## Pathfinding with HPA*
Hi! The primary objective of this PR is to replace per-tile A* with
hierarchical pathfinding - HPA*. In practice, this means we create an
abstract graph on top of the actual map with far fewer points and use it
to decide on general path structure. Only then we go back to tile-level
and build path between selected waypoints. This speeds up long distance
pathfinding by over 1000x in some cases. To make the review easier, it
comes with a benchmark and visual playground.
## PREPROCESSING
H part of HPA* means "hierarchical" and requires preprocessing.
This PR includes pre-processing as part inside `new Game()` constructor.
It takes about 135ms for `giantworldmap` on my machine, which increases
the effective initialization from ~95ms to ~230ms. This time could be
reduced in different ways, which are **out of scope** for this PR.
After confirming the initialization time is bearable on low-end devices,
I argue merging this PR as-is is acceptable tradeoff. It creates small
lag at the beginning of a round but pays for itself in the first minute
of the match.
## Nerdy details
**Architecture**
- HPA*-style hierarchical pathfinding
- 32×32 sectors on minimap with gateway nodes on borders
- Gateway graph built via BFS during preprocessing
- Water component optimization skips unreachable gateway pairs
- A* on gateway graph → local A* within sectors → Bresenham path
smoothing
- Minimap upscaling identical to currently used in MiniAStar
**Key Optimizations**
- Typed arrays instead of high-level primitives
- Stamp-based visited tracking (no need to recreate buffers, O(1)
clearing)
- Optional - enabled by default - caching of tile paths between gateways
- Line of sight smoothing for the final path
## Review Focus
Play with included tools, benchmark and visualization. Pathfinding
should be safe to merge as a black box - you do not need to understand
the details. Outcomes can be tested empirically in-game. Visualize (and
share!) edge cases with included playground. Confirm the 100x speedup is
real with benchmark.
If you plan to dive into the code, I suggest the following order:
- Pathfinding abstraction in `src/core/pathfinding/`
- Pathfinding tests in `tests/core/pathfinding/`
- NavMesh in `src/core/pathfinding/navmesh/` + integration with
`Game.ts`
- Benchmark in `tests/pathfinding/benchmark/`
Do not look at playground's code, it has been created with a clanker.
The design is 100% mine and I spent way too long polishing it, but I
haven't even once edited the code manually. There is probably no
abstraction whatsoever, just do not look at the code, let it play.
## Core Changes
#### Pathfinding (`src/core/pathfinding/navmesh/`)
- HPA* + refinement -> three phased pathfinding: A* over the graph ->
naive path -> refinement
- comes with A* and BFS optimized for for specific needs
#### Pre-Processing (`src/core/pathfinding/navmesh/`)
- identify water bodies to avoid pathfinding between disconnected nodes
- create high-level graph of gateways on top of tile map
#### Abstraction (`src/core/pathfinding/`)
- common `PathFinder` interface that can return full path and also act
as state machine (`.next()`)
- adapters for both new and legacy algorithm with fallback to legacy if
navigation mesh not available
#### Benchmark (`tests/pathfinding/benchmark/`)
- `npx tsx tests/pathfinding/benchmark/run.ts` - no guesswork, numbers
- `npx tsx tests/pathfinding/benchmark/run.ts --synthetic` - 1000s of
synthetic paths
- `npx tsc tests/pathfinding/benchmark/generate.ts` - generate more as
needed, test new maps
- includes ONE synthetic scenario to avoid PR bloat, generate more
locally / later
#### Playground (`tests/pathfinding/playground/`)
- `npx tsx tests/pathfinding/playground/server.ts` - visualize paths
with both new and legacy algorithm
## Benchmarks
### Compared with legacy in default - hand picked - scenario:
```
Initialization: 95.95ms -> 227.29ms
Pathfinding: 3038.43ms -> 6.45ms
Distance: 26972 -> 26810 tiles
```
### 42,000 synthetic routes across all maps
```
Running 42 synthetic scenarios with hpa.cached adapter...
✅ synthetic/achiran | Init: 93.42ms | Path: 139.07ms | Dist: 1481630 tiles | Routes: 1000/1000
✅ synthetic/africa | Init: 87.14ms | Path: 155.08ms | Dist: 1829414 tiles | Routes: 1000/1000
✅ synthetic/asia | Init: 57.60ms | Path: 112.55ms | Dist: 1204082 tiles | Routes: 1000/1000
✅ synthetic/australia | Init: 78.18ms | Path: 77.12ms | Dist: 978375 tiles | Routes: 1000/1000
✅ synthetic/baikal | Init: 78.26ms | Path: 152.14ms | Dist: 1600016 tiles | Routes: 1000/1000
✅ synthetic/baikalnukewars | Init: 81.44ms | Path: 165.90ms | Dist: 1699283 tiles | Routes: 1000/1000
✅ synthetic/betweentwoseas | Init: 29.29ms | Path: 114.99ms | Dist: 1338075 tiles | Routes: 1000/1000
✅ synthetic/blacksea | Init: 30.66ms | Path: 93.14ms | Dist: 949217 tiles | Routes: 1000/1000
✅ synthetic/britannia | Init: 74.12ms | Path: 85.62ms | Dist: 866752 tiles | Routes: 1000/1000
✅ synthetic/deglaciatedantarctica | Init: 105.49ms | Path: 192.93ms | Dist: 1574684 tiles | Routes: 1000/1000
✅ synthetic/didier | Init: 81.51ms | Path: 153.70ms | Dist: 1734876 tiles | Routes: 1000/1000
✅ synthetic/eastasia | Init: 49.29ms | Path: 128.63ms | Dist: 1410270 tiles | Routes: 1000/1000
✅ synthetic/europe | Init: 92.55ms | Path: 178.35ms | Dist: 1525216 tiles | Routes: 1000/1000
✅ synthetic/europeclassic | Init: 33.50ms | Path: 104.40ms | Dist: 1209759 tiles | Routes: 1000/1000
✅ synthetic/falklandislands | Init: 63.00ms | Path: 107.41ms | Dist: 1080251 tiles | Routes: 1000/1000
✅ synthetic/faroeislands | Init: 71.91ms | Path: 49.52ms | Dist: 604613 tiles | Routes: 1000/1000
✅ synthetic/fourislands | Init: 45.75ms | Path: 78.91ms | Dist: 937439 tiles | Routes: 1000/1000
✅ synthetic/gatewaytotheatlantic | Init: 81.00ms | Path: 257.06ms | Dist: 2555551 tiles | Routes: 1000/1000
✅ synthetic/giantworldmap | Init: 214.25ms | Path: 220.42ms | Dist: 1976693 tiles | Routes: 1000/1000
✅ synthetic/gulfofstlawrence | Init: 45.16ms | Path: 96.05ms | Dist: 1014604 tiles | Routes: 1000/1000
✅ synthetic/halkidiki | Init: 74.68ms | Path: 149.39ms | Dist: 1546781 tiles | Routes: 1000/1000
✅ synthetic/iceland | Init: 58.72ms | Path: 78.16ms | Dist: 1001554 tiles | Routes: 1000/1000
✅ synthetic/italia | Init: 29.78ms | Path: 139.93ms | Dist: 1412024 tiles | Routes: 1000/1000
✅ synthetic/japan | Init: 161.07ms | Path: 118.65ms | Dist: 1154393 tiles | Routes: 1000/1000
✅ synthetic/lemnos | Init: 52.59ms | Path: 136.69ms | Dist: 1481101 tiles | Routes: 1000/1000
✅ synthetic/lisbon | Init: 49.27ms | Path: 86.53ms | Dist: 1032011 tiles | Routes: 1000/1000
✅ synthetic/manicouagan | Init: 53.74ms | Path: 110.52ms | Dist: 1307630 tiles | Routes: 1000/1000
✅ synthetic/mars | Init: 29.39ms | Path: 80.55ms | Dist: 1091702 tiles | Routes: 1000/1000
✅ synthetic/mena | Init: 26.37ms | Path: 120.09ms | Dist: 1272751 tiles | Routes: 1000/1000
✅ synthetic/montreal | Init: 26.08ms | Path: 106.77ms | Dist: 1187736 tiles | Routes: 1000/1000
✅ synthetic/newyorkcity | Init: 56.60ms | Path: 181.19ms | Dist: 1753875 tiles | Routes: 1000/1000
✅ synthetic/northamerica | Init: 96.29ms | Path: 123.02ms | Dist: 1217221 tiles | Routes: 1000/1000
✅ synthetic/oceania | Init: 52.81ms | Path: 51.96ms | Dist: 482373 tiles | Routes: 1000/1000
✅ synthetic/pangaea | Init: 21.29ms | Path: 56.58ms | Dist: 716189 tiles | Routes: 1000/1000
✅ synthetic/pluto | Init: 53.89ms | Path: 141.62ms | Dist: 1304362 tiles | Routes: 1000/1000
✅ synthetic/southamerica | Init: 85.19ms | Path: 123.03ms | Dist: 1301403 tiles | Routes: 1000/1000
✅ synthetic/straitofgibraltar | Init: 76.68ms | Path: 108.30ms | Dist: 1304592 tiles | Routes: 1000/1000
✅ synthetic/straitofhormuz | Init: 38.97ms | Path: 67.78ms | Dist: 754920 tiles | Routes: 1000/1000
✅ synthetic/surrounded | Init: 95.35ms | Path: 90.18ms | Dist: 1017142 tiles | Routes: 1000/1000
✅ synthetic/svalmel | Init: 60.58ms | Path: 104.75ms | Dist: 1235501 tiles | Routes: 1000/1000
✅ synthetic/twolakes | Init: 62.05ms | Path: 94.54ms | Dist: 1140807 tiles | Routes: 1000/1000
✅ synthetic/world | Init: 41.43ms | Path: 93.42ms | Dist: 873406 tiles | Routes: 1000/1000
Completed 42 scenarios
Total Initialization Time: 2796.32ms
Total Pathfinding Time: 5026.64ms
Total Distance: 53160274 tiles
```
## Playground
**That's the fun part**. Watch NavMesh running circles around legacy
`PathFinder.Mini` in real time. Debug inner workings, test edge cases,
share URLs for debugging.
https://github.com/user-attachments/assets/34e2e3f5-fbc1-4b1f-917d-820766e98d5d
## Discord Tag
`moleole`
Resolves#2434
## Description:
Allows bomb direction to be inverted by pressing a hotkey - currently
"U".
**Check the issue for screenshots / videos.**
## 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
## Please put your Discord username so you can be contacted if a bug or
regression is found:
w.o.n
---------
Co-authored-by: Evan <evanpelle@gmail.com>
Co-authored-by: iamlewis <lewismmmm@gmail.com>
## Description:
Replaced Array.shift() in boat path iteration with an index-based loop
to avoid O(n) shifts per step. This reduces per-move cost and keeps
memory usage unchanged. I validated the change by running locally and
confirming behaviour is unchanged.
### Summary
This PR improves pathfinding performance by replacing Array.shift() with
an index-based iteration to get the next boat position.
Shifting the array for each move is O(n) per operation, whereas using an
index is O(1).
JavaScript does not free the memory of the shifted elements immediately,
so there’s no memory benefit to shift() in this context. Using an index
improves performance without additional memory cost.
### Testing & Caveats
- I attempted to test the performance gain by increasing the trade cap
to 5000, but on my system, neither method could be stressed enough to
produce measurable differences.
- I am unfamiliar with JavaScript profiling tools, so I do not have
exact performance numbers.
- Based on the change, there is no risk of decreased performance.
- In my minor testing, the boat pathfinding felt faster when a single
player was set to max speed as the game would slow down less.
### Notes
- This is primarily an optimization for future scalability and clean
performance improvements.
- With this change, the max boat cap can potentially be increased.
- The behavioural logic remains unchanged; the boats still navigate the
same paths as before.
### Checklist
- [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
Derived from [LeviathanLevi
PR](https://github.com/openfrontio/OpenFrontIO/pull/1847)
Connect stations over water by automatically building bridges
Changes:
- Railroad construction to water is allowed from shore lines
- Railroad construction from water is allowed to shore lines too
This creates bridges a few tiles long.
<img width="1058" height="680" alt="image"
src="https://github.com/user-attachments/assets/493737b9-7aff-4ee2-88ea-7638f6af7c91"
/>
<img width="361" height="317" alt="image"
src="https://github.com/user-attachments/assets/24a71a7a-1ba1-4c88-a89e-876127024148"
/>
fixes#1837
- [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
regression is found:
IngloriousTom
## Description:
Current SAM behavior is to shoot a missile as soon as a nuke is in
range.
Players can exploit it by overshooting behind the SAM, so the SAM
missile will take way longer to reach the nuke, usually too late to
prevent its explosion.
This PR introduces a "smart" targeting system that allows SAM to
calculate an optimal interception tile along the nuke's trajectory. They
can also preshot before the nuke becomes vulnerable, as long as the
interception tile will be within the vulnerable window.
This change makes SAM range enforcement much more strict.
Changes:
- Nukes now precompute their full trajectory on creation and update
their current position index every tick.
- SAMs use this trajectory data and their own missile speed to calculate
the ideal interception tile.
- SAM missiles now aim directly at that interception point rather than
chasing the nuke.
Small changes on the fly:
- `BezierCurve` now uses a provided increment so the curve LUT is the
optimal size
- Increased nuke opacity when untargetable: 0.4 → 0.5
- Slightly extended nuke vulnerability range to SAMs: 120 → 150
===
Preshot an incoming nuke still in the unfocusable state. Notice how the
nuke is destroyed as soon as becomes focusable:
https://github.com/user-attachments/assets/9fbf1ae4-33b4-4fa0-9b53-cb53f3adc17b
Shooting right at the range limit:
https://github.com/user-attachments/assets/d68793ac-b249-45fe-88bf-e20f70758449
Shooting behind the SAM:
https://github.com/user-attachments/assets/800cd7ff-d9d9-40f3-aba8-fa3ab526b3b2
## 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
- [x] I have read and accepted the CLA agreement (only required once).
## Please put your Discord username so you can be contacted if a bug or
regression is found:
IngloriousTom
## Description:
Created test that has astar pathfind from top left to bottom right of
giant world map.
* Before these changes: took ~950ms
* replaced queue with fastqueue library: ~600ms
* Changes heuristic to be more greedy (1.1 * dist => 2 * dist): ~90ms
Resulting in a roughly 10x improvement.
Other paths also saw improvements as well, although not as dramatic.
## 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
- [x] I understand that submitting code with bugs that could have been
caught through manual testing blocks releases and new features for all
contributors
## Please put your Discord username so you can be contacted if a bug or
regression is found:
evan
## Description:
Add a rail network to handle train stations/railroad between structures.
Changes:
- `RailNetwork` is responsible for the train station graph. Use it to
connect new `TrainStations`
- A `RailRoad` connects two `TrainStation`
- No loop possible in the rail network
- Train stations handles its railroads
- Added a layer to draw the railroads under the structures
#### Clusters
- To speed up computations, each `TrainStation` references its own
cluster
- A cluster is a list of `TrainStation` connected with each other,
created by the `RailNetwork` when connecting the station
- Train stations spawn trains randomly depending on its current cluster
size
- A `TrainStation` decides randomly of the train destination by picking
one from the cluster
#### Production building:
- Added a factory which has no gameplay impact currently. _To be
discussed._
#### Train stops:
- When a train reaches a factory, it's filled with a "cargo". The loaded
trains has no impact currently. _To be discussed._
- When a train reaches a city, the player earn 10k gold
- When a train reaches a port, it sends a new tradeship if possible
- If a destination/source is destroyed, the train & railroad are deleted
too
https://github.com/user-attachments/assets/42375c17-9e04-4a42-98d0-708c81ffd609https://github.com/user-attachments/assets/fbecdb53-a516-4df8-87fb-1f9a62c4efa0
## 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
- [x] I understand that submitting code with bugs that could have been
caught through manual testing blocks releases and new features for all
contributors
## Please put your Discord username so you can be contacted if a bug or
regression is found:
IngloriousTom
---------
Co-authored-by: Scott Anderson <scottanderson@users.noreply.github.com>
## Description:
Changed from consolex to console
## 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
- [x] I understand that submitting code with bugs that could have been
caught through manual testing blocks releases and new features for all
contributors
## Please put your Discord username so you can be contacted if a bug or
regression is found:
@qqkedsi
## Description:
Add full path to caches
Fix A* to always start and end at given start and end
Remove pathfinder from tradeshipexecution
Should fix tradeship looping and getting stuck at ports
Fix#843
Dont know what to add so that description check is happy
[More lines to lines to make it happy]
## Please complete the following:
- [x] I have added screenshots for all UI updates
- [x] I confirm I have thoroughly tested these changes and take full
responsibility for any bugs introduced
- [x] I understand that submitting code with bugs that could have been
caught through manual testing blocks releases and new features for all
contributors
## Please put your Discord username so you can be contacted if a bug or
regression is found:
Vivacious Box
---------
Co-authored-by: evanpelle <evanpelle@gmail.com>
## Description:
Improve type safety and runtime correctness by:
1. Enabling TypeScript's
[strictNullChecks](https://www.typescriptlang.org/tsconfig/#strictNullChecks)
compiler option.
2. Replacing all loose equality operators (`==` and `!=`) with strict
equality operators (`===` and `!==`).
3. Cleaning up of type declarations, null handling logic, and equality
expressions throughout the project.
Currently, the code allows implicit assumptions that `null` and
`undefined` are interchangeable, and relies on type-coercing equality
checks that can introduce subtle bugs. These practices make it difficult
to reason about when values may be absent and hinder the effectiveness
of static analysis.
Migrating to strict null checks and enforcing strict equality
comparisons will clarify intent, reduce bugs, and make the codebase
safer and easier to maintain.
Fixes#466
## Please complete the following:
- [x] I have added screenshots for all UI updates
- [x] I confirm I have thoroughly tested these changes and take full
responsibility for any bugs introduced
- [x] I understand that submitting code with bugs that could have been
caught through manual testing blocks releases and new features for all
contributors
---------
Co-authored-by: Scott Anderson <662325+scottanderson@users.noreply.github.com>
Co-authored-by: evanpelle <openfrontio@gmail.com>
## Description:
Change nuke trajectory to follow a curve, and add a trail behind them.
### Details:
- Use a look-up table to approximate the distance travelled, so the
speed remains constant along the curve
- The nuke speed is higher than a single pixel, so draw a line behind
for the trail
- Added a new "utility" file for the Bresenham/Bezier algorith: please
tell me if that's ok
### Edge cases (literally the edges):
The control points remains in the map so the curve can never go outside:
## Please complete the following:
- [x] I have added screenshots for all UI updates
- [x] I confirm I have thoroughly tested these changes and take full
responsibility for any bugs introduced
- [x] I understand that submitting code with bugs that could have been
caught through manual testing blocks releases and new features for all
contributors
## Please put your Discord username so you can be contacted if a bug or
regression is found:
<DISCORD USERNAME>
---------
Co-authored-by: Scott Anderson <scottanderson@users.noreply.github.com>
## Description:
Samples border shore tiles and uses multi-a* for determining the
transport ship spawn cell.
## Please complete the following:
- [x] I have added screenshots for all UI updates
- [x] I confirm I have thoroughly tested these changes and take full
responsibility for any bugs introduced
- [x] I understand that submitting code with bugs that could have been
caught through manual testing blocks releases and new features for all
contributors
## Please put your Discord username so you can be contacted if a bug or
regression is found:
<DISCORD USERNAME>
evan
---------
Co-authored-by: evan <openfrontio@gmail.com>
Arkadiusz Sygulski