, - }, - timings: { - total: 0, - }, - }; - } - + findPathSingle(from: TileRef, to: TileRef): TileRef[] | null { const dist = this.map.manhattanDist(from, to); // Early exit for very short distances if (dist <= this.graph.clusterSize) { - performance.mark("hpa:findPath:earlyExitLocalPath:start"); + DebugSpan.start("earlyExit"); const startX = this.map.x(from); const startY = this.map.y(from); const clusterX = Math.floor(startX / this.graph.clusterSize); const clusterY = Math.floor(startY / this.graph.clusterSize); const localPath = this.findLocalPath(from, to, clusterX, clusterY, true); - performance.mark("hpa:findPath:earlyExitLocalPath:end"); - const measure = performance.measure( - "hpa:findPath:earlyExitLocalPath", - "hpa:findPath:earlyExitLocalPath:start", - "hpa:findPath:earlyExitLocalPath:end", - ); - - if (debug) { - this.debugInfo!.timings.earlyExitLocalPath = measure.duration; - this.debugInfo!.timings.total += measure.duration; - } + DebugSpan.end(); if (localPath) { - if (debug) { - console.log( - `[DEBUG] Direct local path found for dist=${dist}, length=${localPath.length}`, - ); - } return localPath; } - - if (debug) { - console.log( - `[DEBUG] Direct path failed for dist=${dist}, falling back to abstract graph`, - ); - } } - performance.mark("hpa:findPath:findNodes:start"); + DebugSpan.start("nodeLookup"); const startNode = this.findNearestNode(from); const endNode = this.findNearestNode(to); - performance.mark("hpa:findPath:findNodes:end"); - const findNodesMeasure = performance.measure( - "hpa:findPath:findNodes", - "hpa:findPath:findNodes:start", - "hpa:findPath:findNodes:end", - ); - - if (debug) { - this.debugInfo!.timings.findNodes = findNodesMeasure.duration; - this.debugInfo!.timings.total += findNodesMeasure.duration; - } + DebugSpan.end(); if (!startNode) { - if (debug) { - console.log( - `[DEBUG] Cannot find start node for (${this.map.x(from)}, ${this.map.y(from)})`, - ); - } return null; } if (!endNode) { - if (debug) { - console.log( - `[DEBUG] Cannot find end node for (${this.map.x(to)}, ${this.map.y(to)})`, - ); - } return null; } if (startNode.id === endNode.id) { - if (debug) { - console.log( - `[DEBUG] Start and end nodes are the same (ID=${startNode.id}), finding local path with multi-cluster search`, - ); - } - - performance.mark("hpa:findPath:sameNodeLocalPath:start"); + DebugSpan.start("sameNodeLocalPath"); const clusterX = Math.floor(startNode.x / this.graph.clusterSize); const clusterY = Math.floor(startNode.y / this.graph.clusterSize); const path = this.findLocalPath(from, to, clusterX, clusterY, true); - performance.mark("hpa:findPath:sameNodeLocalPath:end"); - const sameNodeMeasure = performance.measure( - "hpa:findPath:sameNodeLocalPath", - "hpa:findPath:sameNodeLocalPath:start", - "hpa:findPath:sameNodeLocalPath:end", - ); - - if (debug) { - this.debugInfo!.timings.sameNodeLocalPath = sameNodeMeasure.duration; - this.debugInfo!.timings.total += sameNodeMeasure.duration; - } - + DebugSpan.end(); return path; } - performance.mark("hpa:findPath:findAbstractPath:start"); + DebugSpan.start("abstractPath"); const nodePath = this.findAbstractPath(startNode.id, endNode.id); - performance.mark("hpa:findPath:findAbstractPath:end"); - const findAbstractPathMeasure = performance.measure( - "hpa:findPath:findAbstractPath", - "hpa:findPath:findAbstractPath:start", - "hpa:findPath:findAbstractPath:end", - ); - - if (debug) { - this.debugInfo!.timings.findAbstractPath = - findAbstractPathMeasure.duration; - this.debugInfo!.timings.total += findAbstractPathMeasure.duration; - - this.debugInfo!.nodePath = nodePath - ? nodePath - .map((nodeId) => { - const node = this.graph.getNode(nodeId); - return node ? node.tile : -1; - }) - .filter((tile) => tile !== -1) - : null; - } + DebugSpan.end(); if (!nodePath) { - if (debug) { - console.log( - `[DEBUG] No abstract path between nodes ${startNode.id} and ${endNode.id}`, - ); - } return null; } - if (debug) { - console.log(`[DEBUG] Abstract path found: ${nodePath.length} waypoints`); - } + DebugSpan.set("nodePath", () => + nodePath + .map((nodeId) => { + const node = this.graph.getNode(nodeId); + return node ? node.tile : -1; + }) + .filter((tile) => tile !== -1), + ); const initialPath: TileRef[] = []; - performance.mark("hpa:findPath:buildInitialPath:start"); + DebugSpan.start("initialPath"); // 1. Find path from start to first node const firstNode = this.graph.getNode(nodePath[0])!; @@ -324,6 +186,10 @@ export class AStarWaterHierarchical implements PathFinder { if (cachedPath && cachedPath.length > 0) { // Path is cached for this exact direction, use as-is initialPath.push(...cachedPath.slice(1)); + DebugSpan.set( + "$cachedSegmentsUsed", + (prev) => ((prev as number) ?? 0) + 1, + ); continue; } } @@ -368,20 +234,7 @@ export class AStarWaterHierarchical implements PathFinder { initialPath.push(...endSegment.slice(1)); - performance.mark("hpa:findPath:buildInitialPath:end"); - const buildInitialPathMeasure = performance.measure( - "hpa:findPath:buildInitialPath", - "hpa:findPath:buildInitialPath:start", - "hpa:findPath:buildInitialPath:end", - ); - - if (debug) { - this.debugInfo!.timings.buildInitialPath = - buildInitialPathMeasure.duration; - this.debugInfo!.timings.total += buildInitialPathMeasure.duration; - this.debugInfo!.initialPath = initialPath; - console.log(`[DEBUG] Initial path: ${initialPath.length} tiles`); - } + DebugSpan.set("initialPath", () => initialPath); // Smoothing moved to SmoothingTransformer - return raw path return initialPath; diff --git a/src/core/pathfinding/algorithms/AbstractGraph.ts b/src/core/pathfinding/algorithms/AbstractGraph.ts index d7be8faeb..f22b30c65 100644 --- a/src/core/pathfinding/algorithms/AbstractGraph.ts +++ b/src/core/pathfinding/algorithms/AbstractGraph.ts @@ -1,4 +1,5 @@ import { GameMap, TileRef } from "../../game/GameMap"; +import { DebugSpan } from "../../utilities/DebugSpan"; import { BFSGrid } from "./BFS.Grid"; import { ConnectedComponents } from "./ConnectedComponents"; @@ -25,16 +26,6 @@ export interface Cluster { nodeIds: number[]; } -export type BuildDebugInfo = { - clusters: number | null; - nodes: number | null; - edges: number | null; - actualBFSCalls: number | null; - potentialBFSCalls: number | null; - skippedByComponentFilter: number | null; - timings: { [key: string]: number }; -}; - export class AbstractGraph { // Nodes (array indexed by id) private readonly _nodes: AbstractNode[] = []; @@ -97,6 +88,10 @@ export class AbstractGraph { return edge.nodeA === nodeId ? edge.nodeB : edge.nodeA; } + getAllEdges(): readonly AbstractEdge[] { + return this._edges; + } + get edgeCount(): number { return this._edges.length; } @@ -217,8 +212,6 @@ export class AbstractGraphBuilder { private nextEdgeId = 0; private edgeBetween = new Map>(); - public debugInfo: BuildDebugInfo | null = null; - constructor( private readonly map: GameMap, private readonly clusterSize: number = AbstractGraphBuilder.CLUSTER_SIZE, @@ -231,8 +224,8 @@ export class AbstractGraphBuilder { this.waterComponents = new ConnectedComponents(map); } - build(debug: boolean = false): AbstractGraph { - performance.mark("abstractgraph:build:start"); + build(): AbstractGraph { + DebugSpan.start("AbstractGraphBuilder:build"); this.graph = new AbstractGraph( this.clusterSize, @@ -240,37 +233,8 @@ export class AbstractGraphBuilder { this.clustersY, ); - if (debug) { - console.log( - `[DEBUG] Building abstract graph with cluster size ${this.clusterSize} (${this.clustersX}x${this.clustersY} clusters)`, - ); - - this.debugInfo = { - clusters: null, - nodes: null, - edges: null, - actualBFSCalls: null, - potentialBFSCalls: null, - skippedByComponentFilter: null, - timings: {}, - }; - } - // Initialize water components - performance.mark("abstractgraph:build:water-component:start"); this.waterComponents.initialize(); - performance.mark("abstractgraph:build:water-component:end"); - const wcMeasure = performance.measure( - "abstractgraph:build:water-component", - "abstractgraph:build:water-component:start", - "abstractgraph:build:water-component:end", - ); - - if (debug) { - console.log( - `[DEBUG] Water Component Identification: ${wcMeasure.duration.toFixed(2)}ms`, - ); - } // Pre-create all clusters for (let cy = 0; cy < this.clustersY; cy++) { @@ -281,98 +245,30 @@ export class AbstractGraphBuilder { } // Find nodes (gateways) at cluster boundaries - performance.mark("abstractgraph:build:nodes:start"); + DebugSpan.start("nodes"); for (let cy = 0; cy < this.clustersY; cy++) { for (let cx = 0; cx < this.clustersX; cx++) { this.processCluster(cx, cy); } } - performance.mark("abstractgraph:build:nodes:end"); - const nodesMeasure = performance.measure( - "abstractgraph:build:nodes", - "abstractgraph:build:nodes:start", - "abstractgraph:build:nodes:end", - ); - - if (debug) { - console.log( - `[DEBUG] Node identification: ${nodesMeasure.duration.toFixed(2)}ms`, - ); - this.debugInfo!.potentialBFSCalls = 0; - this.debugInfo!.skippedByComponentFilter = 0; - } + DebugSpan.end(); // Build edges between nodes in same cluster - performance.mark("abstractgraph:build:edges:start"); + DebugSpan.start("edges"); for (let cy = 0; cy < this.clustersY; cy++) { for (let cx = 0; cx < this.clustersX; cx++) { const cluster = this.graph.getCluster(cx, cy); if (!cluster || cluster.nodeIds.length === 0) continue; - - if (debug) { - const n = cluster.nodeIds.length; - this.debugInfo!.potentialBFSCalls! += (n * (n - 1)) / 2; - - // Count skipped by component filter - for (let i = 0; i < n; i++) { - for (let j = i + 1; j < n; j++) { - const nodeI = this.graph.getNode(cluster.nodeIds[i])!; - const nodeJ = this.graph.getNode(cluster.nodeIds[j])!; - if (nodeI.componentId !== nodeJ.componentId) { - this.debugInfo!.skippedByComponentFilter!++; - } - } - } - } - this.buildClusterConnections(cx, cy); } } - performance.mark("abstractgraph:build:edges:end"); - const edgesMeasure = performance.measure( - "abstractgraph:build:edges", - "abstractgraph:build:edges:start", - "abstractgraph:build:edges:end", - ); + DebugSpan.end(); - if (debug) { - this.debugInfo!.actualBFSCalls = - this.debugInfo!.potentialBFSCalls! - - this.debugInfo!.skippedByComponentFilter!; - - console.log( - `[DEBUG] Edge identification: ${edgesMeasure.duration.toFixed(2)}ms`, - ); - console.log( - `[DEBUG] Potential BFS calls: ${this.debugInfo!.potentialBFSCalls}`, - ); - console.log( - `[DEBUG] Skipped by component filter: ${this.debugInfo!.skippedByComponentFilter} (${((this.debugInfo!.skippedByComponentFilter! / this.debugInfo!.potentialBFSCalls!) * 100).toFixed(1)}%)`, - ); - console.log( - `[DEBUG] Actual BFS calls: ${this.debugInfo!.actualBFSCalls}`, - ); - } - - performance.mark("abstractgraph:build:end"); - const totalMeasure = performance.measure( - "abstractgraph:build:total", - "abstractgraph:build:start", - "abstractgraph:build:end", - ); - - if (debug) { - console.log( - `[DEBUG] Abstract graph built in ${totalMeasure.duration.toFixed(2)}ms`, - ); - console.log(`[DEBUG] Nodes: ${this.graph.nodeCount}`); - console.log(`[DEBUG] Edges: ${this.graph.edgeCount}`); - console.log(`[DEBUG] Clusters: ${this.clustersX * this.clustersY}`); - - this.debugInfo!.clusters = this.clustersX * this.clustersY; - this.debugInfo!.nodes = this.graph.nodeCount; - this.debugInfo!.edges = this.graph.edgeCount; - } + DebugSpan.set("nodes", () => this.graph.getAllNodes()); + DebugSpan.set("edges", () => this.graph.getAllEdges()); + DebugSpan.set("nodesCount", () => this.graph.nodeCount); + DebugSpan.set("edgesCount", () => this.graph.edgeCount); + DebugSpan.set("clustersCount", () => this.clustersX * this.clustersY); // Initialize path cache after all edges are built this.graph._initPathCache(); @@ -380,6 +276,8 @@ export class AbstractGraphBuilder { // Store water components for componentId lookups this.graph.setWaterComponents(this.waterComponents); + DebugSpan.end(); // AbstractGraphBuilder:build + return this.graph; } diff --git a/src/core/pathfinding/algorithms/ConnectedComponents.ts b/src/core/pathfinding/algorithms/ConnectedComponents.ts index 93813b341..0d379d3c1 100644 --- a/src/core/pathfinding/algorithms/ConnectedComponents.ts +++ b/src/core/pathfinding/algorithms/ConnectedComponents.ts @@ -1,6 +1,7 @@ // Connected Component Labeling using flood-fill import { GameMap, TileRef } from "../../game/GameMap"; +import { DebugSpan } from "../../utilities/DebugSpan"; export const LAND_MARKER = 0xff; // Must fit in Uint8Array @@ -28,6 +29,7 @@ export class ConnectedComponents { } initialize(): void { + DebugSpan.start("ConnectedComponents:initialize"); let ids: Uint8Array | Uint16Array = this.createPrefilledIds(); let nextId = 0; @@ -52,6 +54,7 @@ export class ConnectedComponents { } this.componentIds = ids; + DebugSpan.end(); } /** diff --git a/src/core/pathfinding/smoothing/BresenhamPathSmoother.ts b/src/core/pathfinding/smoothing/BresenhamPathSmoother.ts deleted file mode 100644 index d4cafdba9..000000000 --- a/src/core/pathfinding/smoothing/BresenhamPathSmoother.ts +++ /dev/null @@ -1,168 +0,0 @@ -import { GameMap, TileRef } from "../../game/GameMap"; -import { PathFinder } from "../types"; -import { PathSmoother } from "./PathSmoother"; - -/** - * Path smoother using Bresenham line-of-sight algorithm. - * Greedily skips waypoints when direct traversal is possible. - */ -export class BresenhamPathSmoother implements PathSmoother { - constructor( - private map: GameMap, - private isTraversable: (tile: TileRef) => boolean, - ) {} - - smooth(path: TileRef[]): TileRef[] { - if (path.length <= 2) { - return path; - } - - const smoothed: TileRef[] = []; - let current = 0; - - while (current < path.length - 1) { - let farthest = current + 1; - let bestTrace: TileRef[] | null = null; - - for ( - let i = current + 2; - i < path.length; - i += Math.max(1, Math.floor(path.length / 20)) - ) { - const trace = this.tracePath(path[current], path[i]); - - if (trace !== null) { - farthest = i; - bestTrace = trace; - } else { - break; - } - } - - if ( - farthest < path.length - 1 && - (path.length - 1 - current) % 10 !== 0 - ) { - const trace = this.tracePath(path[current], path[path.length - 1]); - if (trace !== null) { - farthest = path.length - 1; - bestTrace = trace; - } - } - - if (bestTrace !== null && farthest > current + 1) { - smoothed.push(...bestTrace.slice(0, -1)); - } else { - smoothed.push(path[current]); - } - - current = farthest; - } - - smoothed.push(path[path.length - 1]); - - return smoothed; - } - - private tracePath(from: TileRef, to: TileRef): TileRef[] | null { - const x0 = this.map.x(from); - const y0 = this.map.y(from); - const x1 = this.map.x(to); - const y1 = this.map.y(to); - - const tiles: TileRef[] = []; - - const dx = Math.abs(x1 - x0); - const dy = Math.abs(y1 - y0); - const sx = x0 < x1 ? 1 : -1; - const sy = y0 < y1 ? 1 : -1; - let err = dx - dy; - - let x = x0; - let y = y0; - - const maxTiles = 100000; - let iterations = 0; - - while (true) { - if (iterations++ > maxTiles) { - return null; - } - const tile = this.map.ref(x, y); - if (!this.isTraversable(tile)) { - return null; - } - - tiles.push(tile); - - if (x === x1 && y === y1) { - break; - } - - const e2 = 2 * err; - const shouldMoveX = e2 > -dy; - const shouldMoveY = e2 < dx; - - if (shouldMoveX && shouldMoveY) { - x += sx; - err -= dy; - - const intermediateTile = this.map.ref(x, y); - if (!this.isTraversable(intermediateTile)) { - x -= sx; - err += dy; - - y += sy; - err += dx; - - const altTile = this.map.ref(x, y); - if (!this.isTraversable(altTile)) { - return null; - } - tiles.push(altTile); - - x += sx; - err -= dy; - } else { - tiles.push(intermediateTile); - - y += sy; - err += dx; - } - } else { - if (shouldMoveX) { - x += sx; - err -= dy; - } - - if (shouldMoveY) { - y += sy; - err += dx; - } - } - } - - return tiles; - } -} - -/** - * Ready-to-use transformer that applies Bresenham smoothing. - * Defaults to water traversability. - */ -export class BresenhamSmoothingTransformer implements PathFinder { - private smoother: BresenhamPathSmoother; - - constructor( - private inner: PathFinder, - map: GameMap, - isTraversable: (tile: TileRef) => boolean = (t) => map.isWater(t), - ) { - this.smoother = new BresenhamPathSmoother(map, isTraversable); - } - - findPath(from: TileRef | TileRef[], to: TileRef): TileRef[] | null { - const path = this.inner.findPath(from, to); - return path ? this.smoother.smooth(path) : null; - } -} diff --git a/src/core/pathfinding/smoothing/PathSmoother.ts b/src/core/pathfinding/smoothing/PathSmoother.ts deleted file mode 100644 index fc4188afc..000000000 --- a/src/core/pathfinding/smoothing/PathSmoother.ts +++ /dev/null @@ -1,7 +0,0 @@ -/** - * PathSmoother - interface for path smoothing algorithms. - * Takes a path and returns a smoothed version. - */ -export interface PathSmoother { - smooth(path: T[]): T[]; -} diff --git a/src/core/pathfinding/smoothing/SmoothingTransformer.ts b/src/core/pathfinding/smoothing/SmoothingTransformer.ts deleted file mode 100644 index ed1c60bff..000000000 --- a/src/core/pathfinding/smoothing/SmoothingTransformer.ts +++ /dev/null @@ -1,18 +0,0 @@ -import { PathFinder } from "../types"; -import { PathSmoother } from "./PathSmoother"; - -/** - * Transformer that applies path smoothing to any PathFinder. - * Wraps an inner PathFinder and smooths its output. - */ -export class SmoothingTransformer implements PathFinder { - constructor( - private inner: PathFinder, - private smoother: PathSmoother, - ) {} - - findPath(from: T | T[], to: T): T[] | null { - const path = this.inner.findPath(from, to); - return path ? this.smoother.smooth(path) : null; - } -} diff --git a/src/core/pathfinding/transformers/SmoothingWaterTransformer.ts b/src/core/pathfinding/transformers/SmoothingWaterTransformer.ts new file mode 100644 index 000000000..63b30c97f --- /dev/null +++ b/src/core/pathfinding/transformers/SmoothingWaterTransformer.ts @@ -0,0 +1,341 @@ +import { GameMap, TileRef } from "../../game/GameMap"; +import { DebugSpan } from "../../utilities/DebugSpan"; +import { + AStarWaterBounded, + SearchBounds, +} from "../algorithms/AStar.WaterBounded"; +import { PathFinder } from "../types"; + +const ENDPOINT_REFINEMENT_TILES = 50; +const LOCAL_ASTAR_MAX_AREA = 100 * 100; +const LOS_MIN_MAGNITUDE = 3; +const MAGNITUDE_MASK = 0x1f; + +/** + * Water path smoother transformer with two passes: + * 1. Binary search LOS smoothing (avoids shallow water) + * 2. Local A* refinement on endpoints (first/last N tiles) + */ +export class SmoothingWaterTransformer implements PathFinder { + private readonly mapWidth: number; + private readonly localAStar: AStarWaterBounded; + private readonly terrain: Uint8Array; + private readonly isTraversable: (tile: TileRef) => boolean; + + constructor( + private inner: PathFinder, + private map: GameMap, + isTraversable: (tile: TileRef) => boolean = (t) => map.isWater(t), + ) { + this.mapWidth = map.width(); + this.localAStar = new AStarWaterBounded(map, LOCAL_ASTAR_MAX_AREA); + this.terrain = (map as any).terrain as Uint8Array; + this.isTraversable = isTraversable; + } + + findPath(from: TileRef | TileRef[], to: TileRef): TileRef[] | null { + const path = this.inner.findPath(from, to); + + return DebugSpan.wrap("smoothingTransformer", () => + path ? this.smooth(path) : null, + ); + } + + private smooth(path: TileRef[]): TileRef[] { + if (path.length <= 2) { + return path; + } + + // Pass 1: LOS smoothing with binary search + let smoothed = DebugSpan.wrap("smoother:los", () => this.losSmooth(path)); + + // Pass 2: Local A* refinement on endpoints + smoothed = DebugSpan.wrap("smoother:refine", () => + this.refineEndpoints(smoothed), + ); + + return smoothed; + } + + private losSmooth(path: TileRef[]): TileRef[] { + const result: TileRef[] = [path[0]]; + let current = 0; + + while (current < path.length - 1) { + // Binary search for farthest visible waypoint + let lo = current + 1; + let hi = path.length - 1; + let farthest = lo; + + while (lo <= hi) { + const mid = (lo + hi) >>> 1; + if (this.canSee(path[current], path[mid])) { + farthest = mid; + lo = mid + 1; + } else { + hi = mid - 1; + } + } + + // Trace the path to farthest visible point + if (farthest > current + 1) { + const trace = this.tracePath(path[current], path[farthest]); + if (trace) { + // Add all intermediate tiles except the last (will be added in next iteration or at end) + for (let i = 1; i < trace.length - 1; i++) { + result.push(trace[i]); + } + } + } + + current = farthest; + if (current < path.length - 1) { + result.push(path[current]); + } + } + + result.push(path[path.length - 1]); + return result; + } + + private refineEndpoints(path: TileRef[]): TileRef[] { + if (path.length <= 2) { + return path; + } + + const refineDist = ENDPOINT_REFINEMENT_TILES; + let result = path; + + // Find the index where cumulative distance reaches refineDist from start + const startEndIdx = this.findTileAtDistance(path, 0, refineDist, true); + + // Refine start segment if it's more than 2 tiles and not already optimal + if (startEndIdx > 1) { + const startSegment = this.refineSegment(path[0], path[startEndIdx]); + + if (startSegment && startSegment.length > 0) { + result = [...startSegment.slice(0, -1), ...result.slice(startEndIdx)]; + } + } + + // Find the index where cumulative distance reaches refineDist from end + const endStartIdx = this.findTileAtDistance( + result, + result.length - 1, + refineDist, + false, + ); + + // Refine end segment if it's more than 2 tiles and not already optimal + // Search in reverse (from destination backwards) so path approaches target naturally + if (endStartIdx < result.length - 2) { + const endSegment = this.refineSegment( + result[result.length - 1], + result[endStartIdx], + ); + + if (endSegment && endSegment.length > 0) { + endSegment.reverse(); + result = [...result.slice(0, endStartIdx), ...endSegment]; + } + } + + return result; + } + + private findTileAtDistance( + path: TileRef[], + startIdx: number, + distance: number, + forward: boolean, + ): number { + let cumDist = 0; + let idx = startIdx; + + if (forward) { + while (idx < path.length - 1 && cumDist < distance) { + cumDist += this.manhattanDist(path[idx], path[idx + 1]); + idx++; + } + } else { + while (idx > 0 && cumDist < distance) { + cumDist += this.manhattanDist(path[idx], path[idx - 1]); + idx--; + } + } + + return idx; + } + + private refineSegment(from: TileRef, to: TileRef): TileRef[] | null { + const x0 = this.map.x(from); + const y0 = this.map.y(from); + const x1 = this.map.x(to); + const y1 = this.map.y(to); + + // Calculate bounds with padding + const padding = 10; + const bounds: SearchBounds = { + minX: Math.max(0, Math.min(x0, x1) - padding), + maxX: Math.min(this.map.width() - 1, Math.max(x0, x1) + padding), + minY: Math.max(0, Math.min(y0, y1) - padding), + maxY: Math.min(this.map.height() - 1, Math.max(y0, y1) + padding), + }; + + return this.localAStar.searchBounded(from, to, bounds); + } + + private canSee(from: TileRef, to: TileRef): boolean { + const x0 = from % this.mapWidth; + const y0 = (from / this.mapWidth) | 0; + const x1 = to % this.mapWidth; + const y1 = (to / this.mapWidth) | 0; + + const dx = Math.abs(x1 - x0); + const dy = Math.abs(y1 - y0); + const sx = x0 < x1 ? 1 : -1; + const sy = y0 < y1 ? 1 : -1; + let err = dx - dy; + + let x = x0; + let y = y0; + + const maxTiles = 100000; + let iterations = 0; + + while (true) { + if (iterations++ > maxTiles) return false; + + const tile = (y * this.mapWidth + x) as TileRef; + if (!this.isTraversable(tile)) return false; + + // Check magnitude - avoid shallow water + const magnitude = this.terrain[tile] & MAGNITUDE_MASK; + if (magnitude < LOS_MIN_MAGNITUDE) return false; + + if (x === x1 && y === y1) return true; + + const e2 = 2 * err; + const shouldMoveX = e2 > -dy; + const shouldMoveY = e2 < dx; + + if (shouldMoveX && shouldMoveY) { + // Diagonal move - check intermediate tile + x += sx; + err -= dy; + + const intermediateTile = (y * this.mapWidth + x) as TileRef; + const intMag = this.terrain[intermediateTile] & MAGNITUDE_MASK; + if ( + !this.isTraversable(intermediateTile) || + intMag < LOS_MIN_MAGNITUDE + ) { + // Try alternative path + x -= sx; + err += dy; + y += sy; + err += dx; + + const altTile = (y * this.mapWidth + x) as TileRef; + const altMag = this.terrain[altTile] & MAGNITUDE_MASK; + if (!this.isTraversable(altTile) || altMag < LOS_MIN_MAGNITUDE) + return false; + + x += sx; + err -= dy; + } else { + y += sy; + err += dx; + } + } else { + if (shouldMoveX) { + x += sx; + err -= dy; + } + if (shouldMoveY) { + y += sy; + err += dx; + } + } + } + } + + private tracePath(from: TileRef, to: TileRef): TileRef[] | null { + const x0 = from % this.mapWidth; + const y0 = (from / this.mapWidth) | 0; + const x1 = to % this.mapWidth; + const y1 = (to / this.mapWidth) | 0; + + const tiles: TileRef[] = []; + + const dx = Math.abs(x1 - x0); + const dy = Math.abs(y1 - y0); + const sx = x0 < x1 ? 1 : -1; + const sy = y0 < y1 ? 1 : -1; + let err = dx - dy; + + let x = x0; + let y = y0; + + const maxTiles = 100000; + let iterations = 0; + + while (true) { + if (iterations++ > maxTiles) return null; + + const tile = (y * this.mapWidth + x) as TileRef; + if (!this.isTraversable(tile)) return null; + + tiles.push(tile); + + if (x === x1 && y === y1) break; + + const e2 = 2 * err; + const shouldMoveX = e2 > -dy; + const shouldMoveY = e2 < dx; + + if (shouldMoveX && shouldMoveY) { + x += sx; + err -= dy; + + const intermediateTile = (y * this.mapWidth + x) as TileRef; + if (!this.isTraversable(intermediateTile)) { + x -= sx; + err += dy; + y += sy; + err += dx; + + const altTile = (y * this.mapWidth + x) as TileRef; + if (!this.isTraversable(altTile)) return null; + tiles.push(altTile); + + x += sx; + err -= dy; + } else { + tiles.push(intermediateTile); + y += sy; + err += dx; + } + } else { + if (shouldMoveX) { + x += sx; + err -= dy; + } + if (shouldMoveY) { + y += sy; + err += dx; + } + } + } + + return tiles; + } + + private manhattanDist(a: TileRef, b: TileRef): number { + const ax = a % this.mapWidth; + const ay = (a / this.mapWidth) | 0; + const bx = b % this.mapWidth; + const by = (b / this.mapWidth) | 0; + return Math.abs(ax - bx) + Math.abs(ay - by); + } +} diff --git a/src/core/utilities/DebugSpan.ts b/src/core/utilities/DebugSpan.ts new file mode 100644 index 000000000..b33b96acf --- /dev/null +++ b/src/core/utilities/DebugSpan.ts @@ -0,0 +1,159 @@ +type Span = { + name: string; + timeStart: number; + timeEnd?: number; + duration?: number; + data: Record; + children: Span[]; +}; + +const stack: Span[] = []; + +function isEnabled(): boolean { + return globalThis.__DEBUG_SPAN_ENABLED__ === true; +} + +export const DebugSpan = { + isEnabled, + enable(): void { + globalThis.__DEBUG_SPAN_ENABLED__ = true; + }, + disable(): void { + globalThis.__DEBUG_SPAN_ENABLED__ = false; + }, + start(name: string): void { + if (!isEnabled()) return; + + const span: Span = { + name, + timeStart: performance.now(), + data: {}, + children: [], + }; + + const parent = stack[stack.length - 1]; + parent?.children.push(span); + stack.push(span); + }, + end(name?: string): void { + if (!isEnabled()) return; + + if (stack.length === 0) { + const payload = name ? `"${name}"` : ""; + throw new Error(`DebugSpan.end(${payload}): no open span`); + } + + // If name provided, close all spans up to and including the named one + if (name) { + while (stack.length > 0) { + const span = stack.pop()!; + span.timeEnd = performance.now(); + span.duration = span.timeEnd - span.timeStart; + + if (stack.length === 0) { + DebugSpan.storeSpan(span); + } + + if (span.name === name) break; + } + return; + } + + // Default: close just the current span + const span = stack.pop()!; + span.timeEnd = performance.now(); + span.duration = span.timeEnd - span.timeStart; + + if (stack.length === 0) { + DebugSpan.storeSpan(span); + } + }, + storeSpan(span: Span): void { + if (!isEnabled()) return; + + globalThis.__DEBUG_SPANS__ = globalThis.__DEBUG_SPANS__ ?? []; + globalThis.__DEBUG_SPANS__.push(span); + + const extractData = (span: Span): Record => { + return Object.fromEntries( + Object.entries(span.data).filter( + ([key]) => typeof key === "string" && key.startsWith("$"), + ), + ); + }; + + const properties = { + timings: { total: span.duration }, + data: extractData(span), + }; + + if (span.children.length > 0) { + const getChildren = (span: Span): Span[] => + span.children.flatMap((child) => [child, ...getChildren(child)]); + const children = getChildren(span); + for (const childSpan of children) { + properties.timings[childSpan.name] = childSpan.duration; + const childData = extractData(childSpan); + for (const key of Object.keys(childData)) { + properties.data[key] = childData[key]; + } + } + } + + try { + performance.measure(span.name, { + start: span.timeStart, + end: span.timeEnd, + detail: properties, + }); + } catch (err) { + console.error("DebugSpan.storeSpan: performance.measure failed", err); + console.error("Span:", span); + } + + while (globalThis.__DEBUG_SPANS__.length > 100) { + globalThis.__DEBUG_SPANS__.shift(); + } + }, + wrap(name: string, fn: () => T): T { + this.start(name); + + try { + return fn(); + } finally { + this.end(name); + } + }, + set( + key: string, + valueFn: (previous: unknown) => unknown, + root: boolean = true, + ): void { + if (!isEnabled()) return; + + if (stack.length === 0) { + throw new Error(`DebugSpan.set("${key}"): no open span`); + } + + const span = root ? stack[0] : stack[stack.length - 1]; + span.data[key] = valueFn(span.data[key]); + }, + getLastSpan(name?: string): Span | undefined { + if (!isEnabled()) return; + + globalThis.__DEBUG_SPANS__ = globalThis.__DEBUG_SPANS__ ?? []; + + if (name) { + for (let i = globalThis.__DEBUG_SPANS__.length - 1 || 0; i >= 0; i--) { + const span = globalThis.__DEBUG_SPANS__[i]; + if (span.name === name) { + return span; + } + } + + return undefined; + } + + return globalThis.__DEBUG_SPANS__[globalThis.__DEBUG_SPANS__.length - 1]; + }, +}; diff --git a/tests/pathfinding/playground/api/maps.ts b/tests/pathfinding/playground/api/maps.ts index 4bafc6fed..c1a7b084f 100644 --- a/tests/pathfinding/playground/api/maps.ts +++ b/tests/pathfinding/playground/api/maps.ts @@ -2,39 +2,40 @@ import { readdirSync, readFileSync } from "fs"; import { dirname, join } from "path"; import { fileURLToPath } from "url"; import { Game } from "../../../../src/core/game/Game.js"; -import { AStarWaterHierarchical } from "../../../../src/core/pathfinding/algorithms/AStar.WaterHierarchical.js"; +import { DebugSpan } from "../../../../src/core/utilities/DebugSpan.js"; import { setupFromPath } from "../../utils.js"; // Available comparison adapters -// Note: "hpa" runs same algorithm without debug overhead for fair timing comparison -export const COMPARISON_ADAPTERS = ["hpa", "a.baseline", "a.generic", "a.full"]; +// Note: "hpa.cached" runs same algorithm without debug overhead for fair timing comparison +export const COMPARISON_ADAPTERS = [ + "hpa.cached", + "hpa", + "a.baseline", + "a.generic", + "a.full", +]; export interface MapInfo { name: string; displayName: string; } +export interface GraphBuildData { + nodes: any[]; + edges: any[]; + nodesCount: number; + edgesCount: number; + clustersCount: number; + buildTime: number; +} + export interface MapCache { game: Game; - hpaStar: AStarWaterHierarchical; + graphBuildData: GraphBuildData | null; } const cache = new Map(); -/** - * Global configuration for map loading - */ -let config = { - cachePaths: true, -}; - -/** - * Set configuration options - */ -export function setConfig(options: { cachePaths?: boolean }) { - config = { ...config, ...options }; -} - /** * Get the resources/maps directory path */ @@ -105,6 +106,25 @@ export function listMaps(): MapInfo[] { return maps.sort((a, b) => a.displayName.localeCompare(b.displayName)); } +/** + * Extract graph build data from DebugSpan + */ +function extractGraphBuildData(): GraphBuildData | null { + const span = DebugSpan.getLastSpan(); + if (!span || span.name !== "AbstractGraphBuilder:build") { + return null; + } + + return { + nodes: (span.data.nodes as any[]) || [], + edges: (span.data.edges as any[]) || [], + nodesCount: (span.data.nodesCount as number) || 0, + edgesCount: (span.data.edgesCount as number) || 0, + clustersCount: (span.data.clustersCount as number) || 0, + buildTime: span.duration || 0, + }; +} + /** * Load a map from cache or disk */ @@ -116,21 +136,17 @@ export async function loadMap(mapName: string): Promise { const mapsDir = getMapsDirectory(); + // Enable DebugSpan to capture graph build data + DebugSpan.enable(); + // Use the existing setupFromPath utility to load the map const game = await setupFromPath(mapsDir, mapName, { disableNavMesh: false }); - // Get pre-built graph from game - const graph = game.miniWaterGraph(); - if (!graph) { - throw new Error(`No water graph available for map: ${mapName}`); - } + // Capture graph build data from DebugSpan + const graphBuildData = extractGraphBuildData(); + DebugSpan.disable(); - // Initialize AStarWaterHierarchical with minimap and graph - const hpaStar = new AStarWaterHierarchical(game.miniMap(), graph, { - cachePaths: config.cachePaths, - }); - - const cacheEntry: MapCache = { game, hpaStar }; + const cacheEntry: MapCache = { game, graphBuildData }; // Store in cache cache.set(mapName, cacheEntry); @@ -142,7 +158,7 @@ export async function loadMap(mapName: string): Promise { * Get map metadata for client */ export async function getMapMetadata(mapName: string) { - const { game, hpaStar } = await loadMap(mapName); + const { game, graphBuildData } = await loadMap(mapName); // Extract map data const mapData: number[] = []; @@ -153,49 +169,84 @@ export async function getMapMetadata(mapName: string) { } } - // Extract static graph data from GameMapHPAStar - // Access internal graph via type casting (test code only) - const graph = (hpaStar as any).graph; + const graph = game.miniWaterGraph(); const miniMap = game.miniMap(); + const clusterSize = graph?.clusterSize ?? 0; - // Convert nodes to client format - const allNodes = graph.getAllNodes().map((node: any) => ({ - id: node.id, - x: miniMap.x(node.tile), - y: miniMap.y(node.tile), - })); - - // Convert edges to client format - const edges: Array<{ + // Use graphBuildData from DebugSpan if available, otherwise fall back to direct access + let allNodes: Array<{ id: number; x: number; y: number }>; + let edges: Array<{ fromId: number; toId: number; from: number[]; to: number[]; cost: number; - }> = []; - for (let i = 0; i < graph.edgeCount; i++) { - const edge = graph.getEdge(i); - if (!edge) continue; + }>; - const nodeA = graph.getNode(edge.nodeA); - const nodeB = graph.getNode(edge.nodeB); - if (!nodeA || !nodeB) continue; + if (graphBuildData) { + // Convert nodes from DebugSpan data (AbstractNode format) + allNodes = graphBuildData.nodes.map((node: any) => ({ + id: node.id, + x: miniMap.x(node.tile), + y: miniMap.y(node.tile), + })); - edges.push({ - fromId: edge.nodeA, - toId: edge.nodeB, - from: [miniMap.x(nodeA.tile) * 2, miniMap.y(nodeA.tile) * 2], - to: [miniMap.x(nodeB.tile) * 2, miniMap.y(nodeB.tile) * 2], - cost: edge.cost, + // Convert edges from DebugSpan data (AbstractEdge format) + edges = graphBuildData.edges.map((edge: any) => { + const nodeA = graphBuildData.nodes.find((n: any) => n.id === edge.nodeA); + const nodeB = graphBuildData.nodes.find((n: any) => n.id === edge.nodeB); + return { + fromId: edge.nodeA, + toId: edge.nodeB, + from: nodeA + ? [miniMap.x(nodeA.tile) * 2, miniMap.y(nodeA.tile) * 2] + : [0, 0], + to: nodeB + ? [miniMap.x(nodeB.tile) * 2, miniMap.y(nodeB.tile) * 2] + : [0, 0], + cost: edge.cost, + }; }); + + console.log( + `Map ${mapName}: ${allNodes.length} nodes, ${edges.length} edges (from DebugSpan, built in ${graphBuildData.buildTime.toFixed(2)}ms)`, + ); + } else if (graph) { + // Fallback: extract directly from graph + allNodes = graph.getAllNodes().map((node: any) => ({ + id: node.id, + x: miniMap.x(node.tile), + y: miniMap.y(node.tile), + })); + + edges = []; + for (let i = 0; i < graph.edgeCount; i++) { + const edge = graph.getEdge(i); + if (!edge) continue; + + const nodeA = graph.getNode(edge.nodeA); + const nodeB = graph.getNode(edge.nodeB); + if (!nodeA || !nodeB) continue; + + edges.push({ + fromId: edge.nodeA, + toId: edge.nodeB, + from: [miniMap.x(nodeA.tile) * 2, miniMap.y(nodeA.tile) * 2], + to: [miniMap.x(nodeB.tile) * 2, miniMap.y(nodeB.tile) * 2], + cost: edge.cost, + }); + } + + console.log( + `Map ${mapName}: ${allNodes.length} nodes, ${edges.length} edges (fallback)`, + ); + } else { + // No graph available + allNodes = []; + edges = []; + console.log(`Map ${mapName}: no graph available`); } - console.log( - `Map ${mapName}: ${allNodes.length} nodes, ${edges.length} edges`, - ); - - const clusterSize = graph.clusterSize; - return { name: mapName, width: game.width(), @@ -205,6 +256,7 @@ export async function getMapMetadata(mapName: string) { allNodes, edges, clusterSize, + buildTime: graphBuildData?.buildTime, }, adapters: COMPARISON_ADAPTERS, }; diff --git a/tests/pathfinding/playground/api/pathfinding.ts b/tests/pathfinding/playground/api/pathfinding.ts index 9cc69aa53..e1a8fd32f 100644 --- a/tests/pathfinding/playground/api/pathfinding.ts +++ b/tests/pathfinding/playground/api/pathfinding.ts @@ -1,13 +1,7 @@ import { TileRef } from "../../../../src/core/game/GameMap.js"; -import { AStarWaterHierarchical } from "../../../../src/core/pathfinding/algorithms/AStar.WaterHierarchical.js"; -import { BresenhamSmoothingTransformer } from "../../../../src/core/pathfinding/smoothing/BresenhamPathSmoother.js"; -import { ComponentCheckTransformer } from "../../../../src/core/pathfinding/transformers/ComponentCheckTransformer.js"; -import { MiniMapTransformer } from "../../../../src/core/pathfinding/transformers/MiniMapTransformer.js"; -import { ShoreCoercingTransformer } from "../../../../src/core/pathfinding/transformers/ShoreCoercingTransformer.js"; -import { - PathFinder, - SteppingPathFinder, -} from "../../../../src/core/pathfinding/types.js"; +import { PathFinding } from "../../../../src/core/pathfinding/PathFinder.js"; +import { SteppingPathFinder } from "../../../../src/core/pathfinding/types.js"; +import { DebugSpan } from "../../../../src/core/utilities/DebugSpan.js"; import { getAdapter } from "../../utils.js"; import { COMPARISON_ADAPTERS, loadMap } from "./maps.js"; @@ -19,6 +13,7 @@ interface PrimaryResult { debug: { nodePath: Array<[number, number]> | null; initialPath: Array<[number, number]> | null; + cachedSegmentsUsed: number | null; timings: Record; }; } @@ -73,63 +68,54 @@ function pathToCoords( } /** - * Build the full transformer chain like PathFinding.Water() does + * Extract timings from DebugSpan hierarchy + * Flattens nested spans into { spanName: duration } format */ -function buildWrappedPathFinder( - hpaStar: AStarWaterHierarchical, - game: any, - graph: any, -): PathFinder { - const miniMap = game.miniMap(); - const componentCheckFn = (t: TileRef) => graph.getComponentId(t); +function extractTimings(span: { + name: string; + duration?: number; + children: any[]; +}): Record { + const timings: Record = {}; - // Chain: hpaStar -> ComponentCheck -> Bresenham -> ShoreCoercing -> MiniMap - const withComponentCheck = new ComponentCheckTransformer( - hpaStar, - componentCheckFn, - ); - const withSmoothing = new BresenhamSmoothingTransformer( - withComponentCheck, - miniMap, - ); - const withShoreCoercing = new ShoreCoercingTransformer( - withSmoothing, - miniMap, - ); - const withMiniMap = new MiniMapTransformer(withShoreCoercing, game, miniMap); + if (span.duration !== undefined) { + timings[span.name] = span.duration; + } - return withMiniMap; + for (const child of span.children) { + Object.assign(timings, extractTimings(child)); + } + + return timings; } /** - * Compute primary path using AStarWaterHierarchical with debug info - * Uses the same transformer chain as PathFinding.Water() + * Compute primary path using PathFinding.Water with debug info */ function computePrimaryPath( - hpaStar: AStarWaterHierarchical, game: any, - graph: any, fromRef: TileRef, toRef: TileRef, ): PrimaryResult { const miniMap = game.miniMap(); - // Build wrapped pathfinder with all transformers - const wrappedPf = buildWrappedPathFinder(hpaStar, game, graph); + // Use standard PathFinding.Water + const pf = PathFinding.Water(game); - // Enable debug mode to capture internal state - hpaStar.debugMode = true; + // Enable DebugSpan to capture internal state + DebugSpan.enable(); - const start = performance.now(); - const path = wrappedPf.findPath(fromRef, toRef); - const time = performance.now() - start; + const path = pf.findPath(fromRef, toRef); - const debugInfo = hpaStar.debugInfo; + // Get span data and disable + const span = DebugSpan.getLastSpan(); + DebugSpan.disable(); // Convert node path (miniMap coords) to full map coords let nodePath: Array<[number, number]> | null = null; - if (debugInfo?.nodePath) { - nodePath = debugInfo.nodePath.map((tile: TileRef) => { + const spanNodePath = span?.data?.nodePath as TileRef[] | undefined; + if (spanNodePath) { + nodePath = spanNodePath.map((tile: TileRef) => { const x = miniMap.x(tile) * 2; const y = miniMap.y(tile) * 2; return [x, y] as [number, number]; @@ -138,22 +124,32 @@ function computePrimaryPath( // Convert initialPath (miniMap TileRefs) to full map coords let initialPath: Array<[number, number]> | null = null; - if (debugInfo?.initialPath) { - initialPath = debugInfo.initialPath.map((tile: TileRef) => { + const spanInitialPath = span?.data?.initialPath as TileRef[] | undefined; + if (spanInitialPath) { + initialPath = spanInitialPath.map((tile: TileRef) => { const x = miniMap.x(tile) * 2; const y = miniMap.y(tile) * 2; return [x, y] as [number, number]; }); } + let cachedSegmentsUsed: number | null = null; + if (span?.data?.cachedSegmentsUsed !== undefined) { + cachedSegmentsUsed = span.data.cachedSegmentsUsed as number; + } + + // Extract timings from span hierarchy + const timings = span ? extractTimings(span) : {}; + return { path: pathToCoords(path, game), length: path ? path.length : 0, - time, + time: timings["hpa:findPath"] || 0, debug: { nodePath, initialPath, - timings: debugInfo?.timings ?? {}, + cachedSegmentsUsed, + timings, }, }; } @@ -189,8 +185,7 @@ export async function computePath( to: [number, number], options: { adapters?: string[] } = {}, ): Promise { - const { game, hpaStar } = await loadMap(mapName); - const graph = game.miniWaterGraph(); + const { game } = await loadMap(mapName); // Convert coordinates to TileRefs const fromRef = game.ref(from[0], from[1]); @@ -204,8 +199,8 @@ export async function computePath( throw new Error(`End point (${to[0]}, ${to[1]}) is not water`); } - // Compute primary path (HPA* with debug) - const primary = computePrimaryPath(hpaStar, game, graph, fromRef, toRef); + // Compute primary path (PathFinding.Water with debug) + const primary = computePrimaryPath(game, fromRef, toRef); // Compute comparison paths const selectedAdapters = options.adapters ?? COMPARISON_ADAPTERS; diff --git a/tests/pathfinding/playground/public/client.js b/tests/pathfinding/playground/public/client.js index 8c9d68d8e..0016ccdb7 100644 --- a/tests/pathfinding/playground/public/client.js +++ b/tests/pathfinding/playground/public/client.js @@ -20,6 +20,7 @@ const state = { // Colors for comparison paths const COMPARISON_COLORS = { + "hpa.cached": "#00ffff", // cyan hpa: "#ff8800", // orange "a.baseline": "#ff00ff", // magenta "a.generic": "#88ff00", // lime @@ -814,20 +815,6 @@ function updatePathInfo(result) { function updateTimingsPanel(result) { const primary = result.primary; const timings = primary && primary.debug ? primary.debug.timings : {}; - - // Use timings.total (excludes debug overhead) instead of raw time - const hpaTime = timings.total || 0; - - // Show HPA* time and path length (or 0.00 in light gray if no data) - const hpaTimeEl = document.getElementById("hpaTime"); - if (hpaTime > 0) { - hpaTimeEl.textContent = `${hpaTime.toFixed(2)}ms`; - hpaTimeEl.classList.remove("faded"); - } else { - hpaTimeEl.textContent = "0.00ms"; - hpaTimeEl.classList.add("faded"); - } - const hpaTilesEl = document.getElementById("hpaTiles"); if (primary && primary.length > 0) { hpaTilesEl.textContent = `- ${primary.length} tiles`; @@ -840,8 +827,9 @@ function updateTimingsPanel(result) { const earlyExitEl = document.getElementById("timingEarlyExit"); const earlyExitValueEl = document.getElementById("timingEarlyExitValue"); earlyExitEl.style.display = "flex"; - if (timings.earlyExitLocalPath !== undefined) { - earlyExitValueEl.textContent = `${timings.earlyExitLocalPath.toFixed(2)}ms`; + const earlyExitTime = timings["earlyExit"]; + if (earlyExitTime !== undefined) { + earlyExitValueEl.textContent = `${earlyExitTime.toFixed(2)}ms`; earlyExitValueEl.style.color = "#f5f5f5"; } else { earlyExitValueEl.textContent = "—"; @@ -852,8 +840,9 @@ function updateTimingsPanel(result) { const findNodesEl = document.getElementById("timingFindNodes"); const findNodesValueEl = document.getElementById("timingFindNodesValue"); findNodesEl.style.display = "flex"; - if (timings.findNodes !== undefined) { - findNodesValueEl.textContent = `${timings.findNodes.toFixed(2)}ms`; + const nodeLookupTime = timings["nodeLookup"]; + if (nodeLookupTime !== undefined) { + findNodesValueEl.textContent = `${nodeLookupTime.toFixed(2)}ms`; findNodesValueEl.style.color = "#f5f5f5"; } else { findNodesValueEl.textContent = "—"; @@ -866,8 +855,9 @@ function updateTimingsPanel(result) { "timingAbstractPathValue", ); abstractPathEl.style.display = "flex"; - if (timings.findAbstractPath !== undefined) { - abstractPathValueEl.textContent = `${timings.findAbstractPath.toFixed(2)}ms`; + const abstractPathTime = timings["abstractPath"]; + if (abstractPathTime !== undefined) { + abstractPathValueEl.textContent = `${abstractPathTime.toFixed(2)}ms`; abstractPathValueEl.style.color = "#f5f5f5"; } else { abstractPathValueEl.textContent = "—"; @@ -878,14 +868,28 @@ function updateTimingsPanel(result) { const initialPathEl = document.getElementById("timingInitialPath"); const initialPathValueEl = document.getElementById("timingInitialPathValue"); initialPathEl.style.display = "flex"; - if (timings.buildInitialPath !== undefined) { - initialPathValueEl.textContent = `${timings.buildInitialPath.toFixed(2)}ms`; + const initialPathTime = timings["initialPath"]; + if (initialPathTime !== undefined) { + initialPathValueEl.textContent = `${initialPathTime.toFixed(2)}ms`; initialPathValueEl.style.color = "#f5f5f5"; } else { initialPathValueEl.textContent = "—"; initialPathValueEl.style.color = "#666"; } + // Smooth Path + const smoothPathEl = document.getElementById("timingSmoothPath"); + const smoothPathValueEl = document.getElementById("timingSmoothPathValue"); + smoothPathEl.style.display = "flex"; + const smoothPathTime = timings["smoothingTransformer"]; + if (smoothPathTime !== undefined) { + smoothPathValueEl.textContent = `${smoothPathTime.toFixed(2)}ms`; + smoothPathValueEl.style.color = "#f5f5f5"; + } else { + smoothPathValueEl.textContent = "—"; + smoothPathValueEl.style.color = "#666"; + } + // Show comparisons section const comparisonsSection = document.getElementById("comparisonsSection"); const comparisonsContainer = document.getElementById("comparisonsContainer"); @@ -905,6 +909,23 @@ function updateTimingsPanel(result) { } } + // Use total span time from DebugSpan + let hpaTime = timings["findPath"] || 0; + + if (compMap["hpa.cached"]) { + hpaTime = compMap["hpa.cached"].time; + } + + // Show HPA* time and path length (or 0.00 in light gray if no data) + const hpaTimeEl = document.getElementById("hpaTime"); + if (hpaTime > 0) { + hpaTimeEl.textContent = `${hpaTime.toFixed(2)}ms`; + hpaTimeEl.classList.remove("faded"); + } else { + hpaTimeEl.textContent = "0.00ms"; + hpaTimeEl.classList.add("faded"); + } + // Find fastest time overall (including HPA*) when we have data const compTimes = result.comparisons ? result.comparisons.map((c) => c.time).filter((t) => t > 0) diff --git a/tests/pathfinding/playground/public/index.html b/tests/pathfinding/playground/public/index.html index 6dbe07701..f03d041d3 100644 --- a/tests/pathfinding/playground/public/index.html +++ b/tests/pathfinding/playground/public/index.html @@ -196,6 +196,10 @@ Initial Path: — + diff --git a/tests/pathfinding/playground/public/styles.css b/tests/pathfinding/playground/public/styles.css index 8587fc022..0ecf5fecf 100644 --- a/tests/pathfinding/playground/public/styles.css +++ b/tests/pathfinding/playground/public/styles.css @@ -522,6 +522,10 @@ canvas { background: rgba(255, 255, 255, 0.15); } +.comparison-row.active .comp-name { + color: #fff; +} + .comparison-row:last-child { border-bottom: none; } diff --git a/tests/pathfinding/playground/server.ts b/tests/pathfinding/playground/server.ts index 9beed0456..3bedee84f 100644 --- a/tests/pathfinding/playground/server.ts +++ b/tests/pathfinding/playground/server.ts @@ -6,20 +6,9 @@ import { clearCache as clearMapCache, getMapMetadata, listMaps, - setConfig, } from "./api/maps.js"; import { clearAdapterCaches, computePath } from "./api/pathfinding.js"; -// Parse command-line arguments -const args = process.argv.slice(2); -const noCache = args.includes("--no-cache"); - -// Configure map loading -if (noCache) { - setConfig({ cachePaths: false }); - console.log("Path caching disabled (--no-cache)"); -} - const app = express(); const PORT = process.env.PORT ?? 5555; @@ -203,9 +192,6 @@ app.listen(PORT, () => { Server running at: http://localhost:${PORT} -Configuration: - - Path caching: ${noCache ? "disabled" : "enabled"} - Press Ctrl+C to stop `); }); diff --git a/tests/pathfinding/utils.ts b/tests/pathfinding/utils.ts index 33c157b39..46b7fd38f 100644 --- a/tests/pathfinding/utils.ts +++ b/tests/pathfinding/utils.ts @@ -10,7 +10,7 @@ import { GameType, PlayerInfo, } from "../../src/core/game/Game"; -import { createGame } from "../../src/core/game/GameImpl"; +import { createGame, GameImpl } from "../../src/core/game/GameImpl"; import { TileRef } from "../../src/core/game/GameMap"; import { genTerrainFromBin, @@ -90,16 +90,24 @@ export function getAdapter( // Recreate AStarWaterHierarchical without cache, this approach was chosen // over adding cache toggles to the existing game instance // to avoid adding side effect from benchmark to the game - const graph = game.miniWaterGraph(); - if (!graph) { - throw new Error("miniWaterGraph not available"); - } - const hpa = new AStarWaterHierarchical(game.miniMap(), graph, { - cachePaths: false, - }); - (game as any)._miniWaterHPA = hpa; - return PathFinding.Water(game); + const originalGame = game as any; + const clonedGame = new GameImpl( + originalGame._humans, + originalGame._nations, + originalGame._map, + originalGame.miniGameMap, + originalGame._config, + originalGame._stats, + ); + + (clonedGame as any)._miniWaterHPA = new AStarWaterHierarchical( + clonedGame.miniMap(), + (clonedGame as any)._miniWaterGraph!, + { cachePaths: false }, + ); + + return PathFinding.Water(clonedGame); } case "hpa.cached": return PathFinding.Water(game);