From af80317b64503ce9272a4d559c7e7b242c76d0b4 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 01:31:08 +0100 Subject: [PATCH 01/34] Remove Gatekeeper submodule and related code; refactor API endpoints to eliminate gatekeeper usage for rate limiting and security checks. --- .gitmodules | 3 - eslint.config.js | 1 - src/server/GameServer.ts | 225 ++++++------- src/server/Gatekeeper.ts | 160 --------- src/server/Master.ts | 86 +++-- src/server/README.md | 3 - src/server/Worker.ts | 702 ++++++++++++++++++--------------------- src/server/gatekeeper | 1 - 8 files changed, 473 insertions(+), 708 deletions(-) delete mode 100644 src/server/Gatekeeper.ts delete mode 100644 src/server/README.md delete mode 160000 src/server/gatekeeper diff --git a/.gitmodules b/.gitmodules index 45ff7b389..e69de29bb 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +0,0 @@ -[submodule "src/server/gatekeeper"] - path = src/server/gatekeeper - url = https://github.com/openfrontio/gatekeeper.git diff --git a/eslint.config.js b/eslint.config.js index 7977a4e11..4e3ac8acd 100644 --- a/eslint.config.js +++ b/eslint.config.js @@ -13,7 +13,6 @@ const gitignorePath = path.resolve(__dirname, ".gitignore"); /** @type {import('eslint').Linter.Config[]} */ export default [ includeIgnoreFile(gitignorePath), - { ignores: ["src/server/gatekeeper/**"] }, { files: ["**/*.{js,mjs,cjs,ts}"] }, { languageOptions: { globals: { ...globals.browser, ...globals.node } } }, pluginJs.configs.recommended, diff --git a/src/server/GameServer.ts b/src/server/GameServer.ts index 231990620..25e57eb89 100644 --- a/src/server/GameServer.ts +++ b/src/server/GameServer.ts @@ -26,7 +26,6 @@ import { GameEnv, ServerConfig } from "../core/configuration/Config"; import { GameType } from "../core/game/Game"; import { archive } from "./Archive"; import { Client } from "./Client"; -import { gatekeeper } from "./Gatekeeper"; import { rankingService } from "./RankingService"; const profanityFilter = new Filter(); @@ -262,139 +261,133 @@ export class GameServer { this.allClients.set(client.clientID, client); client.ws.removeAllListeners("message"); - client.ws.on( - "message", - gatekeeper.wsHandler(client.ip, async (message: string) => { - try { - const parsed = ClientMessageSchema.safeParse(JSON.parse(message)); - if (!parsed.success) { - const error = z.prettifyError(parsed.error); - this.log.error("Failed to parse client message", error, { - clientID: client.clientID, - }); - client.ws.send( - JSON.stringify({ - type: "error", - error, - message, - } satisfies ServerErrorMessage), - ); - client.ws.close(1002, "ClientMessageSchema"); - return; - } - const clientMsg = parsed.data; - switch (clientMsg.type) { - case "intent": { - if (clientMsg.intent.clientID !== client.clientID) { + client.ws.on("message", async (message: string) => { + try { + const parsed = ClientMessageSchema.safeParse(JSON.parse(message)); + if (!parsed.success) { + const error = z.prettifyError(parsed.error); + this.log.error("Failed to parse client message", error, { + clientID: client.clientID, + }); + client.ws.send( + JSON.stringify({ + type: "error", + error, + message, + } satisfies ServerErrorMessage), + ); + client.ws.close(1002, "ClientMessageSchema"); + return; + } + const clientMsg = parsed.data; + switch (clientMsg.type) { + case "intent": { + if (clientMsg.intent.clientID !== client.clientID) { + this.log.warn( + `client id mismatch, client: ${client.clientID}, intent: ${clientMsg.intent.clientID}`, + ); + return; + } + switch (clientMsg.intent.type) { + case "mark_disconnected": { this.log.warn( - `client id mismatch, client: ${client.clientID}, intent: ${clientMsg.intent.clientID}`, + `Should not receive mark_disconnected intent from client`, ); return; } - switch (clientMsg.intent.type) { - case "mark_disconnected": { - this.log.warn( - `Should not receive mark_disconnected intent from client`, - ); - return; - } - // Handle kick_player intent via WebSocket - case "kick_player": { - const authenticatedClientID = client.clientID; - - // Check if the authenticated client is the lobby creator - if (authenticatedClientID !== this.LobbyCreatorID) { - this.log.warn(`Only lobby creator can kick players`, { - clientID: authenticatedClientID, - creatorID: this.LobbyCreatorID, - target: clientMsg.intent.target, - gameID: this.id, - }); - return; - } - - // Don't allow lobby creator to kick themselves - if (authenticatedClientID === clientMsg.intent.target) { - this.log.warn(`Cannot kick yourself`, { - clientID: authenticatedClientID, - }); - return; - } - - // Log and execute the kick - this.log.info(`Lobby creator initiated kick of player`, { - creatorID: authenticatedClientID, + // Handle kick_player intent via WebSocket + case "kick_player": { + const authenticatedClientID = client.clientID; + + // Check if the authenticated client is the lobby creator + if (authenticatedClientID !== this.LobbyCreatorID) { + this.log.warn(`Only lobby creator can kick players`, { + clientID: authenticatedClientID, + creatorID: this.LobbyCreatorID, target: clientMsg.intent.target, gameID: this.id, - kickMethod: "websocket", }); - - this.kickClient(clientMsg.intent.target); return; } - default: { - this.addIntent(clientMsg.intent); - break; + + // Don't allow lobby creator to kick themselves + if (authenticatedClientID === clientMsg.intent.target) { + this.log.warn(`Cannot kick yourself`, { + clientID: authenticatedClientID, + }); + return; } - } - break; - } - case "ping": { - this.lastPingUpdate = Date.now(); - client.lastPing = Date.now(); - client.ws.send(JSON.stringify({ type: "ping" })); - break; - } - case "hash": { - client.hashes.set(clientMsg.turnNumber, clientMsg.hash); - break; - } - case "join": { - this.log.info( - "Client requested re-join/sync via existing connection", - { - clientID: client.clientID, - lastTurn: clientMsg.lastTurn, - }, - ); - this.sendStartGameMsg(client.ws, clientMsg.lastTurn); - break; - } - case "winner": { - if ( - this.outOfSyncClients.has(client.clientID) || - this.kickedClients.has(client.clientID) || - this.winner !== null - ) { + + // Log and execute the kick + this.log.info(`Lobby creator initiated kick of player`, { + creatorID: authenticatedClientID, + target: clientMsg.intent.target, + gameID: this.id, + kickMethod: "websocket", + }); + + this.kickClient(clientMsg.intent.target); return; } - this.winner = clientMsg; - this.archiveGame().catch((err) => - this.log.error("Failed to archive game", { error: err }), - ); - break; + default: { + this.addIntent(clientMsg.intent); + break; + } } - default: { - this.log.warn( - `Unknown message type: ${(clientMsg as any).type}`, - { - clientID: client.clientID, - }, - ); - break; + break; + } + case "ping": { + this.lastPingUpdate = Date.now(); + client.lastPing = Date.now(); + client.ws.send(JSON.stringify({ type: "ping" })); + break; + } + case "hash": { + client.hashes.set(clientMsg.turnNumber, clientMsg.hash); + break; + } + case "join": { + this.log.info( + "Client requested re-join/sync via existing connection", + { + clientID: client.clientID, + lastTurn: clientMsg.lastTurn, + }, + ); + this.sendStartGameMsg(client.ws, clientMsg.lastTurn); + break; + } + case "winner": { + if ( + this.outOfSyncClients.has(client.clientID) || + this.kickedClients.has(client.clientID) || + this.winner !== null + ) { + return; } + this.winner = clientMsg; + this.archiveGame().catch((err) => + this.log.error("Failed to archive game", { error: err }), + ); + break; } - } catch (error) { - this.log.info( - `error handline websocket request in game server: ${error}`, - { + default: { + this.log.warn(`Unknown message type: ${(clientMsg as any).type}`, { clientID: client.clientID, - }, - ); + }); + break; + } } - }), - ); + } catch (error) { + this.log.info( + `error handline websocket request in game server: ${error}`, + { + clientID: client.clientID, + }, + ); + } + }); client.ws.on("close", () => { this.log.info("client disconnected", { clientID: client.clientID, diff --git a/src/server/Gatekeeper.ts b/src/server/Gatekeeper.ts deleted file mode 100644 index ee47cbf50..000000000 --- a/src/server/Gatekeeper.ts +++ /dev/null @@ -1,160 +0,0 @@ -// src/server/Security.ts -import { NextFunction, Request, Response } from "express"; -import fs from "fs"; -import http from "http"; -import path from "path"; -import { fileURLToPath } from "url"; - -export enum LimiterType { - Get = "get", - Post = "post", - Put = "put", - WebSocket = "websocket", -} - -export interface Gatekeeper { - // The wrapper for request handlers with optional rate limiting - httpHandler: ( - limiterType: LimiterType, - fn: (req: Request, res: Response, next: NextFunction) => Promise, - ) => (req: Request, res: Response, next: NextFunction) => Promise; - - // The wrapper for WebSocket message handlers with rate limiting - wsHandler: ( - req: http.IncomingMessage | string, - fn: (message: string) => Promise, - ) => (message: string) => Promise; -} - -let gk: Gatekeeper | null = null; - -async function getGatekeeperCached(): Promise { - if (gk !== null) { - return gk; - } - return getGatekeeper().then((g) => { - gk = g; - return gk; - }); -} - -// Function to get the appropriate security middleware implementation -async function getGatekeeper(): Promise { - try { - // Get the current file's directory - const __filename = fileURLToPath(import.meta.url); - const __dirname = path.dirname(__filename); - - try { - // Check if the file exists before attempting to import it - const realMiddlewarePath = path.resolve( - __dirname, - "./gatekeeper/RealGatekeeper.js", - ); - const tsMiddlewarePath = path.resolve( - __dirname, - "./gatekeeper/RealGatekeeper.ts", - ); - - if ( - !fs.existsSync(realMiddlewarePath) && - !fs.existsSync(tsMiddlewarePath) - ) { - console.log("RealGatekeeper file not found, using NoOpGatekeeper"); - return new NoOpGatekeeper(); - } - - // Use dynamic import for ES modules - // Using a type assertion to avoid TypeScript errors for optional modules - const module = await import( - "./gatekeeper/RealGatekeeper.js" as string - ).catch(() => import("./gatekeeper/RealGatekeeper.js" as string)); - - if (!module || !module.RealGatekeeper) { - console.log( - "RealGatekeeper class not found in module, using NoOpGatekeeper", - ); - return new NoOpGatekeeper(); - } - - console.log("Successfully loaded real gatekeeper"); - return new module.RealGatekeeper(); - } catch (error) { - console.log("Failed to load real gatekeeper:", error); - return new NoOpGatekeeper(); - } - } catch (e) { - // Fall back to no-op if real implementation isn't available - console.log("using no-op gatekeeper", e); - return new NoOpGatekeeper(); - } -} - -export class GatekeeperWrapper implements Gatekeeper { - constructor(private getGK: () => Promise) {} - - httpHandler( - limiterType: LimiterType, - fn: (req: Request, res: Response, next: NextFunction) => Promise, - ) { - return async (req: Request, res: Response, next: NextFunction) => { - try { - const gk = await this.getGK(); - const handler = gk.httpHandler(limiterType, fn); - return handler(req, res, next); - } catch (error) { - next(error); - } - }; - } - - // Corrected implementation for WebSocket handler wrapper - wsHandler( - req: http.IncomingMessage | string, - fn: (message: string) => Promise, - ) { - return async (message: string) => { - try { - const gk = await this.getGK(); - const handler = gk.wsHandler(req, fn); - return handler(message); - } catch (error) { - console.error("WebSocket handler error:", error); - } - }; - } -} - -export class NoOpGatekeeper implements Gatekeeper { - // Simple pass-through with no rate limiting - httpHandler( - limiterType: LimiterType, - fn: (req: Request, res: Response, next: NextFunction) => Promise, - ) { - return async (req: Request, res: Response, next: NextFunction) => { - try { - await fn(req, res, next); - } catch (error) { - next(error); - } - }; - } - - // Corrected implementation for WebSocket handler wrapper - wsHandler( - req: http.IncomingMessage | string, - fn: (message: string) => Promise, - ) { - return async (message: string) => { - try { - await fn(message); - } catch (error) { - console.error("WebSocket handler error:", error); - } - }; - } -} - -export const gatekeeper: Gatekeeper = new GatekeeperWrapper(() => - getGatekeeperCached(), -); diff --git a/src/server/Master.ts b/src/server/Master.ts index a68f27ad8..94a1d1719 100644 --- a/src/server/Master.ts +++ b/src/server/Master.ts @@ -7,7 +7,6 @@ import { fileURLToPath } from "url"; import { getServerConfigFromServer } from "../core/configuration/ConfigLoader"; import { GameInfo, ID } from "../core/Schemas"; import { generateID } from "../core/Util"; -import { gatekeeper, LimiterType } from "./Gatekeeper"; import { logger } from "./Logger"; import { MapPlaylist } from "./MapPlaylist"; @@ -144,62 +143,53 @@ export async function startMaster() { }); } -app.get( - "/api/env", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const envConfig = { - game_env: process.env.GAME_ENV, - }; - if (!envConfig.game_env) return res.sendStatus(500); - res.json(envConfig); - }), -); +app.get("/api/env", async (req, res) => { + const envConfig = { + game_env: process.env.GAME_ENV, + }; + if (!envConfig.game_env) return res.sendStatus(500); + res.json(envConfig); +}); // Add lobbies endpoint to list public games for this worker -app.get( - "/api/public_lobbies", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - res.send(publicLobbiesJsonStr); - }), -); +app.get("/api/public_lobbies", async (req, res) => { + res.send(publicLobbiesJsonStr); +}); -app.post( - "/api/kick_player/:gameID/:clientID", - gatekeeper.httpHandler(LimiterType.Post, async (req, res) => { - if (req.headers[config.adminHeader()] !== config.adminToken()) { - res.status(401).send("Unauthorized"); - return; - } +app.post("/api/kick_player/:gameID/:clientID", async (req, res) => { + if (req.headers[config.adminHeader()] !== config.adminToken()) { + res.status(401).send("Unauthorized"); + return; + } - const { gameID, clientID } = req.params; + const { gameID, clientID } = req.params; - if (!ID.safeParse(gameID).success || !ID.safeParse(clientID).success) { - res.sendStatus(400); - return; - } + if (!ID.safeParse(gameID).success || !ID.safeParse(clientID).success) { + res.sendStatus(400); + return; + } - try { - const response = await fetch( - `http://localhost:${config.workerPort(gameID)}/api/kick_player/${gameID}/${clientID}`, - { - method: "POST", - headers: { - [config.adminHeader()]: config.adminToken(), - }, + try { + const response = await fetch( + `http://localhost:${config.workerPort(gameID)}/api/kick_player/${gameID}/${clientID}`, + { + method: "POST", + headers: { + [config.adminHeader()]: config.adminToken(), }, - ); - - if (!response.ok) { - throw new Error(`Failed to kick player: ${response.statusText}`); - } + }, + ); - res.status(200).send("Player kicked successfully"); - } catch (error) { - log.error(`Error kicking player from game ${gameID}:`, error); - res.status(500).send("Failed to kick player"); + if (!response.ok) { + throw new Error(`Failed to kick player: ${response.statusText}`); } - }), -); + + res.status(200).send("Player kicked successfully"); + } catch (error) { + log.error(`Error kicking player from game ${gameID}:`, error); + res.status(500).send("Failed to kick player"); + } +}); async function fetchLobbies(): Promise { const fetchPromises: Promise[] = []; diff --git a/src/server/README.md b/src/server/README.md deleted file mode 100644 index 837c1c0b7..000000000 --- a/src/server/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# Gatekeeper - -Security module for botting, rate limiting, fingerprinting, etc. diff --git a/src/server/Worker.ts b/src/server/Worker.ts index 69a712c32..2ffb25675 100644 --- a/src/server/Worker.ts +++ b/src/server/Worker.ts @@ -20,7 +20,6 @@ import { CreateGameInputSchema, GameInputSchema } from "../core/WorkerSchemas"; import { archive, readGameRecord } from "./Archive"; import { Client } from "./Client"; import { GameManager } from "./GameManager"; -import { gatekeeper, LimiterType } from "./Gatekeeper"; import { getUserMe, verifyClientToken } from "./jwt"; import { logger } from "./Logger"; import { rankingService } from "./RankingService"; @@ -90,431 +89,382 @@ export async function startWorker() { }), ); - app.post( - "/api/create_game/:id", - gatekeeper.httpHandler(LimiterType.Post, async (req, res) => { - const id = req.params.id; - const creatorClientID = (() => { - if (typeof req.query.creatorClientID !== "string") return undefined; + app.post("/api/create_game/:id", async (req, res) => { + const id = req.params.id; + const creatorClientID = (() => { + if (typeof req.query.creatorClientID !== "string") return undefined; - const trimmed = req.query.creatorClientID.trim(); - return ID.safeParse(trimmed).success ? trimmed : undefined; - })(); + const trimmed = req.query.creatorClientID.trim(); + return ID.safeParse(trimmed).success ? trimmed : undefined; + })(); - if (!id) { - log.warn(`cannot create game, id not found`); - return res.status(400).json({ error: "Game ID is required" }); - } - // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing - const clientIP = req.ip || req.socket.remoteAddress || "unknown"; - const result = CreateGameInputSchema.safeParse(req.body); - if (!result.success) { - const error = z.prettifyError(result.error); - return res.status(400).json({ error }); - } + if (!id) { + log.warn(`cannot create game, id not found`); + return res.status(400).json({ error: "Game ID is required" }); + } + // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing + const clientIP = req.ip || req.socket.remoteAddress || "unknown"; + const result = CreateGameInputSchema.safeParse(req.body); + if (!result.success) { + const error = z.prettifyError(result.error); + return res.status(400).json({ error }); + } - const gc = result.data; - if ( - gc?.gameType === GameType.Public && - req.headers[config.adminHeader()] !== config.adminToken() - ) { - log.warn( - `cannot create public game ${id}, ip ${ipAnonymize(clientIP)} incorrect admin token`, - ); - return res.status(401).send("Unauthorized"); - } + const gc = result.data; + if ( + gc?.gameType === GameType.Public && + req.headers[config.adminHeader()] !== config.adminToken() + ) { + log.warn( + `cannot create public game ${id}, ip ${ipAnonymize(clientIP)} incorrect admin token`, + ); + return res.status(401).send("Unauthorized"); + } - // Double-check this worker should host this game - const expectedWorkerId = config.workerIndex(id); - if (expectedWorkerId !== workerId) { - log.warn( - `This game ${id} should be on worker ${expectedWorkerId}, but this is worker ${workerId}`, - ); - return res.status(400).json({ error: "Worker, game id mismatch" }); - } + // Double-check this worker should host this game + const expectedWorkerId = config.workerIndex(id); + if (expectedWorkerId !== workerId) { + log.warn( + `This game ${id} should be on worker ${expectedWorkerId}, but this is worker ${workerId}`, + ); + return res.status(400).json({ error: "Worker, game id mismatch" }); + } - // Pass creatorClientID to createGame - const game = gm.createGame(id, gc, creatorClientID); + // Pass creatorClientID to createGame + const game = gm.createGame(id, gc, creatorClientID); - log.info( - `Worker ${workerId}: IP ${ipAnonymize(clientIP)} creating ${game.isPublic() ? "Public" : "Private"}${gc?.gameMode ? ` ${gc.gameMode}` : ""} game with id ${id}${creatorClientID ? `, creator: ${creatorClientID}` : ""}`, - ); - res.json(game.gameInfo()); - }), - ); + log.info( + `Worker ${workerId}: IP ${ipAnonymize(clientIP)} creating ${game.isPublic() ? "Public" : "Private"}${gc?.gameMode ? ` ${gc.gameMode}` : ""} game with id ${id}${creatorClientID ? `, creator: ${creatorClientID}` : ""}`, + ); + res.json(game.gameInfo()); + }); // Add other endpoints from your original server - app.post( - "/api/start_game/:id", - gatekeeper.httpHandler(LimiterType.Post, async (req, res) => { - log.info(`starting private lobby with id ${req.params.id}`); - const game = gm.game(req.params.id); - if (!game) { - return; - } - if (game.isPublic()) { - // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing - const clientIP = req.ip || req.socket.remoteAddress || "unknown"; - log.info( - `cannot start public game ${game.id}, game is public, ip: ${ipAnonymize(clientIP)}`, - ); - return; - } - game.start(); - res.status(200).json({ success: true }); - }), - ); - - app.put( - "/api/game/:id", - gatekeeper.httpHandler(LimiterType.Put, async (req, res) => { - const result = GameInputSchema.safeParse(req.body); - if (!result.success) { - const error = z.prettifyError(result.error); - return res.status(400).json({ error }); - } - const config = result.data; - // TODO: only update public game if from local host - const lobbyID = req.params.id; - if (config.gameType === GameType.Public) { - log.info(`cannot update game ${lobbyID} to public`); - return res.status(400).json({ error: "Cannot update public game" }); - } - const game = gm.game(lobbyID); - if (!game) { - return res.status(400).json({ error: "Game not found" }); - } - if (game.isPublic()) { - // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing - const clientIP = req.ip || req.socket.remoteAddress || "unknown"; - log.warn( - `cannot update public game ${game.id}, ip: ${ipAnonymize(clientIP)}`, - ); - return res.status(400).json({ error: "Cannot update public game" }); - } - if (game.hasStarted()) { - log.warn(`cannot update game ${game.id} after it has started`); - return res - .status(400) - .json({ error: "Cannot update game after it has started" }); - } - game.updateGameConfig(config); - res.status(200).json({ success: true }); - }), - ); + app.post("/api/start_game/:id", async (req, res) => { + log.info(`starting private lobby with id ${req.params.id}`); + const game = gm.game(req.params.id); + if (!game) { + return; + } + if (game.isPublic()) { + // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing + const clientIP = req.ip || req.socket.remoteAddress || "unknown"; + log.info( + `cannot start public game ${game.id}, game is public, ip: ${ipAnonymize(clientIP)}`, + ); + return; + } + game.start(); + res.status(200).json({ success: true }); + }); - app.get( - "/api/game/:id/exists", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const lobbyId = req.params.id; - res.json({ - exists: gm.game(lobbyId) !== null, - }); - }), - ); + app.put("/api/game/:id", async (req, res) => { + const result = GameInputSchema.safeParse(req.body); + if (!result.success) { + const error = z.prettifyError(result.error); + return res.status(400).json({ error }); + } + const config = result.data; + // TODO: only update public game if from local host + const lobbyID = req.params.id; + if (config.gameType === GameType.Public) { + log.info(`cannot update game ${lobbyID} to public`); + return res.status(400).json({ error: "Cannot update public game" }); + } + const game = gm.game(lobbyID); + if (!game) { + return res.status(400).json({ error: "Game not found" }); + } + if (game.isPublic()) { + // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing + const clientIP = req.ip || req.socket.remoteAddress || "unknown"; + log.warn( + `cannot update public game ${game.id}, ip: ${ipAnonymize(clientIP)}`, + ); + return res.status(400).json({ error: "Cannot update public game" }); + } + if (game.hasStarted()) { + log.warn(`cannot update game ${game.id} after it has started`); + return res + .status(400) + .json({ error: "Cannot update game after it has started" }); + } + game.updateGameConfig(config); + res.status(200).json({ success: true }); + }); - app.get( - "/api/game/:id", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const game = gm.game(req.params.id); - if (game === null) { - log.info(`lobby ${req.params.id} not found`); - return res.status(404).json({ error: "Game not found" }); - } - res.json(game.gameInfo()); - }), - ); + app.get("/api/game/:id/exists", async (req, res) => { + const lobbyId = req.params.id; + res.json({ + exists: gm.game(lobbyId) !== null, + }); + }); - app.post( - "/api/lobby/:id/messages", - gatekeeper.httpHandler(LimiterType.Post, async (req, res) => { - const lobbyId = req.params.id; - log.info(`Received lobby message POST for lobby ${lobbyId}`, { - body: req.body, - }); - const game = gm.game(lobbyId); + app.get("/api/game/:id", async (req, res) => { + const game = gm.game(req.params.id); + if (game === null) { + log.info(`lobby ${req.params.id} not found`); + return res.status(404).json({ error: "Game not found" }); + } + res.json(game.gameInfo()); + }); - if (!game) { - log.info(`lobby ${lobbyId} not found for message`); - return res.status(404).json({ error: "Game not found" }); - } + app.post("/api/lobby/:id/messages", async (req, res) => { + const lobbyId = req.params.id; + log.info(`Received lobby message POST for lobby ${lobbyId}`, { + body: req.body, + }); + const game = gm.game(lobbyId); - // Validate request body - const MessageSchema = z.object({ - clientID: ID, - username: z.string().min(1).max(50), - text: z.string().max(300), - }); + if (!game) { + log.info(`lobby ${lobbyId} not found for message`); + return res.status(404).json({ error: "Game not found" }); + } - const result = MessageSchema.safeParse(req.body); - if (!result.success) { - const error = z.prettifyError(result.error); - log.warn(`Invalid lobby message body`, { error }); - return res.status(400).json({ error }); - } + // Validate request body + const MessageSchema = z.object({ + clientID: ID, + username: z.string().min(1).max(50), + text: z.string().max(300), + }); - const { clientID, username, text } = result.data; + const result = MessageSchema.safeParse(req.body); + if (!result.success) { + const error = z.prettifyError(result.error); + log.warn(`Invalid lobby message body`, { error }); + return res.status(400).json({ error }); + } - // Add the message (GameServer will validate chat is enabled) - log.info(`Adding lobby message`, { lobbyId, clientID, username, text }); - game.addLobbyMessage(clientID, username, text); + const { clientID, username, text } = result.data; - res.status(200).json({ success: true }); - }), - ); + // Add the message (GameServer will validate chat is enabled) + log.info(`Adding lobby message`, { lobbyId, clientID, username, text }); + game.addLobbyMessage(clientID, username, text); - app.get( - "/api/archived_game/:id", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const gameRecord = await readGameRecord(req.params.id); + res.status(200).json({ success: true }); + }); - if (!gameRecord) { - return res.status(404).json({ - success: false, - error: "Game not found", - exists: false, - }); - } + app.get("/api/archived_game/:id", async (req, res) => { + const gameRecord = await readGameRecord(req.params.id); - if ( - config.env() !== GameEnv.Dev && - gameRecord.gitCommit !== config.gitCommit() - ) { - log.warn( - `git commit mismatch for game ${req.params.id}, expected ${config.gitCommit()}, got ${gameRecord.gitCommit}`, - ); - return res.status(409).json({ - success: false, - error: "Version mismatch", - exists: true, - details: { - expectedCommit: config.gitCommit(), - actualCommit: gameRecord.gitCommit, - }, - }); - } + if (!gameRecord) { + return res.status(404).json({ + success: false, + error: "Game not found", + exists: false, + }); + } - return res.status(200).json({ - success: true, + if ( + config.env() !== GameEnv.Dev && + gameRecord.gitCommit !== config.gitCommit() + ) { + log.warn( + `git commit mismatch for game ${req.params.id}, expected ${config.gitCommit()}, got ${gameRecord.gitCommit}`, + ); + return res.status(409).json({ + success: false, + error: "Version mismatch", exists: true, - gameRecord: gameRecord, + details: { + expectedCommit: config.gitCommit(), + actualCommit: gameRecord.gitCommit, + }, }); - }), - ); + } - app.post( - "/api/archive_singleplayer_game", - gatekeeper.httpHandler(LimiterType.Post, async (req, res) => { - const result = GameRecordSchema.safeParse(req.body); - if (!result.success) { - const error = z.prettifyError(result.error); - log.info(error); - return res.status(400).json({ error }); - } + return res.status(200).json({ + success: true, + exists: true, + gameRecord: gameRecord, + }); + }); - const gameRecord: GameRecord = result.data; - archive(gameRecord); - res.json({ - success: true, - }); - }), - ); + app.post("/api/archive_singleplayer_game", async (req, res) => { + const result = GameRecordSchema.safeParse(req.body); + if (!result.success) { + const error = z.prettifyError(result.error); + log.info(error); + return res.status(400).json({ error }); + } - app.post( - "/api/kick_player/:gameID/:clientID", - gatekeeper.httpHandler(LimiterType.Post, async (req, res) => { - if (req.headers[config.adminHeader()] !== config.adminToken()) { - res.status(401).send("Unauthorized"); - return; - } + const gameRecord: GameRecord = result.data; + archive(gameRecord); + res.json({ + success: true, + }); + }); - const { gameID, clientID } = req.params; + app.post("/api/kick_player/:gameID/:clientID", async (req, res) => { + if (req.headers[config.adminHeader()] !== config.adminToken()) { + res.status(401).send("Unauthorized"); + return; + } - const game = gm.game(gameID); - if (!game) { - res.status(404).send("Game not found"); - return; - } + const { gameID, clientID } = req.params; - game.kickClient(clientID); - res.status(200).send("Player kicked successfully"); - }), - ); + const game = gm.game(gameID); + if (!game) { + res.status(404).send("Game not found"); + return; + } + + game.kickClient(clientID); + res.status(200).send("Player kicked successfully"); + }); // Rankings API endpoints - app.get( - "/api/rankings", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const limit = Math.min(parseInt(req.query.limit as string) || 100, 500); - const leaderboard = await rankingService.getLeaderboard(limit); - res.json({ - leaderboard, - totalPlayers: rankingService.getTotalPlayers(), - }); - }), - ); + app.get("/api/rankings", async (req, res) => { + const limit = Math.min(parseInt(req.query.limit as string) || 100, 500); + const leaderboard = await rankingService.getLeaderboard(limit); + res.json({ + leaderboard, + totalPlayers: rankingService.getTotalPlayers(), + }); + }); - app.get( - "/api/rankings/player/:persistentID", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const { persistentID } = req.params; - const ranking = rankingService.getPlayerRanking(persistentID); - if (!ranking) { - return res.status(404).json({ error: "Player not found" }); - } - const position = rankingService.getPlayerPosition(persistentID); - res.json({ - ranking, - position, - totalPlayers: rankingService.getTotalPlayers(), - }); - }), - ); + app.get("/api/rankings/player/:persistentID", async (req, res) => { + const { persistentID } = req.params; + const ranking = rankingService.getPlayerRanking(persistentID); + if (!ranking) { + return res.status(404).json({ error: "Player not found" }); + } + const position = rankingService.getPlayerPosition(persistentID); + res.json({ + ranking, + position, + totalPlayers: rankingService.getTotalPlayers(), + }); + }); - app.get( - "/api/rankings/clans", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const limit = Math.min(parseInt(req.query.limit as string) || 100, 500); - const leaderboard = await rankingService.getClanLeaderboard(limit); - res.json({ - leaderboard, - totalClans: rankingService.getTotalClans(), - }); - }), - ); + app.get("/api/rankings/clans", async (req, res) => { + const limit = Math.min(parseInt(req.query.limit as string) || 100, 500); + const leaderboard = await rankingService.getClanLeaderboard(limit); + res.json({ + leaderboard, + totalClans: rankingService.getTotalClans(), + }); + }); - app.get( - "/api/rankings/clan/:clanTag", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const { clanTag } = req.params; - const ranking = rankingService.getClanRanking(clanTag); - if (!ranking) { - return res.status(404).json({ error: "Clan not found" }); - } - const position = rankingService.getClanPosition(clanTag); - res.json({ - ranking, - position, - totalClans: rankingService.getTotalClans(), - }); - }), - ); + app.get("/api/rankings/clan/:clanTag", async (req, res) => { + const { clanTag } = req.params; + const ranking = rankingService.getClanRanking(clanTag); + if (!ranking) { + return res.status(404).json({ error: "Clan not found" }); + } + const position = rankingService.getClanPosition(clanTag); + res.json({ + ranking, + position, + totalClans: rankingService.getTotalClans(), + }); + }); - app.get( - "/api/rankings/hall-of-fame", - gatekeeper.httpHandler(LimiterType.Get, async (req, res) => { - const hallOfFame = rankingService.getHallOfFame(); - res.json({ hallOfFame }); - }), - ); + app.get("/api/rankings/hall-of-fame", async (req, res) => { + const hallOfFame = rankingService.getHallOfFame(); + res.json({ hallOfFame }); + }); // WebSocket handling wss.on("connection", (ws: WebSocket, req) => { - ws.on( - "message", - gatekeeper.wsHandler(req, async (message: string) => { - const forwarded = req.headers["x-forwarded-for"]; - const ip = Array.isArray(forwarded) - ? forwarded[0] - : // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing - forwarded || req.socket.remoteAddress || "unknown"; - - try { - // Parse and handle client messages - const parsed = ClientMessageSchema.safeParse( - JSON.parse(message.toString()), + ws.on("message", async (message: string) => { + const forwarded = req.headers["x-forwarded-for"]; + const ip = Array.isArray(forwarded) + ? forwarded[0] + : // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing + forwarded || req.socket.remoteAddress || "unknown"; + + try { + // Parse and handle client messages + const parsed = ClientMessageSchema.safeParse( + JSON.parse(message.toString()), + ); + if (!parsed.success) { + const error = z.prettifyError(parsed.error); + log.warn("Error parsing client message", error); + ws.send( + JSON.stringify({ + type: "error", + error: error.toString(), + } satisfies ServerErrorMessage), ); - if (!parsed.success) { - const error = z.prettifyError(parsed.error); - log.warn("Error parsing client message", error); - ws.send( - JSON.stringify({ - type: "error", - error: error.toString(), - } satisfies ServerErrorMessage), - ); - ws.close(1002, "ClientJoinMessageSchema"); - return; - } - const clientMsg = parsed.data; + ws.close(1002, "ClientJoinMessageSchema"); + return; + } + const clientMsg = parsed.data; + + if (clientMsg.type === "ping") { + // Ignore ping + return; + } else if (clientMsg.type !== "join") { + log.warn(`Invalid message before join: ${JSON.stringify(clientMsg)}`); + return; + } - if (clientMsg.type === "ping") { - // Ignore ping - return; - } else if (clientMsg.type !== "join") { - log.warn( - `Invalid message before join: ${JSON.stringify(clientMsg)}`, - ); - return; - } + // Verify this worker should handle this game + const expectedWorkerId = config.workerIndex(clientMsg.gameID); + if (expectedWorkerId !== workerId) { + log.warn( + `Worker mismatch: Game ${clientMsg.gameID} should be on worker ${expectedWorkerId}, but this is worker ${workerId}`, + ); + return; + } - // Verify this worker should handle this game - const expectedWorkerId = config.workerIndex(clientMsg.gameID); - if (expectedWorkerId !== workerId) { - log.warn( - `Worker mismatch: Game ${clientMsg.gameID} should be on worker ${expectedWorkerId}, but this is worker ${workerId}`, - ); - return; - } + const result = await verifyClientToken(clientMsg.token, config); + if (result === false) { + log.warn("Unauthorized: Invalid token"); + ws.close(1002, "Unauthorized"); + return; + } + const { persistentId, claims } = result; - const result = await verifyClientToken(clientMsg.token, config); + let roles: string[] | undefined; + + if (claims === null) { + // TODO: Verify that the persistendId is is not a registered player + } else { + // Verify token and get player permissions + const result = await getUserMe(clientMsg.token, config); if (result === false) { - log.warn("Unauthorized: Invalid token"); + log.warn("Unauthorized: Invalid session"); ws.close(1002, "Unauthorized"); return; } - const { persistentId, claims } = result; - - let roles: string[] | undefined; - - if (claims === null) { - // TODO: Verify that the persistendId is is not a registered player - } else { - // Verify token and get player permissions - const result = await getUserMe(clientMsg.token, config); - if (result === false) { - log.warn("Unauthorized: Invalid session"); - ws.close(1002, "Unauthorized"); - return; - } - roles = result.player.roles; - } + roles = result.player.roles; + } - // Create client and add to game - const client = new Client( - clientMsg.clientID, - persistentId, - claims, - roles, - ip, - clientMsg.username, - ws, - clientMsg.flag, - ); + // Create client and add to game + const client = new Client( + clientMsg.clientID, + persistentId, + claims, + roles, + ip, + clientMsg.username, + ws, + clientMsg.flag, + ); - const wasFound = gm.addClient( - client, - clientMsg.gameID, - clientMsg.lastTurn, - ); + const wasFound = gm.addClient( + client, + clientMsg.gameID, + clientMsg.lastTurn, + ); - if (!wasFound) { - log.info( - `game ${clientMsg.gameID} not found on worker ${workerId}`, - ); - // Handle game not found case - } - } catch (error) { - ws.close(1011, "Internal server error"); - log.warn( - `error handling websocket message for ${ipAnonymize(ip)}: ${error}`.substring( - 0, - 250, - ), - ); + if (!wasFound) { + log.info(`game ${clientMsg.gameID} not found on worker ${workerId}`); + // Handle game not found case } - }), - ); + } catch (error) { + ws.close(1011, "Internal server error"); + log.warn( + `error handling websocket message for ${ipAnonymize(ip)}: ${error}`.substring( + 0, + 250, + ), + ); + } + }); ws.on("error", (error: Error) => { if ((error as any).code === "WS_ERR_UNEXPECTED_RSV_1") { diff --git a/src/server/gatekeeper b/src/server/gatekeeper deleted file mode 160000 index f5f7e6362..000000000 --- a/src/server/gatekeeper +++ /dev/null @@ -1 +0,0 @@ -Subproject commit f5f7e6362f54fc0d7d7b1d74e60a62f83fa8fb3f From deb21d28f9e7b64bce0170a5675e39071343af84 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 01:36:22 +0100 Subject: [PATCH 02/34] pseudorandom.ts minor fixes (#2046) in src/core/pseudorandom.ts a helper function of nextint is defined but never used. instead, this.rng is used. those are replaced. also, shuffleArray originally would self-shuffle at i=0 for the conditional being i>=0, fixed to 0. - [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: jack_45183 --- src/core/PseudoRandom.ts | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/core/PseudoRandom.ts b/src/core/PseudoRandom.ts index 156499e42..c34b4321e 100644 --- a/src/core/PseudoRandom.ts +++ b/src/core/PseudoRandom.ts @@ -36,7 +36,7 @@ export class PseudoRandom { if (arr.length === 0) { throw new Error("array must not be empty"); } - return arr[Math.floor(this.rng() * arr.length)]; + return arr[this.nextInt(0, arr.length)]; } /** @@ -64,14 +64,14 @@ export class PseudoRandom { // Returns true with probability 1/odds. chance(odds: number): boolean { - return Math.floor(this.rng() * odds) === 0; + return this.nextInt(0, odds) === 0; } // Returns a shuffled copy of the array using Fisher-Yates algorithm. shuffleArray(array: T[]): T[] { const result = [...array]; - for (let i = result.length - 1; i >= 0; i--) { - const j = Math.floor(this.rng() * (i + 1)); + for (let i = result.length - 1; i > 0; i--) { + const j = this.nextInt(0, i + 1); [result[i], result[j]] = [result[j], result[i]]; } return result; From c9132c5bbdc67cbb510507c1424a5477a6abfd3d Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 01:37:35 +0100 Subject: [PATCH 03/34] Player names are hidden when zoomed in too much (#2043) Player names are hidden, except small sized fonts, when zoomed in too much(near max), improving user experience by allowing users to see structures clearly without the obstruction of text - [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(no need) - [x] I have added relevant tests to the test directory(n/a) - [x] I confirm I have thoroughly tested these changes and take full responsibility for any bugs introduced [video](https://streamable.com/e/mlrfqo?) regression is found: _federalagent --- src/client/graphics/layers/NameLayer.ts | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/client/graphics/layers/NameLayer.ts b/src/client/graphics/layers/NameLayer.ts index 138eecfa5..bd93f8a10 100644 --- a/src/client/graphics/layers/NameLayer.ts +++ b/src/client/graphics/layers/NameLayer.ts @@ -153,8 +153,14 @@ export class NameLayer implements Layer { const isOnScreen = render.location ? this.transformHandler.isOnScreen(render.location) : false; + const maxZoomScale = 17; - if (!this.isVisible || size < 7 || !isOnScreen) { + if ( + !this.isVisible || + size < 7 || + (this.transformHandler.scale > maxZoomScale && size > 100) || + !isOnScreen + ) { render.element.style.display = "none"; } else { render.element.style.display = "flex"; From e50ad979a02fa0f900138033bc0f81befdea6b7b Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 01:48:16 +0100 Subject: [PATCH 04/34] Add test for nation name length and fix names exceeding 27 chars (#2122) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Added tests/NationNameLength.test.ts to enforce nation name length ≤27. Updated manifest.json files in resources/maps with shorter names to pass the test. This fix ensures that names will no longer be truncated Examples of country names that are too long and have their endings cut off スクリーンショット 2025-10-01 10 51 40 - Replaced overly long country names with shorter common forms: - "The Democratic Republic of the Congo" -> "DR Congo" - "Democratic Republic of the Congo" -> "DR Congo" - "Lao People's Democratic Republic" -> "Laos" - "Federated States of Micronesia" -> "Micronesia" - "People's Democratic Republic of Algeria" -> "Algeria" - "People's Republic of Algeria'" -> "Algeria" - [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: aotumuri --- resources/maps/Africa/Africa.json | 2 +- resources/maps/Europe/Europe.json | 2 +- .../GatewayToTheAtlantic.json | 2 +- resources/maps/Oceania/Oceania.json | 4 +- resources/maps/WorldMap/WorldMap.json | 2 +- tests/NationNameLength.test.ts | 55 +++++++++++++++++++ 6 files changed, 61 insertions(+), 6 deletions(-) create mode 100644 tests/NationNameLength.test.ts diff --git a/resources/maps/Africa/Africa.json b/resources/maps/Africa/Africa.json index 0866bcc94..02ae426db 100644 --- a/resources/maps/Africa/Africa.json +++ b/resources/maps/Africa/Africa.json @@ -89,7 +89,7 @@ }, { "coordinates": [1094, 1093], - "name": "Democratic Republic of the Congo", + "name": "DR Congo", "strength": 2, "flag": "cd" }, diff --git a/resources/maps/Europe/Europe.json b/resources/maps/Europe/Europe.json index 33ff48987..931faa8d3 100644 --- a/resources/maps/Europe/Europe.json +++ b/resources/maps/Europe/Europe.json @@ -155,7 +155,7 @@ }, { "coordinates": [517, 1483], - "name": "People's Democratic Republic of Algeria", + "name": "Algeria", "strength": 1, "flag": "dz" }, diff --git a/resources/maps/GatewayToTheAtlantic/GatewayToTheAtlantic.json b/resources/maps/GatewayToTheAtlantic/GatewayToTheAtlantic.json index 0f90f7fb3..425aab631 100644 --- a/resources/maps/GatewayToTheAtlantic/GatewayToTheAtlantic.json +++ b/resources/maps/GatewayToTheAtlantic/GatewayToTheAtlantic.json @@ -71,7 +71,7 @@ }, { "coordinates": [1609, 1837], - "name": "People's Republic of Algeria'", + "name": "Algeria", "strength": 2, "flag": "dz" }, diff --git a/resources/maps/Oceania/Oceania.json b/resources/maps/Oceania/Oceania.json index 483bb6454..d534f21f0 100644 --- a/resources/maps/Oceania/Oceania.json +++ b/resources/maps/Oceania/Oceania.json @@ -71,7 +71,7 @@ }, { "coordinates": [143, 37], - "name": "Lao People's Democratic Republic", + "name": "Lao PDR", "strength": 1, "flag": "la" }, @@ -101,7 +101,7 @@ }, { "coordinates": [834, 215], - "name": "Federated States of Micronesia", + "name": "Micronesia", "strength": 1, "flag": "fm" }, diff --git a/resources/maps/WorldMap/WorldMap.json b/resources/maps/WorldMap/WorldMap.json index e195c7309..5b0e0dbdd 100644 --- a/resources/maps/WorldMap/WorldMap.json +++ b/resources/maps/WorldMap/WorldMap.json @@ -239,7 +239,7 @@ }, { "coordinates": [1074, 508], - "name": "The Democratic Republic of the Congo", + "name": "DR Congo", "strength": 1, "flag": "cd" }, diff --git a/tests/NationNameLength.test.ts b/tests/NationNameLength.test.ts new file mode 100644 index 000000000..5bfc4960b --- /dev/null +++ b/tests/NationNameLength.test.ts @@ -0,0 +1,55 @@ +import fs from "fs"; +import { globSync } from "glob"; +import path from "path"; + +type Nation = { + name?: string; +}; + +type Manifest = { + nations?: Nation[]; +}; + +describe("Map manifests: nation name length constraint", () => { + test("All nations' names must be ≤ 27 characters", () => { + const manifestPaths = globSync( + path.resolve(process.cwd(), "resources/maps/**/manifest.json"), + ); + + expect(manifestPaths.length).toBeGreaterThan(0); + + const violations: string[] = []; + + for (const manifestPath of manifestPaths) { + try { + const raw = fs.readFileSync(manifestPath, "utf8"); + const manifest = JSON.parse(raw) as Manifest; + + (manifest.nations ?? []).forEach((nation, idx) => { + const name = nation?.name; + if (typeof name !== "string") { + violations.push( + `${manifestPath} -> nations[${idx}].name is not a string`, + ); + return; + } + if (name.length > 27) { + violations.push( + `${manifestPath} -> nations[${idx}].name "${name}" has length ${name.length} (> 27)`, + ); + } + }); + } catch (err) { + violations.push( + `Failed to parse ${manifestPath}: ${(err as Error).message}`, + ); + } + } + + if (violations.length > 0) { + throw new Error( + "Nation name length violations:\n" + violations.join("\n"), + ); + } + }); +}); From 91fa6fbbf518a7bf2048d3d6f59a1e5412c01aa6 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 01:50:25 +0100 Subject: [PATCH 05/34] refactor: simplify manifest path resolution in nation name length test --- tests/NationNameLength.test.ts | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tests/NationNameLength.test.ts b/tests/NationNameLength.test.ts index 5bfc4960b..66216125f 100644 --- a/tests/NationNameLength.test.ts +++ b/tests/NationNameLength.test.ts @@ -1,6 +1,5 @@ import fs from "fs"; import { globSync } from "glob"; -import path from "path"; type Nation = { name?: string; @@ -12,9 +11,10 @@ type Manifest = { describe("Map manifests: nation name length constraint", () => { test("All nations' names must be ≤ 27 characters", () => { - const manifestPaths = globSync( - path.resolve(process.cwd(), "resources/maps/**/manifest.json"), - ); + const manifestPaths = globSync("resources/maps/*/*.json", { + cwd: process.cwd(), + absolute: true, + }); expect(manifestPaths.length).toBeGreaterThan(0); From 506c1b82a64f16b3ca029c0806109203d5c851ac Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 01:53:24 +0100 Subject: [PATCH 06/34] feat: add spectate option and track win state in WinModal --- resources/lang/en.json | 1 + src/client/graphics/layers/WinModal.ts | 11 ++++++++++- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/resources/lang/en.json b/resources/lang/en.json index 76f768c9a..67fce0104 100644 --- a/resources/lang/en.json +++ b/resources/lang/en.json @@ -545,6 +545,7 @@ "other_won": "{player} has won!", "exit": "Exit Game", "keep": "Keep Playing", + "spectate": "Spectate", "wishlist": "Wishlist on Steam!", "save_replay": "Save Replay", "encoding_replay": "Encoding replay...", diff --git a/src/client/graphics/layers/WinModal.ts b/src/client/graphics/layers/WinModal.ts index e783a1dd1..68224fab8 100644 --- a/src/client/graphics/layers/WinModal.ts +++ b/src/client/graphics/layers/WinModal.ts @@ -36,6 +36,9 @@ export class WinModal extends LitElement implements Layer { @state() private showReplayOptions: boolean = false; + @state() + private isWin = false; + @state() private encodeError: string = ""; @@ -246,7 +249,9 @@ export class WinModal extends LitElement implements Layer { ${translateText("win_modal.exit")} @@ -343,10 +348,12 @@ export class WinModal extends LitElement implements Layer { this.eventBus.emit(new SendWinnerEvent(wu.winner, wu.allPlayersStats)); if (wu.winner[1] === this.game.myPlayer()?.team()) { this._title = translateText("win_modal.your_team"); + this.isWin = true; } else { this._title = translateText("win_modal.other_team", { team: wu.winner[1], }); + this.isWin = false; } this.show(); } else { @@ -363,10 +370,12 @@ export class WinModal extends LitElement implements Layer { winnerClient === this.game.myPlayer()?.clientID() ) { this._title = translateText("win_modal.you_won"); + this.isWin = true; } else { this._title = translateText("win_modal.other_won", { player: winner.name(), }); + this.isWin = false; } this.show(); } From 4704e6f46eb2d75bcbf9001bb890f95f050ea037 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 01:55:22 +0100 Subject: [PATCH 07/34] refactor: streamline SAM Launcher range calculation by removing localStorage dependency --- .../graphics/layers/RangeOverlayLayer.ts | 22 +++++-------------- 1 file changed, 5 insertions(+), 17 deletions(-) diff --git a/src/client/graphics/layers/RangeOverlayLayer.ts b/src/client/graphics/layers/RangeOverlayLayer.ts index 6172bb2a8..97f4110f4 100644 --- a/src/client/graphics/layers/RangeOverlayLayer.ts +++ b/src/client/graphics/layers/RangeOverlayLayer.ts @@ -425,25 +425,13 @@ export class RangeOverlayLayer implements Layer { if (type === UnitType.DefensePost) return this.game.config().defensePostRange(); if (type === UnitType.SAMLauncher) { - // Get the selected build level from localStorage (same as BuildMenu) - let desiredLevel = 1; - try { - const raw = localStorage.getItem("buildSettings.levels"); - if (raw) { - const obj = JSON.parse(raw); - const val = obj?.[String(type)]; - if (typeof val === "number" && val >= 1) { - desiredLevel = Math.min(3, val); // SAM max level is 3 - } - } - } catch (_) { - // Fall back to level 1 - } - const base = this.game.config().defaultSamRange(); - if (desiredLevel <= 1) return base; + const myPlayer = this.game.myPlayer(); + if (!myPlayer) return base; + const lvl = playerMaxStructureTechLevel(myPlayer, UnitType.SAMLauncher); + if (lvl <= 1) return base; const bonus = this.game.config().samRangeUpgradePercent(); - const factor = Math.pow(1 + bonus, desiredLevel - 1); + const factor = Math.pow(1 + bonus, lvl - 1); return Math.round(base * factor); } if (type === UnitType.Airfield) { From 1977809c3b681c64d8fd1876ae1bfb3de9103177 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 01:59:30 +0100 Subject: [PATCH 08/34] refactor: remove unused player focus logic and clean up related methods --- src/client/ClientGameRunner.ts | 46 ------------------------- src/client/Main.ts | 6 ---- src/client/graphics/TransformHandler.ts | 1 - src/core/game/GameView.ts | 4 --- 4 files changed, 57 deletions(-) diff --git a/src/client/ClientGameRunner.ts b/src/client/ClientGameRunner.ts index fbd598873..18877630e 100644 --- a/src/client/ClientGameRunner.ts +++ b/src/client/ClientGameRunner.ts @@ -583,13 +583,6 @@ export class ClientGameRunner { } else if (this.canBoatAttack(actions, tile)) { this.sendBoatAttackIntent(tile); } - - const owner = this.gameView.owner(tile); - if (owner.isPlayer()) { - this.gameView.setFocusedPlayer(owner as PlayerView); - } else { - this.gameView.setFocusedPlayer(null); - } }); } @@ -695,45 +688,6 @@ export class ClientGameRunner { private onMouseMove(event: MouseMoveEvent) { this.lastMousePosition = { x: event.x, y: event.y }; - this.checkTileUnderCursor(); - } - - private checkTileUnderCursor() { - if (!this.lastMousePosition || !this.renderer.transformHandler) return; - - const cell = this.renderer.transformHandler.screenToWorldCoordinates( - this.lastMousePosition.x, - this.lastMousePosition.y, - ); - - if (!cell || !this.gameView.isValidCoord(cell.x, cell.y)) { - return; - } - - const tile = this.gameView.ref(cell.x, cell.y); - - if (this.gameView.isLand(tile)) { - const owner = this.gameView.owner(tile); - if (owner.isPlayer()) { - this.gameView.setFocusedPlayer(owner as PlayerView); - } else { - this.gameView.setFocusedPlayer(null); - } - } else { - const units = this.gameView - .nearbyUnits(tile, 50, [ - UnitType.Warship, - UnitType.TradeShip, - UnitType.TransportShip, - ]) - .sort((a, b) => a.distSquared - b.distSquared); - - if (units.length > 0) { - this.gameView.setFocusedPlayer(units[0].unit.owner() as PlayerView); - } else { - this.gameView.setFocusedPlayer(null); - } - } } private onConnectionCheck() { diff --git a/src/client/Main.ts b/src/client/Main.ts index 29f6598c2..03f4553c5 100644 --- a/src/client/Main.ts +++ b/src/client/Main.ts @@ -279,12 +279,6 @@ class Client { } }); - // const ctModal = document.querySelector("chat-modal") as ChatModal; - // ctModal instanceof ChatModal; - // document.getElementById("chat-button").addEventListener("click", () => { - // ctModal.open(); - // }); - const hlpModal = document.querySelector("help-modal") as HelpModal; hlpModal instanceof HelpModal; const helpButton = document.getElementById("help-button"); diff --git a/src/client/graphics/TransformHandler.ts b/src/client/graphics/TransformHandler.ts index 47b569d5a..a493b64fc 100644 --- a/src/client/graphics/TransformHandler.ts +++ b/src/client/graphics/TransformHandler.ts @@ -158,7 +158,6 @@ export class TransformHandler { } onGoToPlayer(event: GoToPlayerEvent) { - this.game.setFocusedPlayer(event.player); this.clearTarget(); const nameLocation = event.player.nameLocation(); if (!nameLocation) { diff --git a/src/core/game/GameView.ts b/src/core/game/GameView.ts index eb5547b2f..d24c41ecf 100644 --- a/src/core/game/GameView.ts +++ b/src/core/game/GameView.ts @@ -515,7 +515,6 @@ export class GameView implements GameMap { private updatedTiles: TileRef[] = []; private _myPlayer: PlayerView | null = null; - private _focusedPlayer: PlayerView | null = null; private _alliances: AllianceViewData[] = []; // Submarine periodic pings removed; ghosts are used instead private _submarineGhosts: Map< @@ -950,9 +949,6 @@ export class GameView implements GameMap { // TODO: renable when performance issues are fixed. return this.myPlayer(); } - setFocusedPlayer(player: PlayerView | null): void { - this._focusedPlayer = player; - } // isUnitPeriodicallyVisible removed with ping feature } From c6de46d649873909c38782ac0d59ca83fe225619 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:00:59 +0100 Subject: [PATCH 09/34] bugfix: check if modal is not null before checking if it contains isModalOpen --- src/client/Main.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/client/Main.ts b/src/client/Main.ts index 03f4553c5..941f4d05a 100644 --- a/src/client/Main.ts +++ b/src/client/Main.ts @@ -562,7 +562,7 @@ class Client { }; if (modal?.close) { modal.close(); - } else if ("isModalOpen" in modal) { + } else if (modal && "isModalOpen" in modal) { modal.isModalOpen = false; } }); From 4742176d7dc9e24b1002268247b79b2aa4b115ee Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:03:14 +0100 Subject: [PATCH 10/34] refactor: rename canBoatAttack to canAutoBoat and simplify its logic --- src/client/ClientGameRunner.ts | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/src/client/ClientGameRunner.ts b/src/client/ClientGameRunner.ts index 18877630e..715c8e2d8 100644 --- a/src/client/ClientGameRunner.ts +++ b/src/client/ClientGameRunner.ts @@ -580,7 +580,7 @@ export class ClientGameRunner { this.myPlayer.troops() * this.renderer.uiState.attackRatio, ), ); - } else if (this.canBoatAttack(actions, tile)) { + } else if (this.canAutoBoat(actions, tile)) { this.sendBoatAttackIntent(tile); } }); @@ -599,7 +599,7 @@ export class ClientGameRunner { } this.myPlayer.actions(tile).then((actions) => { - if (this.canBoatAttack(actions, tile)) { + if (this.canBoatAttack(actions) !== false) { this.sendBoatAttackIntent(tile); } }); @@ -647,7 +647,7 @@ export class ClientGameRunner { return this.gameView.ref(cell.x, cell.y); } - private canBoatAttack(actions: PlayerActions, tile: TileRef): boolean { + private canBoatAttack(actions: PlayerActions): false | TileRef { const bu = actions.buildableUnits.find( (bu) => bu.type === UnitType.TransportShip, ); @@ -655,7 +655,7 @@ export class ClientGameRunner { console.warn(`no transport ship buildable units`); return false; } - return bu.canBuild !== false && this.gameView.isLand(tile); + return bu.canBuild; } private sendBoatAttackIntent(tile: TileRef) { @@ -674,16 +674,20 @@ export class ClientGameRunner { }); } - private shouldBoat(tile: TileRef, src: TileRef) { + private canAutoBoat(actions: PlayerActions, tile: TileRef): boolean { + if (!this.gameView.isLand(tile)) return false; + + const canBuild = this.canBoatAttack(actions); + if (canBuild === false) return false; + // TODO: Global enable flag // TODO: Global limit autoboat to nearby shore flag // if (!enableAutoBoat) return false; // if (!limitAutoBoatNear) return true; - const distanceSquared = this.gameView.euclideanDistSquared(tile, src); + const distanceSquared = this.gameView.euclideanDistSquared(tile, canBuild); const limit = 100; const limitSquared = limit * limit; - if (distanceSquared > limitSquared) return false; - return true; + return distanceSquared < limitSquared; } private onMouseMove(event: MouseMoveEvent) { From d5ec1dc72f40aac77f877b7fd7bf479fc41c7782 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:05:17 +0100 Subject: [PATCH 11/34] refactor: update pathfinding logic to use path index for tile retrieval --- src/core/pathfinding/PathFinding.ts | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/src/core/pathfinding/PathFinding.ts b/src/core/pathfinding/PathFinding.ts index 2f20f17d5..44c4f3f52 100644 --- a/src/core/pathfinding/PathFinding.ts +++ b/src/core/pathfinding/PathFinding.ts @@ -162,6 +162,7 @@ export class PathFinder { private curr: TileRef | null = null; private dst: TileRef | null = null; private path: TileRef[] | null = null; + private path_idx: number = 0; private aStar: AStar; private computeFinished = true; @@ -203,6 +204,7 @@ export class PathFinder { return { type: PathFindResultType.PathNotFound }; } if (this.game.manhattanDist(curr, dst) < dist) { + this.path = null; return { type: PathFindResultType.Completed, node: curr }; } @@ -211,11 +213,12 @@ export class PathFinder { this.curr = curr; this.dst = dst; this.path = null; + this.path_idx = 0; this.aStar = this.newAStar(curr, dst); this.computeFinished = false; return this.nextTile(curr, dst); } else { - const tile = this.path?.shift(); + const tile = this.path?.[this.path_idx++]; if (tile === undefined) { // Path exhausted unexpectedly. If already within step distance, report completion. if (this.game.manhattanDist(curr, dst) < dist) { @@ -225,6 +228,7 @@ export class PathFinder { this.curr = curr; this.dst = dst; this.path = null; + this.path_idx = 0; this.aStar = this.newAStar(curr, dst); this.computeFinished = false; return this.nextTile(curr, dst); @@ -237,8 +241,9 @@ export class PathFinder { case PathFindResultType.Completed: this.computeFinished = true; this.path = this.aStar.reconstructPath(); - // Remove the start tile - this.path.shift(); + + // exclude first tile + this.path_idx = 1; // If the reconstructed path is empty, fall back to completion or path-not-found handling. if (!this.path || this.path.length === 0) { if (this.game.manhattanDist(curr, dst) < dist) { From 71833c354a9fafbc133170d2bb1d79627d1aeeb3 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:06:55 +0100 Subject: [PATCH 12/34] Fix socket log (#2369) Fix null socket crashing the log - [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: Mr.Box --- src/client/Transport.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/client/Transport.ts b/src/client/Transport.ts index e7ce1a71c..cd9dbdf8e 100644 --- a/src/client/Transport.ts +++ b/src/client/Transport.ts @@ -853,7 +853,7 @@ export class Transport { } else { console.log( "WebSocket is not open. Current state:", - this.socket!.readyState, + this.socket?.readyState, ); console.log("attempting reconnect"); } From ef5580a99cd99f5ff6a2eb5c38430bb465f13e51 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:08:13 +0100 Subject: [PATCH 13/34] fix(replay): change text to 'replay speed' when watching a replay #2357 (#2365) Before, the condition was "if it's not singleplayer", but replays are counted as singleplayer game for some reason (will need to fix the underlying issue) so it wasn't robust enough Now the condition is based on are we in replay or not,. Related to issue https://github.com/openfrontio/OpenFrontIO/issues/2357 I cannot get to replay games locally for some reason (client just throws an error that it cannot load the lobby), so I made sure that the singleplayer text did not change (at least no regression) cf screenshot: Screenshot 2025-11-02 at 17 46 57 - [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: sorikairo --- src/client/graphics/layers/ReplayPanel.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/client/graphics/layers/ReplayPanel.ts b/src/client/graphics/layers/ReplayPanel.ts index da53f125a..2830fec26 100644 --- a/src/client/graphics/layers/ReplayPanel.ts +++ b/src/client/graphics/layers/ReplayPanel.ts @@ -81,9 +81,9 @@ export class ReplayPanel extends LitElement implements Layer { style="color: var(--ui-text-accent)" translate="no" > - ${this._isSinglePlayer - ? translateText("replay_panel.game_speed") - : translateText("replay_panel.replay_speed")} + ${this.game?.config()?.isReplay() + ? translateText("replay_panel.replay_speed") + : translateText("replay_panel.game_speed")}
${options.map( From 00ecbcbf6adbace25554633e28fe21046ba6ad5f Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:17:29 +0100 Subject: [PATCH 14/34] refactor: update ClusterTraversalState to use Uint32Array and simplify cluster calculation logic --- src/core/execution/PlayerExecution.ts | 119 +++++++++++++++++--------- 1 file changed, 78 insertions(+), 41 deletions(-) diff --git a/src/core/execution/PlayerExecution.ts b/src/core/execution/PlayerExecution.ts index df4708905..93319f4c5 100644 --- a/src/core/execution/PlayerExecution.ts +++ b/src/core/execution/PlayerExecution.ts @@ -18,8 +18,8 @@ import { calculateBoundingBox, getMode, inscribed, simpleHash } from "../Util"; // Traversal state for cluster calculation to avoid repeated allocations interface ClusterTraversalState { - visited: Uint8Array; - currentGen: number; + visited: Uint32Array; + gen: number; } // Per-game traversal state used by calculateClusters() to avoid per-player buffers. @@ -519,9 +519,13 @@ export class PlayerExecution implements Execution { } const firstTile = cluster.values().next().value; - const filter = (_, t: TileRef): boolean => - this.mg?.ownerID(t) === this.player?.smallID(); - const tiles = this.mg.bfs(firstTile, filter); + const tiles = this.floodFillWithGen( + this.bumpGeneration(), + this.traversalState().visited, + [firstTile], + (tile, cb) => this.mg.forEachNeighbor(tile, cb), + (tile) => this.mg.ownerID(tile) === this.player.smallID(), + ); if (this.player.numTilesOwned() === tiles.size) { const gold = this.player.gold(); @@ -586,54 +590,87 @@ export class PlayerExecution implements Execution { } private calculateClusters(): Set[] { - const border = this.player.borderTiles(); + const borderTiles = this.player.borderTiles(); + if (borderTiles.size === 0) return []; + + const state = this.traversalState(); + const currentGen = this.bumpGeneration(); + const visited = state.visited; + const clusters: Set[] = []; - // Get or create traversal state for this game instance + for (const startTile of borderTiles) { + if (visited[startTile] === currentGen) continue; + + const cluster = this.floodFillWithGen( + currentGen, + visited, + [startTile], + (tile, cb) => this.mg.forEachNeighborWithDiag(tile, cb), + (tile) => borderTiles.has(tile), + ); + clusters.push(cluster); + } + return clusters; + } + + private traversalState(): ClusterTraversalState { + const totalTiles = this.mg.width() * this.mg.height(); let state = traversalStates.get(this.mg); - if (!state) { + if (!state || state.visited.length < totalTiles) { state = { - visited: new Uint8Array(this.mg.width() * this.mg.height()), - currentGen: 1, + visited: new Uint32Array(totalTiles), + gen: 0, }; traversalStates.set(this.mg, state); } + return state; + } - // Increment generation instead of clearing the array - state.currentGen++; - if (state.currentGen === 255) { - // Wraparound: reset to 1 and clear array - state.currentGen = 1; + private bumpGeneration(): number { + const state = this.traversalState(); + state.gen++; + if (state.gen === 0xffffffff) { state.visited.fill(0); + state.gen = 1; } + return state.gen; + } - const currentGen = state.currentGen; - const visited = state.visited; - - for (const tile of border) { - if (visited[tile] === currentGen) { - continue; - } - - const cluster = new Set(); - const stack: TileRef[] = [tile]; - visited[tile] = currentGen; - - while (stack.length > 0) { - const curr = stack.pop(); - if (curr === undefined) throw new Error("curr is undefined"); - cluster.add(curr); - - this.mg.forEachNeighborWithDiag(curr, (neighbor) => { - if (border.has(neighbor) && visited[neighbor] !== currentGen) { - stack.push(neighbor); - visited[neighbor] = currentGen; - } - }); - } - clusters.push(cluster); + private floodFillWithGen( + currentGen: number, + visited: Uint32Array, + startTiles: TileRef[], + neighborFn: (tile: TileRef, callback: (neighbor: TileRef) => void) => void, + includeFn: (tile: TileRef) => boolean, + ): Set { + const result = new Set(); + const stack: TileRef[] = []; + + for (const start of startTiles) { + if (visited[start] === currentGen) continue; + if (!includeFn(start)) continue; + visited[start] = currentGen; + result.add(start); + stack.push(start); + } + + while (stack.length > 0) { + const tile = stack.pop()!; + neighborFn(tile, (neighbor) => { + if (visited[neighbor] === currentGen) { + return; + } + if (!includeFn(neighbor)) { + return; + } + visited[neighbor] = currentGen; + result.add(neighbor); + stack.push(neighbor); + }); } - return clusters; + + return result; } owner(): Player { From 758ec301ebc781c894a050a435e8cf4ab38ebaf2 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:19:21 +0100 Subject: [PATCH 15/34] refactor: optimize cluster selection logic to find the largest cluster in a single scan --- src/core/execution/PlayerExecution.ts | 25 +++++++++++++++++++------ 1 file changed, 19 insertions(+), 6 deletions(-) diff --git a/src/core/execution/PlayerExecution.ts b/src/core/execution/PlayerExecution.ts index 93319f4c5..f88c5880f 100644 --- a/src/core/execution/PlayerExecution.ts +++ b/src/core/execution/PlayerExecution.ts @@ -402,16 +402,29 @@ export class PlayerExecution implements Execution { } const clusters = this.calculateClusters(); - clusters.sort((a, b) => b.size - a.size); + if (clusters.length === 0) return; + + // Find the largest cluster with a single linear scan (O(n)). + let largestIndex = 0; + let largestSize = clusters[0].size; + for (let i = 1; i < clusters.length; i++) { + const size = clusters[i].size; + if (size > largestSize) { + largestSize = size; + largestIndex = i; + } + } - const main = clusters.shift(); - if (main === undefined) throw new Error("No clusters"); - const surroundedBy = this.surroundedBySamePlayer(main); + const largestCluster = clusters[largestIndex]; + const surroundedBy = this.surroundedBySamePlayer(largestCluster); if (surroundedBy && !this.player.isFriendly(surroundedBy)) { - this.removeCluster(main); + this.removeCluster(largestCluster); } - for (const cluster of clusters) { + // Process remaining clusters + for (let i = 0; i < clusters.length; i++) { + if (i === largestIndex) continue; + const cluster = clusters[i]; if (this.isSurrounded(cluster)) { const surroundingPlayer = this.getCapturingPlayer(cluster); if (surroundingPlayer) { From 97f0a5d74fc04884915dcba850d350d91ed0585a Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:22:36 +0100 Subject: [PATCH 16/34] fix: ensure canvas context is created with alpha set to false and set alpha channel to fully opaque --- src/client/graphics/layers/TerrainLayer.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/client/graphics/layers/TerrainLayer.ts b/src/client/graphics/layers/TerrainLayer.ts index a61ef2f4d..992b54267 100644 --- a/src/client/graphics/layers/TerrainLayer.ts +++ b/src/client/graphics/layers/TerrainLayer.ts @@ -33,7 +33,7 @@ export class TerrainLayer implements Layer { this.canvas.width = this.game.width(); this.canvas.height = this.game.height(); - const context = this.canvas.getContext("2d"); + const context = this.canvas.getContext("2d", { alpha: false }); if (context === null) throw new Error("2d context not supported"); this.context = context; @@ -56,7 +56,7 @@ export class TerrainLayer implements Layer { this.imageData.data[offset] = terrainColor.rgba.r; this.imageData.data[offset + 1] = terrainColor.rgba.g; this.imageData.data[offset + 2] = terrainColor.rgba.b; - this.imageData.data[offset + 3] = (terrainColor.rgba.a * 255) | 0; + this.imageData.data[offset + 3] = 255; }); } From 8b9b567391046c404ab7c1fb66d845aade3ecd7b Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:23:21 +0100 Subject: [PATCH 17/34] fix: create 2D canvas context with alpha set to false --- src/client/graphics/GameRenderer.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/client/graphics/GameRenderer.ts b/src/client/graphics/GameRenderer.ts index 34c8047d7..c8d46fdfe 100644 --- a/src/client/graphics/GameRenderer.ts +++ b/src/client/graphics/GameRenderer.ts @@ -348,7 +348,7 @@ export class GameRenderer { public uiState: UIState, private layers: Layer[], ) { - const context = canvas.getContext("2d"); + const context = canvas.getContext("2d", { alpha: false }); if (context === null) throw new Error("2d context not supported"); this.context = context; } From 80199d58a5cb125bf0b04f1a5ed023091a70f5a8 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:36:04 +0100 Subject: [PATCH 18/34] feat: implement WebSocket support for lobby updates and fallback polling --- src/client/LobbySocket.ts | 177 +++++++++++++++++++++++++++++++ src/client/PublicLobby.ts | 60 ++++------- src/server/Master.ts | 67 +++++++++++- tests/client/LobbySocket.test.ts | 116 ++++++++++++++++++++ webpack.config.js | 7 ++ 5 files changed, 380 insertions(+), 47 deletions(-) create mode 100644 src/client/LobbySocket.ts create mode 100644 tests/client/LobbySocket.test.ts diff --git a/src/client/LobbySocket.ts b/src/client/LobbySocket.ts new file mode 100644 index 000000000..f398da054 --- /dev/null +++ b/src/client/LobbySocket.ts @@ -0,0 +1,177 @@ +import { GameInfo } from "../core/Schemas"; + +type LobbyUpdateHandler = (lobbies: GameInfo[]) => void; + +interface LobbySocketOptions { + reconnectDelay?: number; + maxWsAttempts?: number; + pollIntervalMs?: number; +} + +export class PublicLobbySocket { + private ws: WebSocket | null = null; + private wsReconnectTimeout: number | null = null; + private fallbackPollInterval: number | null = null; + private wsConnectionAttempts = 0; + private wsAttemptCounted = false; + + private readonly reconnectDelay: number; + private readonly maxWsAttempts: number; + private readonly pollIntervalMs: number; + private readonly onLobbiesUpdate: LobbyUpdateHandler; + + constructor( + onLobbiesUpdate: LobbyUpdateHandler, + options?: LobbySocketOptions, + ) { + this.onLobbiesUpdate = onLobbiesUpdate; + this.reconnectDelay = options?.reconnectDelay ?? 3000; + this.maxWsAttempts = options?.maxWsAttempts ?? 3; + this.pollIntervalMs = options?.pollIntervalMs ?? 1000; + } + + start() { + this.wsConnectionAttempts = 0; + this.connectWebSocket(); + } + + stop() { + this.disconnectWebSocket(); + this.stopFallbackPolling(); + } + + private connectWebSocket() { + try { + // Clean up existing WebSocket before creating a new one + if (this.ws) { + this.ws.close(); + this.ws = null; + } + + const protocol = window.location.protocol === "https:" ? "wss:" : "ws:"; + const wsUrl = `${protocol}//${window.location.host}/lobbies`; + + this.ws = new WebSocket(wsUrl); + this.wsAttemptCounted = false; + + this.ws.addEventListener("open", () => this.handleOpen()); + this.ws.addEventListener("message", (event) => this.handleMessage(event)); + this.ws.addEventListener("close", () => this.handleClose()); + this.ws.addEventListener("error", (error) => this.handleError(error)); + } catch (error) { + this.handleConnectError(error); + } + } + + private handleOpen() { + console.log("WebSocket connected: lobby updating"); + this.wsConnectionAttempts = 0; + if (this.wsReconnectTimeout !== null) { + clearTimeout(this.wsReconnectTimeout); + this.wsReconnectTimeout = null; + } + this.stopFallbackPolling(); + } + + private handleMessage(event: MessageEvent) { + try { + const message = JSON.parse(event.data as string); + if (message.type === "lobbies_update") { + this.onLobbiesUpdate(message.data?.lobbies ?? []); + } + } catch (error) { + console.error("Error parsing WebSocket message:", error); + if (this.ws && this.ws.readyState === WebSocket.OPEN) { + try { + this.ws.close(); + } catch (closeError) { + console.error( + "Error closing WebSocket after parse failure:", + closeError, + ); + } + } + } + } + + private handleClose() { + console.log("WebSocket disconnected, attempting to reconnect..."); + if (!this.wsAttemptCounted) { + this.wsAttemptCounted = true; + this.wsConnectionAttempts++; + } + if (this.wsConnectionAttempts >= this.maxWsAttempts) { + console.log( + "Max WebSocket attempts reached, falling back to HTTP polling", + ); + this.startFallbackPolling(); + } else { + this.scheduleReconnect(); + } + } + + private handleError(error: Event) { + console.error("WebSocket error:", error); + } + + private handleConnectError(error: unknown) { + console.error("Error connecting WebSocket:", error); + if (!this.wsAttemptCounted) { + this.wsAttemptCounted = true; + this.wsConnectionAttempts++; + } + if (this.wsConnectionAttempts >= this.maxWsAttempts) { + this.startFallbackPolling(); + } else { + this.scheduleReconnect(); + } + } + + private scheduleReconnect() { + if (this.wsReconnectTimeout !== null) return; + this.wsReconnectTimeout = window.setTimeout(() => { + this.wsReconnectTimeout = null; + this.connectWebSocket(); + }, this.reconnectDelay); + } + + private disconnectWebSocket() { + if (this.ws) { + this.ws.close(); + this.ws = null; + } + if (this.wsReconnectTimeout !== null) { + clearTimeout(this.wsReconnectTimeout); + this.wsReconnectTimeout = null; + } + } + + private startFallbackPolling() { + if (this.fallbackPollInterval !== null) return; + console.log("Starting HTTP fallback polling"); + this.fetchLobbiesHTTP(); + this.fallbackPollInterval = window.setInterval(() => { + this.fetchLobbiesHTTP(); + }, this.pollIntervalMs); + } + + private stopFallbackPolling() { + if (this.fallbackPollInterval !== null) { + clearInterval(this.fallbackPollInterval); + this.fallbackPollInterval = null; + } + } + + private async fetchLobbiesHTTP() { + try { + const response = await fetch(`/api/public_lobbies`); + if (!response.ok) { + throw new Error(`HTTP error! status: ${response.status}`); + } + const data = await response.json(); + this.onLobbiesUpdate(data.lobbies as GameInfo[]); + } catch (error) { + console.error("Error fetching lobbies via HTTP:", error); + } + } +} diff --git a/src/client/PublicLobby.ts b/src/client/PublicLobby.ts index 6b064b1d9..f60b99421 100644 --- a/src/client/PublicLobby.ts +++ b/src/client/PublicLobby.ts @@ -4,6 +4,7 @@ import { translateText } from "../client/Utils"; import { GameMode } from "../core/game/Game"; import { GameID, GameInfo } from "../core/Schemas"; import { generateID } from "../core/Util"; +import { PublicLobbySocket } from "./LobbySocket"; import { JoinLobbyEvent } from "./Main"; import { getMapsImage } from "./utilities/Maps"; @@ -12,10 +13,12 @@ export class PublicLobby extends LitElement { @state() private lobbies: GameInfo[] = []; @state() public isLobbyHighlighted: boolean = false; @state() private isButtonDebounced: boolean = false; - private lobbiesInterval: number | null = null; private currLobby: GameInfo | null = null; private debounceDelay: number = 750; private lobbyIDToStart = new Map(); + private lobbySocket = new PublicLobbySocket((lobbies) => + this.handleLobbiesUpdate(lobbies), + ); createRenderRoot() { return this; @@ -23,56 +26,29 @@ export class PublicLobby extends LitElement { connectedCallback() { super.connectedCallback(); - this.fetchAndUpdateLobbies(); - this.lobbiesInterval = window.setInterval( - () => this.fetchAndUpdateLobbies(), - 1000, - ); + this.lobbySocket.start(); } disconnectedCallback() { super.disconnectedCallback(); - if (this.lobbiesInterval !== null) { - clearInterval(this.lobbiesInterval); - this.lobbiesInterval = null; - } - } - - private async fetchAndUpdateLobbies(): Promise { - try { - this.lobbies = await this.fetchLobbies(); - this.lobbies.forEach((l) => { - // Store the start time on first fetch because endpoint is cached, causing - // the time to appear irregular. - if (!this.lobbyIDToStart.has(l.gameID)) { - const msUntilStart = l.msUntilStart ?? 0; - this.lobbyIDToStart.set(l.gameID, msUntilStart + Date.now()); - } - }); - } catch (error) { - console.error("Error fetching lobbies:", error); - } + this.lobbySocket.stop(); } - async fetchLobbies(): Promise { - try { - const response = await fetch(`/api/public_lobbies`); - if (!response.ok) - throw new Error(`HTTP error! status: ${response.status}`); - const data = await response.json(); - return data.lobbies; - } catch (error) { - console.error("Error fetching lobbies:", error); - throw error; - } + private handleLobbiesUpdate(lobbies: GameInfo[]) { + this.lobbies = lobbies; + this.lobbies.forEach((l) => { + if (!this.lobbyIDToStart.has(l.gameID)) { + const msUntilStart = l.msUntilStart ?? 0; + this.lobbyIDToStart.set(l.gameID, msUntilStart + Date.now()); + } + }); + this.requestUpdate(); } public stop() { - if (this.lobbiesInterval !== null) { - this.isLobbyHighlighted = false; - clearInterval(this.lobbiesInterval); - this.lobbiesInterval = null; - } + this.lobbySocket.stop(); + this.isLobbyHighlighted = false; + this.currLobby = null; } render() { diff --git a/src/server/Master.ts b/src/server/Master.ts index 94a1d1719..810d1bb9b 100644 --- a/src/server/Master.ts +++ b/src/server/Master.ts @@ -4,6 +4,7 @@ import rateLimit from "express-rate-limit"; import http from "http"; import path from "path"; import { fileURLToPath } from "url"; +import { WebSocket, WebSocketServer } from "ws"; import { getServerConfigFromServer } from "../core/configuration/ConfigLoader"; import { GameInfo, ID } from "../core/Schemas"; import { generateID } from "../core/Util"; @@ -60,9 +61,32 @@ app.use( }), ); -let publicLobbiesJsonStr = ""; +let publicLobbiesData: { lobbies: GameInfo[] } = { lobbies: [] }; const publicLobbyIDs: Set = new Set(); +const connectedClients: Set = new Set(); + +// Broadcast lobbies to all connected clients +function broadcastLobbies() { + const message = JSON.stringify({ + type: "lobbies_update", + data: publicLobbiesData, + }); + + const clientsToRemove: WebSocket[] = []; + + connectedClients.forEach((client) => { + if (client.readyState === WebSocket.OPEN) { + client.send(message); + } else { + clientsToRemove.push(client); + } + }); + + clientsToRemove.forEach((client) => { + connectedClients.delete(client); + }); +} // Start the master process export async function startMaster() { @@ -75,6 +99,37 @@ export async function startMaster() { log.info(`Primary ${process.pid} is running`); log.info(`Setting up ${config.numWorkers()} workers...`); + // Setup WebSocket server for clients + const wss = new WebSocketServer({ server, path: "/lobbies" }); + + wss.on("connection", (ws: WebSocket) => { + connectedClients.add(ws); + + // Send current lobbies immediately (always send, even if empty) + ws.send( + JSON.stringify({ type: "lobbies_update", data: publicLobbiesData }), + ); + + ws.on("close", () => { + connectedClients.delete(ws); + }); + + ws.on("error", (error) => { + log.error(`WebSocket error:`, error); + connectedClients.delete(ws); + try { + if ( + ws.readyState === WebSocket.OPEN || + ws.readyState === WebSocket.CONNECTING + ) { + ws.close(1011, "WebSocket internal error"); + } + } catch (closeError) { + log.error("Error while closing WebSocket after error:", closeError); + } + }); + }); + // Fork workers for (let i = 0; i < config.numWorkers(); i++) { const worker = cluster.fork({ @@ -153,7 +208,7 @@ app.get("/api/env", async (req, res) => { // Add lobbies endpoint to list public games for this worker app.get("/api/public_lobbies", async (req, res) => { - res.send(publicLobbiesJsonStr); + res.json(publicLobbiesData); }); app.post("/api/kick_player/:gameID/:clientID", async (req, res) => { @@ -255,10 +310,12 @@ async function fetchLobbies(): Promise { } }); - // Update the JSON string - publicLobbiesJsonStr = JSON.stringify({ + // Update the lobbies data + publicLobbiesData = { lobbies: lobbyInfos, - }); + }; + + broadcastLobbies(); return publicLobbyIDs.size; } diff --git a/tests/client/LobbySocket.test.ts b/tests/client/LobbySocket.test.ts new file mode 100644 index 000000000..890f63e11 --- /dev/null +++ b/tests/client/LobbySocket.test.ts @@ -0,0 +1,116 @@ +/** + * @jest-environment jsdom + */ +import { PublicLobbySocket } from "../../src/client/LobbySocket"; + +class MockWebSocket extends EventTarget { + static instances: MockWebSocket[] = []; + static readonly OPEN = 1; + static readonly CLOSED = 3; + + readonly url: string; + readyState = MockWebSocket.OPEN; + + constructor(url: string) { + super(); + this.url = url; + MockWebSocket.instances.push(this); + } + + addEventListener( + type: string, + listener: EventListenerOrEventListenerObject, + options?: boolean | AddEventListenerOptions, + ): void { + super.addEventListener(type, listener, options); + } + + close(code?: number, _reason?: string) { + this.readyState = MockWebSocket.CLOSED; + this.dispatchEvent(new Event("close")); + } + + send(_data: unknown) {} +} + +describe("PublicLobbySocket", () => { + const originalWebSocket = globalThis.WebSocket; + const originalFetch = globalThis.fetch; + + beforeEach(() => { + MockWebSocket.instances = []; + // @ts-expect-error assign test mock + globalThis.WebSocket = MockWebSocket; + }); + + afterEach(() => { + globalThis.WebSocket = originalWebSocket; + globalThis.fetch = originalFetch; + jest.useRealTimers(); + }); + + it("delivers lobby updates from websocket messages", () => { + const updates: unknown[][] = []; + const socket = new PublicLobbySocket((lobbies) => updates.push(lobbies)); + + socket.start(); + const ws = MockWebSocket.instances.at(-1); + expect(ws?.url).toContain("/lobbies"); + + ws?.dispatchEvent( + new MessageEvent("message", { + data: JSON.stringify({ + type: "lobbies_update", + data: { + lobbies: [ + { + gameID: "g1", + numClients: 1, + gameConfig: { + maxPlayers: 2, + gameMode: 0, + gameMap: "Earth", + }, + }, + ], + }, + }), + }), + ); + + expect(updates).toHaveLength(1); + expect((updates[0][0] as { gameID: string }).gameID).toBe("g1"); + + socket.stop(); + }); + + it("falls back to HTTP polling after max websocket attempts", async () => { + jest.useFakeTimers(); + + const fetchMock = jest.fn().mockResolvedValue({ + ok: true, + json: async () => ({ lobbies: [] }), + }); + + globalThis.fetch = fetchMock as unknown as typeof fetch; + + const socket = new PublicLobbySocket(() => {}, { + maxWsAttempts: 1, + reconnectDelay: 0, + pollIntervalMs: 50, + }); + + socket.start(); + const ws = MockWebSocket.instances.at(-1); + ws?.dispatchEvent(new Event("close")); + + await Promise.resolve(); + expect(fetchMock).toHaveBeenCalledTimes(1); + + jest.advanceTimersByTime(60); + await Promise.resolve(); + expect(fetchMock).toHaveBeenCalledTimes(2); + + socket.stop(); + }); +}); diff --git a/webpack.config.js b/webpack.config.js index 71129604a..8be4eea5d 100644 --- a/webpack.config.js +++ b/webpack.config.js @@ -180,6 +180,13 @@ export default async (env, argv) => { changeOrigin: true, logLevel: "debug", }, + { + context: ["/lobbies"], + target: "ws://localhost:3000", + ws: true, + changeOrigin: true, + logLevel: "debug", + }, // Worker WebSocket proxies - using direct paths without /socket suffix { context: ["/w0"], From 33aaa1c828549e453e633521d7e2b187863fb578 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:42:19 +0100 Subject: [PATCH 19/34] feat: implement game configuration update via WebSocket and event handling --- src/client/HostLobbyModal.ts | 53 ++++++++++++++++++------------------ src/client/Main.ts | 19 ++++++++++++- src/client/Transport.ts | 17 ++++++++++++ src/core/Schemas.ts | 12 +++++++- src/server/GameServer.ts | 49 +++++++++++++++++++++++++++++++++ src/server/Worker.ts | 37 +------------------------ 6 files changed, 122 insertions(+), 65 deletions(-) diff --git a/src/client/HostLobbyModal.ts b/src/client/HostLobbyModal.ts index b5c3a0a47..000cf09c5 100644 --- a/src/client/HostLobbyModal.ts +++ b/src/client/HostLobbyModal.ts @@ -1555,7 +1555,6 @@ export class HostLobbyModal extends LitElement { } private async putGameConfig() { - const config = await getServerConfigFromClient(); const assignmentsPayload = this.gameMode === GameMode.Team ? this.sanitizeAssignmentsForPayload( @@ -1563,33 +1562,33 @@ export class HostLobbyModal extends LitElement { this.computeTeamCount(), ) : {}; - const response = await fetch( - `${window.location.origin}/${config.workerPath(this.lobbyId)}/api/game/${this.lobbyId}`, - { - method: "PUT", - headers: { "Content-Type": "application/json" }, - body: JSON.stringify({ - gameMap: this.selectedMap, - difficulty: this.selectedDifficulty, - disableNPCs: this.disableNPCs, - bots: this.bots, - infiniteGold: this.infiniteGold, - infiniteTroops: this.infiniteTroops, - instantBuild: this.instantBuild, - instantResearchHumanOnly: this.instantResearchHumanOnly, - researchAllTechs: this.researchAllTechs, - gameMode: this.gameMode, - disabledUnits: this.disabledUnits, - playerTeams: this.teamCount, - playerTeamAssignments: assignmentsPayload, - peaceTimerDurationMinutes: this.selectedPeaceTimerDuration, - startingGold: this.startingGold, - goldMultiplier: this.goldMultiplier, - chatEnabled: this.chatEnabled, - } satisfies Partial), - }, + this.dispatchEvent( + new CustomEvent("update-game-config", { + detail: { + config: { + gameMap: this.selectedMap, + difficulty: this.selectedDifficulty, + disableNPCs: this.disableNPCs, + bots: this.bots, + infiniteGold: this.infiniteGold, + infiniteTroops: this.infiniteTroops, + instantBuild: this.instantBuild, + instantResearchHumanOnly: this.instantResearchHumanOnly, + researchAllTechs: this.researchAllTechs, + gameMode: this.gameMode, + disabledUnits: this.disabledUnits, + playerTeams: this.teamCount, + playerTeamAssignments: assignmentsPayload, + peaceTimerDurationMinutes: this.selectedPeaceTimerDuration, + startingGold: this.startingGold, + goldMultiplier: this.goldMultiplier, + chatEnabled: this.chatEnabled, + } satisfies Partial, + }, + bubbles: true, + composed: true, + }), ); - return response; } private toggleUnit(unit: UnitType, checked: boolean): void { diff --git a/src/client/Main.ts b/src/client/Main.ts index 941f4d05a..c3b85e876 100644 --- a/src/client/Main.ts +++ b/src/client/Main.ts @@ -24,7 +24,10 @@ import { PublicLobby } from "./PublicLobby"; import { RankingsModal } from "./RankingsModal"; import { SinglePlayerModal } from "./SinglePlayerModal"; import "./SoundButton"; -import { SendKickPlayerIntentEvent } from "./Transport"; +import { + SendKickPlayerIntentEvent, + SendUpdateGameConfigIntentEvent, +} from "./Transport"; import { UserSettingModal } from "./UserSettingModal"; import "./UsernameInput"; import { UsernameInput } from "./UsernameInput"; @@ -67,6 +70,7 @@ declare global { interface DocumentEventMap { "join-lobby": CustomEvent; "kick-player": CustomEvent; + "update-game-config": CustomEvent; } } @@ -266,6 +270,10 @@ class Client { document.addEventListener("join-lobby", this.handleJoinLobby.bind(this)); document.addEventListener("leave-lobby", this.handleLeaveLobby.bind(this)); document.addEventListener("kick-player", this.handleKickPlayer.bind(this)); + document.addEventListener( + "update-game-config", + this.handleUpdateGameConfig.bind(this), + ); const spModal = document.querySelector( "single-player-modal", @@ -626,6 +634,15 @@ class Client { this.eventBus.emit(new SendKickPlayerIntentEvent(target)); } } + + private handleUpdateGameConfig(event: CustomEvent) { + const { config } = event.detail; + + // Forward to eventBus if available + if (this.eventBus) { + this.eventBus.emit(new SendUpdateGameConfigIntentEvent(config)); + } + } } // Initialize the client when the DOM is loaded diff --git a/src/client/Transport.ts b/src/client/Transport.ts index cd9dbdf8e..333de32a1 100644 --- a/src/client/Transport.ts +++ b/src/client/Transport.ts @@ -19,6 +19,7 @@ import { ClientMessage, ClientPingMessage, ClientSendWinnerMessage, + GameConfig, Intent, ServerMessage, ServerMessageSchema, @@ -258,6 +259,10 @@ export class SendKickPlayerIntentEvent implements GameEvent { constructor(public readonly target: string) {} } +export class SendUpdateGameConfigIntentEvent implements GameEvent { + constructor(public readonly config: Partial) {} +} + export class SendLobbyNotificationEvent implements GameEvent { constructor( public readonly currentPlayers: number, @@ -393,6 +398,10 @@ export class Transport { this.eventBus.on(SendKickPlayerIntentEvent, (e) => this.onSendKickPlayerIntent(e), ); + + this.eventBus.on(SendUpdateGameConfigIntentEvent, (e) => + this.onSendUpdateGameConfigIntent(e), + ); // unit upgrade intent removed } @@ -944,6 +953,14 @@ export class Transport { }); } + private onSendUpdateGameConfigIntent(event: SendUpdateGameConfigIntentEvent) { + this.sendIntent({ + type: "update_game_config", + clientID: this.lobbyConfig.clientID, + config: event.config, + }); + } + private onSendParatrooperAttackIntent( event: SendParatrooperAttackIntentEvent, ) { diff --git a/src/core/Schemas.ts b/src/core/Schemas.ts index d74f28525..dfd287fd9 100644 --- a/src/core/Schemas.ts +++ b/src/core/Schemas.ts @@ -61,7 +61,8 @@ export type Intent = | SetAutoBombingIntent | KickPlayerIntent | UpgradeStructureIntent - | UpgradeBomberIntent; + | UpgradeBomberIntent + | UpdateGameConfigIntent; export type AttackIntent = z.infer; export type CancelAttackIntent = z.infer; @@ -111,6 +112,9 @@ export type MarkDisconnectedIntent = z.infer< typeof MarkDisconnectedIntentSchema >; export type KickPlayerIntent = z.infer; +export type UpdateGameConfigIntent = z.infer< + typeof UpdateGameConfigIntentSchema +>; export type UpgradeStructureIntent = z.infer< typeof UpgradeStructureIntentSchema >; @@ -524,6 +528,11 @@ export const KickPlayerIntentSchema = BaseIntentSchema.extend({ target: ID, }); +export const UpdateGameConfigIntentSchema = BaseIntentSchema.extend({ + type: z.literal("update_game_config"), + config: GameConfigSchema.partial(), +}); + const IntentSchema = z.discriminatedUnion("type", [ AttackIntentSchema, CancelAttackIntentSchema, @@ -560,6 +569,7 @@ const IntentSchema = z.discriminatedUnion("type", [ QuickChatIntentSchema, SetAutoBombingIntentSchema, KickPlayerIntentSchema, + UpdateGameConfigIntentSchema, ]); // diff --git a/src/server/GameServer.ts b/src/server/GameServer.ts index 25e57eb89..3437a8ce8 100644 --- a/src/server/GameServer.ts +++ b/src/server/GameServer.ts @@ -330,6 +330,55 @@ export class GameServer { this.kickClient(clientMsg.intent.target); return; } + case "update_game_config": { + // Only lobby creator can update config + if (client.clientID !== this.LobbyCreatorID) { + this.log.warn(`Only lobby creator can update game config`, { + clientID: client.clientID, + creatorID: this.LobbyCreatorID, + gameID: this.id, + }); + return; + } + + if (this.isPublic()) { + this.log.warn(`Cannot update public game via WebSocket`, { + gameID: this.id, + clientID: client.clientID, + }); + return; + } + + if (this.hasStarted()) { + this.log.warn( + `Cannot update game config after it has started`, + { + gameID: this.id, + clientID: client.clientID, + }, + ); + return; + } + + if (clientMsg.intent.config.gameType === GameType.Public) { + this.log.warn(`Cannot update game to public via WebSocket`, { + gameID: this.id, + clientID: client.clientID, + }); + return; + } + + this.log.info( + `Lobby creator updated game config via WebSocket`, + { + creatorID: client.clientID, + gameID: this.id, + }, + ); + + this.updateGameConfig(clientMsg.intent.config); + return; + } default: { this.addIntent(clientMsg.intent); break; diff --git a/src/server/Worker.ts b/src/server/Worker.ts index 2ffb25675..da386bd27 100644 --- a/src/server/Worker.ts +++ b/src/server/Worker.ts @@ -16,7 +16,7 @@ import { ID, ServerErrorMessage, } from "../core/Schemas"; -import { CreateGameInputSchema, GameInputSchema } from "../core/WorkerSchemas"; +import { CreateGameInputSchema } from "../core/WorkerSchemas"; import { archive, readGameRecord } from "./Archive"; import { Client } from "./Client"; import { GameManager } from "./GameManager"; @@ -158,41 +158,6 @@ export async function startWorker() { res.status(200).json({ success: true }); }); - app.put("/api/game/:id", async (req, res) => { - const result = GameInputSchema.safeParse(req.body); - if (!result.success) { - const error = z.prettifyError(result.error); - return res.status(400).json({ error }); - } - const config = result.data; - // TODO: only update public game if from local host - const lobbyID = req.params.id; - if (config.gameType === GameType.Public) { - log.info(`cannot update game ${lobbyID} to public`); - return res.status(400).json({ error: "Cannot update public game" }); - } - const game = gm.game(lobbyID); - if (!game) { - return res.status(400).json({ error: "Game not found" }); - } - if (game.isPublic()) { - // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing - const clientIP = req.ip || req.socket.remoteAddress || "unknown"; - log.warn( - `cannot update public game ${game.id}, ip: ${ipAnonymize(clientIP)}`, - ); - return res.status(400).json({ error: "Cannot update public game" }); - } - if (game.hasStarted()) { - log.warn(`cannot update game ${game.id} after it has started`); - return res - .status(400) - .json({ error: "Cannot update game after it has started" }); - } - game.updateGameConfig(config); - res.status(200).json({ success: true }); - }); - app.get("/api/game/:id/exists", async (req, res) => { const lobbyId = req.params.id; res.json({ From 11e0aed262c916ffe592500b6841882e1f571f86 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 02:47:02 +0100 Subject: [PATCH 20/34] fix: possibility for negative values in gold and troop donation (#2810) Previously, the zod schemas for troop and gold donation allowed for negative values which could open the game up to vulnerabilities through undefined behavior in the future. We mitigate these vulnerabilities but adding `.nonnegative` to the `DonateGoldIntentSchema` and `DonateTroopIntentShcema` respectively. Today, code exists to prevent this deeper in the codebase, but we should also prevent this earlier if possible during intent validation. - [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: haticus --- src/core/Schemas.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/core/Schemas.ts b/src/core/Schemas.ts index dfd287fd9..e6496cdcf 100644 --- a/src/core/Schemas.ts +++ b/src/core/Schemas.ts @@ -395,13 +395,13 @@ export const EmbargoIntentSchema = BaseIntentSchema.extend({ export const DonateGoldIntentSchema = BaseIntentSchema.extend({ type: z.literal("donate_gold"), recipient: ID, - gold: z.bigint().nullable(), + gold: z.number().nonnegative().nullable(), }); export const DonateTroopIntentSchema = BaseIntentSchema.extend({ type: z.literal("donate_troops"), recipient: ID, - troops: z.number().nullable(), + troops: z.number().nonnegative().nullable(), }); export const TargetTroopRatioIntentSchema = BaseIntentSchema.extend({ From 65970278f2e5f42cea73c93eaaca909837613812 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 03:24:07 +0100 Subject: [PATCH 21/34] feat: Add Pathfinding Playground Server and Benchmarking Utilities - Implemented a new server for pathfinding playground with API routes for maps and pathfinding. - Added utility functions for benchmarking pathfinding performance. - Created a comprehensive test map manifest and associated binary files for testing. - Enhanced setup utility to support binary map formats and legacy PNG formats. - Introduced performance tests for A* pathfinding with various scenarios. --- eslint.config.js | 1 + .../assets/test_maps/world/image.png | Bin 0 -> 539892 bytes .../assets/test_maps/world/info.json | 310 ++++ src/client/Transport.ts | 2 +- src/core/Schemas.ts | 1 + src/core/configuration/Config.ts | 4 +- src/core/configuration/DefaultConfig.ts | 17 +- src/core/execution/ExecutionManager.ts | 6 +- src/core/execution/SubmarineExecution.ts | 6 +- src/core/execution/TradeManagerExecution.ts | 6 +- src/core/execution/TradeShipExecution.ts | 188 ++ src/core/execution/TransportShipExecution.ts | 17 +- src/core/execution/WarshipExecution.ts | 78 +- src/core/game/Game.ts | 6 +- src/core/game/GameImpl.ts | 12 + src/core/game/PlayerImpl.ts | 2 +- src/core/pathfinding/PathFinder.ts | 43 + src/core/pathfinding/PathFinding.ts | 39 +- .../pathfinding/adapters/MiniAStarAdapter.ts | 66 + .../pathfinding/adapters/NavMeshAdapter.ts | 99 ++ src/core/pathfinding/navmesh/FastAStar.ts | 202 +++ .../pathfinding/navmesh/FastAStarAdapter.ts | 120 ++ src/core/pathfinding/navmesh/FastBFS.ts | 118 ++ src/core/pathfinding/navmesh/GatewayGraph.ts | 587 ++++++ src/core/pathfinding/navmesh/NavMesh.ts | 819 +++++++++ .../pathfinding/navmesh/WaterComponents.ts | 200 +++ .../executions/TradeShipExecution.test.ts | 125 ++ tests/core/pathfinding/PathFinder.test.ts | 332 ++++ tests/core/pathfinding/utils.ts | 135 ++ tests/pathfinding/README.md | 152 ++ tests/pathfinding/benchmark/generate.ts | 310 ++++ tests/pathfinding/benchmark/run.ts | 287 +++ .../benchmark/scenarios/default.ts | 55 + .../scenarios/synthetic/giantworldmap.ts | 1207 +++++++++++++ tests/pathfinding/playground/README.md | 25 + tests/pathfinding/playground/api/maps.ts | 224 +++ .../pathfinding/playground/api/pathfinding.ts | 157 ++ tests/pathfinding/playground/public/client.js | 1569 +++++++++++++++++ .../pathfinding/playground/public/index.html | 315 ++++ .../pathfinding/playground/public/styles.css | 795 +++++++++ tests/pathfinding/playground/server.ts | 269 +++ tests/pathfinding/utils.ts | 225 +++ tests/perf/AstarPerf.ts | 29 + tests/testdata/maps/world/manifest.json | 325 ++++ tests/testdata/maps/world/map.bin | 1 + tests/testdata/maps/world/map16x.bin | 1 + tests/testdata/maps/world/map4x.bin | 1 + tests/testdata/maps/world/thumbnail.webp | Bin 0 -> 10250 bytes tests/util/Setup.ts | 36 +- tests/util/TestConfig.ts | 4 + 50 files changed, 9418 insertions(+), 110 deletions(-) create mode 100644 map-generator/assets/test_maps/world/image.png create mode 100644 map-generator/assets/test_maps/world/info.json create mode 100644 src/core/execution/TradeShipExecution.ts create mode 100644 src/core/pathfinding/PathFinder.ts create mode 100644 src/core/pathfinding/adapters/MiniAStarAdapter.ts create mode 100644 src/core/pathfinding/adapters/NavMeshAdapter.ts create mode 100644 src/core/pathfinding/navmesh/FastAStar.ts create mode 100644 src/core/pathfinding/navmesh/FastAStarAdapter.ts create mode 100644 src/core/pathfinding/navmesh/FastBFS.ts create mode 100644 src/core/pathfinding/navmesh/GatewayGraph.ts create mode 100644 src/core/pathfinding/navmesh/NavMesh.ts create mode 100644 src/core/pathfinding/navmesh/WaterComponents.ts create mode 100644 tests/core/executions/TradeShipExecution.test.ts create mode 100644 tests/core/pathfinding/PathFinder.test.ts create mode 100644 tests/core/pathfinding/utils.ts create mode 100644 tests/pathfinding/README.md create mode 100644 tests/pathfinding/benchmark/generate.ts create mode 100644 tests/pathfinding/benchmark/run.ts create mode 100644 tests/pathfinding/benchmark/scenarios/default.ts create mode 100644 tests/pathfinding/benchmark/scenarios/synthetic/giantworldmap.ts create mode 100644 tests/pathfinding/playground/README.md create mode 100644 tests/pathfinding/playground/api/maps.ts create mode 100644 tests/pathfinding/playground/api/pathfinding.ts create mode 100644 tests/pathfinding/playground/public/client.js create mode 100644 tests/pathfinding/playground/public/index.html create mode 100644 tests/pathfinding/playground/public/styles.css create mode 100644 tests/pathfinding/playground/server.ts create mode 100644 tests/pathfinding/utils.ts create mode 100644 tests/perf/AstarPerf.ts create mode 100644 tests/testdata/maps/world/manifest.json create mode 100644 tests/testdata/maps/world/map.bin create mode 100644 tests/testdata/maps/world/map16x.bin create mode 100644 tests/testdata/maps/world/map4x.bin create mode 100644 tests/testdata/maps/world/thumbnail.webp diff --git a/eslint.config.js b/eslint.config.js index 4e3ac8acd..3f23b53fe 100644 --- a/eslint.config.js +++ b/eslint.config.js @@ -13,6 +13,7 @@ const gitignorePath = path.resolve(__dirname, ".gitignore"); /** @type {import('eslint').Linter.Config[]} */ export default [ includeIgnoreFile(gitignorePath), + { ignores: ["src/server/gatekeeper/**", "tests/pathfinding/playground/**"] }, { files: ["**/*.{js,mjs,cjs,ts}"] }, { languageOptions: { globals: { ...globals.browser, ...globals.node } } }, pluginJs.configs.recommended, diff --git a/map-generator/assets/test_maps/world/image.png 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'; + + const outgoing = connectedEdges.filter( + (e) => e.fromId === gateway.id && e.toId !== gateway.id, + ); + const incoming = connectedEdges.filter( + (e) => e.toId === gateway.id && e.fromId !== gateway.id, + ); + + if (outgoing.length > 0) { + html += `
Outgoing (${outgoing.length}):
`; + outgoing.slice(0, 5).forEach((edge) => { + const pathLen = edge.path ? edge.path.length : 0; + html += ` → GW ${edge.toId}: cost ${edge.cost.toFixed(1)}`; + if (pathLen > 0) html += ` (${pathLen} tiles)`; + html += "
"; + }); + if (outgoing.length > 5) { + html += ` ... and ${outgoing.length - 5} more
`; + } + } + + if (incoming.length > 0) { + html += `
Incoming (${incoming.length}):
`; + incoming.slice(0, 5).forEach((edge) => { + const pathLen = edge.path ? edge.path.length : 0; + html += ` ← GW ${edge.fromId}: cost ${edge.cost.toFixed(1)}`; + if (pathLen > 0) html += ` (${pathLen} tiles)`; + html += "
"; + }); + if (incoming.length > 5) { + html += ` ... and ${incoming.length - 5} more
`; + } + } + + if (selfLoops.length > 0) { + html += `
Self-loops (${selfLoops.length}):
`; + selfLoops.forEach((edge) => { + const pathLen = edge.path ? edge.path.length : 0; + html += ` ⟲ cost ${edge.cost.toFixed(1)}`; + if (pathLen > 0) html += ` (${pathLen} tiles)`; + html += "
"; + }); + } + + html += "
"; + } + + tooltip.innerHTML = html; + tooltip.style.left = mouseX + 15 + "px"; + tooltip.style.top = mouseY + 15 + "px"; + tooltip.classList.add("visible"); +} diff --git a/tests/pathfinding/playground/public/index.html b/tests/pathfinding/playground/public/index.html new file mode 100644 index 000000000..b3180dc45 --- /dev/null +++ b/tests/pathfinding/playground/public/index.html @@ -0,0 +1,315 @@ + + + + + + Pathfinding Playground - Interactive Visualization + + + + +
+
+ + +
+ +
+ + +
+
+

Pathfinding Playground

+

Interactive visualization for naval pathfinding algorithms

+ + +
+
+ Loading... +
Map 1
+
+
+ Loading... +
Map 2
+
+
+ Loading... +
Map 3
+
+
+ Loading... +
Map 4
+
+
+ Loading... +
Map 5
+
+
+ Loading... +
Map 6
+
+
+ Loading... +
Map 7
+
+
+ Loading... +
Map 8
+
+
+ + +
+ + +
+
+
+ + +
+

Pathfinding Playground

+ +
+ +
+ +
+ Select a scenario to begin +
+
+ + +
+
+ + +
+
+ + + +
+
+ + +
+
+ + 1.0x +
+ + +
+ + +
+
Performance
+ +
+
+ + NavMesh +
+ + +
+ + + + + +
+
+ +
+ +
+ + + + +
+ + +
+
Legend
+
+
+
+ Start Point +
+
+
+ End Point +
+ +
+
+ NavMesh +
+
+
+ Initial Path +
+
+
+ Used Gateways +
+
+
+ Gateways +
+
+
+ Sectors +
+
+
+ Edges +
+
+
+ + +
+ + +
+ + + + diff --git a/tests/pathfinding/playground/public/styles.css b/tests/pathfinding/playground/public/styles.css new file mode 100644 index 000000000..1a9f34559 --- /dev/null +++ b/tests/pathfinding/playground/public/styles.css @@ -0,0 +1,795 @@ +* { + margin: 0; + padding: 0; + box-sizing: border-box; +} + +body { + font-family: "Segoe UI", Tahoma, Geneva, Verdana, sans-serif; + background: #3c3c3c; + color: #e0e0e0; + overflow: hidden; +} + +/* Welcome screen */ +.welcome-screen { + position: fixed; + top: 0; + left: 0; + width: 100vw; + height: 100vh; + background: rgba(28, 28, 28, 0.98); + backdrop-filter: blur(10px); + display: flex; + align-items: center; + justify-content: center; + z-index: 1000; +} + +.welcome-screen.hidden { + display: none; +} + +.welcome-content { + text-align: center; + max-width: 1100px; + padding: 40px; + background: rgba(42, 42, 42, 0.95); + border-radius: 16px; + box-shadow: 0 8px 32px rgba(0, 0, 0, 0.7); + border: 1px solid rgba(255, 255, 255, 0.1); +} + +.welcome-content h1 { + font-size: 42px; + color: #fff; + margin: 0 0 16px 0; + font-weight: 600; +} + +.welcome-content p { + font-size: 18px; + color: #aaa; + margin: 0 0 30px 0; + line-height: 1.5; +} + +/* Map grid */ +.map-grid { + display: grid; + grid-template-columns: repeat(4, 1fr); + gap: 16px; + margin-bottom: 30px; +} + +.map-card { + background: #1a1a1a; + border: 2px solid #404040; + border-radius: 8px; + overflow: hidden; + cursor: pointer; + transition: all 0.2s; + position: relative; +} + +.map-card:hover { + border-color: #0066cc; + transform: translateY(-2px); + box-shadow: 0 4px 12px rgba(0, 102, 204, 0.3); +} + +.map-card img { + width: 100%; + height: 180px; + object-fit: cover; + display: block; +} + +.map-card-name { + padding: 10px; + font-size: 14px; + color: #e0e0e0; + font-weight: 500; + text-align: center; + background: #2a2a2a; + transition: opacity 0.3s ease; +} + +.welcome-selector { + display: flex; + flex-direction: column; + gap: 12px; + align-items: center; +} + +.welcome-selector label { + font-size: 14px; + color: #aaa; + font-weight: 400; +} + +.welcome-selector select { + width: 400px; + padding: 14px 18px; + font-size: 16px; + background: #1a1a1a; + color: #e0e0e0; + border: 2px solid #404040; + border-radius: 8px; + cursor: pointer; + transition: border-color 0.2s; +} + +.welcome-selector select:hover { + border-color: #0066cc; +} + +.welcome-selector select:focus { + outline: none; + border-color: #0066cc; +} + +/* Fullscreen canvas container */ +.canvas-container { + position: fixed; + top: 0; + left: 0; + width: 100vw; + height: 100vh; + background: #3c3c3c; + z-index: 1; +} + +.canvas-wrapper { + position: relative; + width: 100%; + height: 100%; + overflow: hidden; + background: #0a0a0a; + cursor: grab; +} + +.canvas-wrapper:active { + cursor: grabbing; +} + +.canvas-wrapper.selecting { + cursor: crosshair; +} + +canvas { + position: absolute; + top: 0; + left: 0; + display: block; + transform-origin: 0 0; +} + +#mapCanvas { + z-index: 1; +} + +#overlayCanvas { + z-index: 2; + pointer-events: none; +} + +/* Top panel - overlay on map */ +.top-panel { + position: fixed; + top: 20px; + left: 20px; + max-width: 900px; + background: rgba(42, 42, 42, 0.95); + backdrop-filter: blur(10px); + border-radius: 12px; + padding: 20px; + box-shadow: 0 4px 20px rgba(0, 0, 0, 0.5); + z-index: 10; + border: 1px solid rgba(255, 255, 255, 0.1); +} + +.top-panel h1 { + font-size: 24px; + color: #fff; + margin: 0 0 15px 0; +} + +.scenario-selector { + margin-bottom: 15px; +} + +.status-section { + padding-top: 15px; + border-top: 1px solid #404040; +} + +.scenario-selector select { + width: 350px; + padding: 12px 16px; + font-size: 16px; + background: #1a1a1a; + color: #e0e0e0; + border: 1px solid #404040; + border-radius: 6px; + cursor: pointer; +} + +.scenario-selector select:focus { + outline: none; + border-color: #0066cc; +} + +.info { + padding-top: 15px; + border-top: 1px solid #404040; +} + +.info-row { + display: flex; + gap: 30px; + margin-bottom: 8px; + flex-wrap: wrap; +} + +.info-item { + display: flex; + align-items: center; + gap: 8px; +} + +/* Debug panel (bottom left) */ +.debug-panel { + position: fixed; + bottom: 20px; + left: 20px; + background: rgba(42, 42, 42, 0.95); + backdrop-filter: blur(10px); + border-radius: 12px; + padding: 15px; + box-shadow: 0 4px 20px rgba(0, 0, 0, 0.5); + z-index: 10; + border: 1px solid rgba(255, 255, 255, 0.1); + display: flex; + flex-direction: column; + gap: 10px; +} + +.debug-panel-row { + display: flex; + gap: 10px; + align-items: center; +} + +/* View panel (bottom right) */ +.view-panel { + position: fixed; + bottom: 20px; + right: 20px; + background: rgba(42, 42, 42, 0.95); + backdrop-filter: blur(10px); + border-radius: 12px; + padding: 15px; + box-shadow: 0 4px 20px rgba(0, 0, 0, 0.5); + z-index: 10; + border: 1px solid rgba(255, 255, 255, 0.1); + display: flex; + flex-direction: column; + gap: 10px; + min-width: 160px; +} + +.zoom-control { + display: flex; + flex-direction: column; + gap: 6px; + align-items: center; + padding: 8px 0; + border-bottom: 1px solid #404040; + margin-bottom: 2px; +} + +.zoom-control input[type="range"] { + width: 100%; +} + +.zoom-control span { + font-size: 13px; + color: #aaa; + font-weight: 500; +} + +.clear-button { + background: #cc3333; + color: white; + border: 2px solid #dd4444; + padding: 10px 12px 10px 10px; + border-radius: 8px; + cursor: pointer; + font-size: 15px; + font-weight: 600; + transition: all 0.2s; + text-transform: uppercase; + letter-spacing: 0.5px; + width: 100%; +} + +.clear-button:hover { + background: #aa2222; + border-color: #cc3333; +} + +.toggle-button { + background: #333; + color: #e0e0e0; + border: 2px solid #555; + padding: 10px 12px 10px 10px; + border-radius: 8px; + cursor: pointer; + font-size: 15px; + font-weight: 600; + transition: all 0.2s; + min-width: 100px; + text-transform: uppercase; + letter-spacing: 0.5px; + display: flex; + align-items: center; + gap: 6px; +} + +.toggle-button::before { + content: "☐"; + font-size: 24px; + line-height: 1; + color: #888; +} + +.toggle-button:hover { + background: #404040; + border-color: #666; +} + +.toggle-button[data-active="true"] { + background: #0066cc; + border-color: #0088ff; + color: white; + box-shadow: 0 0 10px rgba(0, 102, 204, 0.4); +} + +.toggle-button[data-active="true"]::before { + content: "☑"; + color: #00ff88; +} + +.toggle-button[data-active="true"]:hover { + background: #0052a3; + border-color: #0066cc; +} + +/* Timings panel (left side) */ +.timings-panel { + position: fixed; + top: 250px; + left: 20px; + background: rgba(42, 42, 42, 0.95); + backdrop-filter: blur(10px); + border-radius: 12px; + padding: 20px 20px 15px 20px; + box-shadow: 0 4px 20px rgba(0, 0, 0, 0.5); + z-index: 10; + border: 1px solid rgba(255, 255, 255, 0.1); + min-width: 280px; +} + +.timings-header { + display: none; +} + +.timing-section { + margin-bottom: 0; + padding-bottom: 0; +} + +.timing-section + .timing-section { + margin-top: 15px; + padding-top: 15px; + border-top: 1px solid #404040; +} + +.timing-label { + font-size: 18px; + color: #e0e0e0; + text-transform: uppercase; + letter-spacing: 0.5px; + margin-bottom: 8px; + display: flex; + align-items: center; + gap: 8px; +} + +.refresh-icon { + background: none; + border: none; + color: #00aaff; + font-size: 18px; + cursor: pointer; + padding: 4px; + line-height: 1; + transition: color 0.2s; + border-radius: 4px; + width: 26px; + height: 26px; + display: flex; + align-items: center; + justify-content: center; + transform: translateY(1px); +} + +.refresh-icon span { + display: block; + line-height: 1; +} + +.refresh-icon:hover { + color: #00ccff; + background: rgba(0, 170, 255, 0.1); +} + +.refresh-icon.spinning span { + animation: spin 0.6s ease-in-out; +} + +@keyframes spin { + from { + transform: rotate(0deg); + } + to { + transform: rotate(360deg); + } +} + +.timing-label-detail { + color: #888; + text-transform: none; + font-size: 14px; +} + +.timing-value-large { + font-size: 48px; + font-weight: bold; + color: #00ff88; + font-family: "Courier New", monospace; + line-height: 1; + margin-bottom: 15px; +} + +.timing-value-large.faded { + color: #888888; + opacity: 0.7; +} + +.timing-value-speedup { + font-size: 36px; + font-weight: bold; + color: #ffaa00; + font-family: "Courier New", monospace; + line-height: 1; +} + +.timing-breakdown { + margin-top: 15px; +} + +.timing-item { + display: flex; + justify-content: space-between; + align-items: center; + padding: 3px 0; + font-size: 20px; +} + +.timing-name { + color: #e0e0e0; +} + +.timing-value { + font-family: + "Consolas", "Monaco", "SF Mono", "Roboto Mono", "Courier New", monospace; + color: #f5f5f5; + font-weight: bold; + font-size: 20px; +} + +/* Legend panel (right side) */ +.legend-panel { + position: fixed; + top: 50%; + right: 20px; + transform: translateY(-50%); + background: rgba(42, 42, 42, 0.95); + backdrop-filter: blur(10px); + border-radius: 12px; + padding: 15px; + box-shadow: 0 4px 20px rgba(0, 0, 0, 0.5); + z-index: 10; + border: 1px solid rgba(255, 255, 255, 0.1); + min-width: 160px; +} + +.legend-header { + font-size: 16px; + font-weight: 600; + color: #e0e0e0; + text-transform: uppercase; + letter-spacing: 0.5px; + margin-bottom: 12px; + padding-bottom: 10px; + border-bottom: 1px solid #404040; +} + +.legend { + display: flex; + flex-direction: column; + gap: 10px; +} + +.legend-item { + display: flex; + align-items: center; + gap: 10px; + font-size: 14px; + color: #e0e0e0; +} + +.legend-color { + width: 28px; + height: 4px; + border-radius: 2px; + flex-shrink: 0; +} + +/* Form elements */ +label { + display: flex; + align-items: center; + gap: 8px; + cursor: pointer; + font-size: 14px; +} + +input[type="range"] { + width: 120px; +} + +input[type="checkbox"] { + width: 16px; + height: 16px; + cursor: pointer; +} + +button { + background: #0066cc; + color: white; + border: none; + padding: 8px 16px; + border-radius: 6px; + cursor: pointer; + font-size: 14px; + font-weight: 500; + transition: background 0.2s; +} + +button:hover { + background: #0052a3; +} + +button:disabled { + background: #404040; + cursor: not-allowed; + opacity: 0.6; +} + +.timing-button { + width: 100%; + background: #555; + color: white; + border: none; + padding: 10px 16px; + border-radius: 6px; + cursor: pointer; + font-size: 14px; + font-weight: 500; + transition: background 0.2s; +} + +.timing-button:hover:not(:disabled) { + background: #666; +} + +.timing-button:disabled { + background: #404040; + cursor: not-allowed; + opacity: 0.6; +} + +#status { + font-size: 14px; + color: #888; + font-style: italic; +} + +#status.loading { + color: #00aaff; +} + +#status.error { + color: #ff6b6b; +} + +/* Error toast notification */ +.error-toast { + position: fixed; + top: 50%; + left: 50%; + transform: translate(-50%, -50%); + background: rgba(138, 26, 26, 0.98); + color: #ff6b6b; + padding: 20px 30px; + border-radius: 12px; + font-size: 16px; + font-weight: 500; + box-shadow: 0 8px 30px rgba(0, 0, 0, 0.7); + z-index: 100; + display: none; + max-width: 500px; + text-align: center; + border: 2px solid #ff6b6b; + animation: slideIn 0.3s ease-out; +} + +.error-toast.visible { + display: block; +} + +@keyframes slideIn { + from { + transform: translate(-50%, -60%); + opacity: 0; + } + to { + transform: translate(-50%, -50%); + opacity: 1; + } +} + +/* Tooltip */ +#tooltip { + position: fixed; + background: rgba(0, 0, 0, 0.95); + color: #fff; + padding: 12px 16px; + border-radius: 8px; + font-size: 12px; + pointer-events: none; + z-index: 1000; + display: none; + border: 1px solid #666; + max-width: 350px; + line-height: 1.5; + box-shadow: 0 4px 12px rgba(0, 0, 0, 0.5); +} + +#tooltip.visible { + display: block; +} + +/* Loading spinner */ +.loading-spinner { + display: inline-block; + width: 16px; + height: 16px; + border: 2px solid #404040; + border-top-color: #00aaff; + border-radius: 50%; + animation: spin 0.8s linear infinite; + margin-left: 8px; + vertical-align: middle; +} + +@keyframes spin { + to { + transform: rotate(360deg); + } +} + +/* Responsive adjustments */ +@media (max-width: 1200px) { + .top-panel { + left: 10px; + right: 10px; + padding: 15px; + } + + .debug-panel { + left: 10px; + padding: 12px; + gap: 8px; + } + + .debug-panel-row { + gap: 8px; + } + + .view-panel { + right: 10px; + padding: 12px; + gap: 8px; + min-width: 140px; + } + + .toggle-button { + min-width: auto; + padding: 8px 10px 8px 8px; + font-size: 14px; + } + + .clear-button { + padding: 8px 10px 8px 8px; + font-size: 14px; + } + + .legend-panel { + right: 10px; + max-width: 200px; + } + + h1 { + font-size: 20px; + } +} + +@media (max-width: 768px) { + .top-panel h1 { + font-size: 18px; + } + + .debug-panel { + gap: 6px; + } + + .debug-panel-row { + gap: 6px; + } + + .view-panel { + gap: 6px; + min-width: 120px; + } + + .toggle-button { + min-width: auto; + padding: 7px 8px 7px 6px; + font-size: 13px; + } + + .clear-button { + padding: 7px 8px 7px 6px; + font-size: 13px; + } + + .timings-panel { + top: auto; + bottom: 180px; + left: 10px; + transform: none; + min-width: auto; + max-width: calc(100vw - 20px); + } + + .legend-panel { + top: auto; + bottom: 200px; + right: 10px; + transform: none; + } +} diff --git a/tests/pathfinding/playground/server.ts b/tests/pathfinding/playground/server.ts new file mode 100644 index 000000000..6e1fe0d2a --- /dev/null +++ b/tests/pathfinding/playground/server.ts @@ -0,0 +1,269 @@ +import compression from "compression"; +import express, { Request, Response } from "express"; +import { dirname, join } from "path"; +import { fileURLToPath } from "url"; +import { + clearCache as clearMapCache, + getMapMetadata, + listMaps, + setConfig, +} from "./api/maps.js"; +import { + clearAdapterCaches, + computePath, + computePfMiniPath, +} 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; + +// Middleware +app.use(compression()); // gzip compression for large responses +app.use(express.json({ limit: "50mb" })); // JSON body parser with larger limit + +// Serve static files from public directory +const publicDir = join(dirname(fileURLToPath(import.meta.url)), "public"); +app.use(express.static(publicDir)); + +// API Routes + +/** + * GET /api/maps + * List all available maps + */ +app.get("/api/maps", (req: Request, res: Response) => { + try { + const maps = listMaps(); + res.json({ maps }); + } catch (error) { + console.error("Error listing maps:", error); + res.status(500).json({ + error: "Failed to list maps", + message: error instanceof Error ? error.message : String(error), + }); + } +}); + +/** + * GET /api/maps/:name + * Get map metadata (map data, dimensions) + */ +app.get("/api/maps/:name", async (req: Request, res: Response) => { + try { + const { name } = req.params; + const metadata = await getMapMetadata(name); + res.json(metadata); + } catch (error) { + console.error(`Error loading map ${req.params.name}:`, error); + + if (error instanceof Error && error.message.includes("ENOENT")) { + res.status(404).json({ + error: "Map not found", + message: `Map "${req.params.name}" does not exist`, + }); + } else { + res.status(500).json({ + error: "Failed to load map", + message: error instanceof Error ? error.message : String(error), + }); + } + } +}); + +/** + * GET /api/maps/:name/thumbnail + * Get map thumbnail image + */ +app.get("/api/maps/:name/thumbnail", (req: Request, res: Response) => { + try { + const { name } = req.params; + const thumbnailPath = join( + dirname(fileURLToPath(import.meta.url)), + "../../../resources/maps", + name, + "thumbnail.webp", + ); + res.sendFile(thumbnailPath); + } catch (error) { + console.error(`Error loading thumbnail for ${req.params.name}:`, error); + res.status(404).json({ + error: "Thumbnail not found", + message: error instanceof Error ? error.message : String(error), + }); + } +}); + +/** + * POST /api/pathfind + * Compute pathfinding between two points + * + * Request body: + * { + * map: string, + * from: [x, y], + * to: [x, y], + * includePfMini?: boolean + * } + */ +app.post("/api/pathfind", async (req: Request, res: Response) => { + try { + const { map, from, to, includePfMini } = req.body; + + // Validate request + if (!map || !from || !to) { + return res.status(400).json({ + error: "Invalid request", + message: "Missing required fields: map, from, to", + }); + } + + if ( + !Array.isArray(from) || + from.length !== 2 || + !Array.isArray(to) || + to.length !== 2 + ) { + return res.status(400).json({ + error: "Invalid coordinates", + message: "from and to must be [x, y] coordinate arrays", + }); + } + + // Compute paths + const result = await computePath( + map, + from as [number, number], + to as [number, number], + { includePfMini: !!includePfMini }, + ); + + res.json(result); + } catch (error) { + console.error("Error computing path:", error); + + if (error instanceof Error && error.message.includes("is not water")) { + res.status(400).json({ + error: "Invalid coordinates", + message: error.message, + }); + } else { + res.status(500).json({ + error: "Failed to compute path", + message: error instanceof Error ? error.message : String(error), + }); + } + } +}); + +/** + * POST /api/pathfind-pfmini + * Compute only PathFinder.Mini path + * + * Request body: + * { + * map: string, + * from: [x, y], + * to: [x, y] + * } + */ +app.post("/api/pathfind-pfmini", async (req: Request, res: Response) => { + try { + const { map, from, to } = req.body; + + // Validate request + if (!map || !from || !to) { + return res.status(400).json({ + error: "Invalid request", + message: "Missing required fields: map, from, to", + }); + } + + if ( + !Array.isArray(from) || + from.length !== 2 || + !Array.isArray(to) || + to.length !== 2 + ) { + return res.status(400).json({ + error: "Invalid coordinates", + message: "from and to must be [x, y] coordinate arrays", + }); + } + + // Compute PF.Mini path only + const result = await computePfMiniPath( + map, + from as [number, number], + to as [number, number], + ); + + res.json(result); + } catch (error) { + console.error("Error computing PF.Mini path:", error); + + if (error instanceof Error && error.message.includes("is not water")) { + res.status(400).json({ + error: "Invalid coordinates", + message: error.message, + }); + } else { + res.status(500).json({ + error: "Failed to compute PF.Mini path", + message: error instanceof Error ? error.message : String(error), + }); + } + } +}); + +/** + * POST /api/cache/clear + * Clear all caches (useful for development) + */ +app.post("/api/cache/clear", (req: Request, res: Response) => { + try { + clearMapCache(); + clearAdapterCaches(); + res.json({ message: "Caches cleared successfully" }); + } catch (error) { + console.error("Error clearing caches:", error); + res.status(500).json({ + error: "Failed to clear caches", + message: error instanceof Error ? error.message : String(error), + }); + } +}); + +// Error handling middleware +app.use((err: Error, req: Request, res: Response, next: any) => { + console.error("Unhandled error:", err); + res.status(500).json({ + error: "Internal server error", + message: err.message, + }); +}); + +// Start server +app.listen(PORT, () => { + console.log(` +╔════════════════════════════════════════════════════════════╗ +║ Pathfinding Playground Server ║ +╚════════════════════════════════════════════════════════════╝ + +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 new file mode 100644 index 000000000..6e3a12ceb --- /dev/null +++ b/tests/pathfinding/utils.ts @@ -0,0 +1,225 @@ +import fs from "fs"; +import path, { dirname } from "path"; +import { fileURLToPath } from "url"; +import { + Difficulty, + Game, + GameMapType, + GameMode, + GameType, + PlayerInfo, +} from "../../src/core/game/Game"; +import { createGame } from "../../src/core/game/GameImpl"; +import { TileRef } from "../../src/core/game/GameMap"; +import { genTerrainFromBin } from "../../src/core/game/TerrainMapLoader"; +import { UserSettings } from "../../src/core/game/UserSettings"; +import { NavMesh } from "../../src/core/pathfinding/navmesh/NavMesh"; +import { PathFinder, PathFinders } from "../../src/core/pathfinding/PathFinder"; +import { GameConfig, PeaceTimerDuration } from "../../src/core/Schemas"; +import { TestConfig } from "../util/TestConfig"; +export type BenchmarkRoute = { + name: string; + from: TileRef; + to: TileRef; +}; + +export type BenchmarkResult = { + route: string; + executionTime: number | null; + pathLength: number | null; +}; + +export type BenchmarkSummary = { + totalRoutes: number; + successfulRoutes: number; + timedRoutes: number; + totalDistance: number; + totalTime: number; + avgTime: number; +}; + +export function getAdapter(game: Game, name: string): PathFinder { + switch (name) { + case "legacy": + return PathFinders.WaterLegacy(game, { + iterations: 500_000, + maxTries: 50, + }); + case "hpa": { + // Recreate NavMesh 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 navMesh = new NavMesh(game, { cachePaths: false }); + navMesh.initialize(); + (game as any)._navMesh = navMesh; + + return PathFinders.Water(game); + } + case "hpa.cached": + return PathFinders.Water(game); + default: + throw new Error(`Unknown pathfinding adapter: ${name}`); + } +} + +export async function getScenario( + scenarioName: string, + adapterName: string = "hpa", +) { + const scenario = await import(`./benchmark/scenarios/${scenarioName}.js`); + const enableNavMesh = adapterName.startsWith("hpa"); + + // Time game creation (includes NavMesh initialization for default adapter) + const start = performance.now(); + const currentDir = dirname(fileURLToPath(import.meta.url)); + const projectRoot = path.join(currentDir, "../.."); + const mapsDirectory = path.join(projectRoot, "resources/maps"); + const game = await setupFromPath(mapsDirectory, scenario.MAP_NAME, { + disableNavMesh: !enableNavMesh, + }); + const initTime = performance.now() - start; + + const routes = scenario.ROUTES.map(([fromName, toName]: [string, string]) => { + const fromCoord: [number, number] = scenario.PORTS[fromName]; + const toCoord: [number, number] = scenario.PORTS[toName]; + + return { + name: `${fromName} → ${toName}`, + from: game.ref(fromCoord[0], fromCoord[1]), + to: game.ref(toCoord[0], toCoord[1]), + }; + }); + + return { + game, + routes, + initTime, + }; +} + +export function measurePathLength( + adapter: PathFinder, + route: BenchmarkRoute, +): number | null { + const path = adapter.findPath(route.from, route.to); + return path ? path.length : null; +} + +export function measureTime(fn: () => T): { result: T; time: number } { + const start = performance.now(); + const result = fn(); + const end = performance.now(); + return { result, time: end - start }; +} + +export function measureExecutionTime( + adapter: PathFinder, + route: BenchmarkRoute, + executions: number = 1, +): number | null { + const { time } = measureTime(() => { + for (let i = 0; i < executions; i++) { + adapter.findPath(route.from, route.to); + } + }); + + return time / executions; +} + +export function calculateStats(results: BenchmarkResult[]): BenchmarkSummary { + const successful = results.filter((r) => r.pathLength !== null); + const timed = results.filter((r) => r.executionTime !== null); + + const totalDistance = successful.reduce((sum, r) => sum + r.pathLength!, 0); + const totalTime = timed.reduce((sum, r) => sum + r.executionTime!, 0); + const avgTime = timed.length > 0 ? totalTime / timed.length : 0; + + return { + totalRoutes: results.length, + successfulRoutes: successful.length, + timedRoutes: timed.length, + totalDistance, + totalTime, + avgTime, + }; +} + +export function printRow(columns: (string | number)[], widths: number[]): void { + const formatted = columns.map((col, i) => { + const str = typeof col === "number" ? col.toString() : col; + return str.padEnd(widths[i]); + }); + + console.log(formatted.join(" ")); +} + +export function printSeparator(width: number = 80): void { + console.log("-".repeat(width)); +} + +export function printHeader(title: string, width: number = 80): void { + printSeparator(width); + console.log(title); + printSeparator(width); + console.log(""); +} + +export async function setupFromPath( + mapDirectory: string, + mapName: string, + gameConfig: Partial = {}, + humans: PlayerInfo[] = [], +): Promise { + // Suppress console.debug for tests + console.debug = () => {}; + + // Load map files from specified directory + const mapBinPath = path.join(mapDirectory, mapName, "map.bin"); + const miniMapBinPath = path.join(mapDirectory, mapName, "map4x.bin"); + + // Check if files exist + if (!fs.existsSync(mapBinPath)) { + throw new Error(`Map not found: ${mapBinPath}`); + } + + if (!fs.existsSync(miniMapBinPath)) { + throw new Error(`Mini map not found: ${miniMapBinPath}`); + } + + const mapBinBuffer = fs.readFileSync(mapBinPath); + const miniMapBinBuffer = fs.readFileSync(miniMapBinPath); + + // Convert binary buffers to strings for Terratomic's genTerrainFromBin + const mapBinString = String.fromCharCode(...new Uint8Array(mapBinBuffer)); + const miniMapBinString = String.fromCharCode( + ...new Uint8Array(miniMapBinBuffer), + ); + + const gameMap = await genTerrainFromBin(mapBinString); + const miniGameMap = await genTerrainFromBin(miniMapBinString); + + // Configure the game + const config = new TestConfig( + new (await import("../util/TestServerConfig")).TestServerConfig(), + { + gameMap: GameMapType.Asia, + gameMode: GameMode.FFA, + gameType: GameType.Singleplayer, + difficulty: Difficulty.Medium, + disableNPCs: false, + bots: 0, + infiniteGold: false, + infiniteTroops: false, + instantBuild: false, + peaceTimerDurationMinutes: PeaceTimerDuration.None, + startingGold: 0, + goldMultiplier: 1, + chatEnabled: false, + ...gameConfig, + }, + new UserSettings(), + false, + ); + + return createGame(humans, [], gameMap, miniGameMap, config); +} diff --git a/tests/perf/AstarPerf.ts b/tests/perf/AstarPerf.ts new file mode 100644 index 000000000..6e5931672 --- /dev/null +++ b/tests/perf/AstarPerf.ts @@ -0,0 +1,29 @@ +import Benchmark from "benchmark"; +import { MiniPathFinder } from "../../src/core/pathfinding/PathFinding"; +import { setup } from "../util/Setup"; + +const game = await setup("giantworldmap", {}, []); + +new Benchmark.Suite() + .add("top-left-to-bottom-right", () => { + new MiniPathFinder(game, 10_000_000_000, true, 1).nextTile( + game.ref(0, 0), + game.ref(4077, 1929), + ); + }) + .add("hawaii to svalbard", () => { + new MiniPathFinder(game, 10_000_000_000, true, 1).nextTile( + game.ref(186, 800), + game.ref(2205, 52), + ); + }) + .add("black sea to california", () => { + new MiniPathFinder(game, 10_000_000_000, true, 1).nextTile( + game.ref(2349, 455), + game.ref(511, 536), + ); + }) + .on("cycle", (event: any) => { + console.log(String(event.target)); + }) + .run({ async: true }); diff --git a/tests/testdata/maps/world/manifest.json b/tests/testdata/maps/world/manifest.json new file mode 100644 index 000000000..3a2df3f99 --- /dev/null +++ b/tests/testdata/maps/world/manifest.json @@ -0,0 +1,325 @@ +{ + "map": { + "height": 1000, + "num_land_tiles": 651761, + "width": 2000 + }, + "map16x": { + "height": 250, + "num_land_tiles": 37185, + "width": 500 + }, + "map4x": { + "height": 500, + "num_land_tiles": 157860, + "width": 1000 + }, + "name": "World", + "nations": [ + { + "coordinates": [375, 272], + "flag": "us", + "name": "United States" + }, + { + "coordinates": [372, 136], + "flag": "ca", + "name": "Canada" + }, + { + "coordinates": [375, 374], + "flag": "mx", + "name": "Mexico" + }, + { + "coordinates": [500, 378], + "flag": "cu", + "name": "Cuba" + }, + { + "coordinates": [524, 474], + "flag": "co", + "name": "Colombia" + }, + { + "coordinates": [593, 473], + "flag": "ve", + "name": "Venezuela" + }, + { + "coordinates": [596, 705], + "flag": "ar", + "name": "Argentina" + }, + { + "coordinates": [637, 567], + "flag": "br", + "name": "Brazil" + }, + { + "coordinates": [1280, 975], + "flag": "aq", + "name": "Antarctica" + }, + { + "coordinates": [709, 57], + "flag": "gl", + "name": "Greenland" + }, + { + "coordinates": [831, 112], + "flag": "is", + "name": "Iceland" + }, + { + "coordinates": [925, 186], + "flag": "gb", + "name": "United Kingdom" + }, + { + "coordinates": [887, 183], + "flag": "ie", + "name": "Ireland" + }, + { + "coordinates": [908, 264], + "flag": "es", + "name": "Spain" + }, + { + "coordinates": [1004, 250], + "flag": "it", + "name": "Italy" + }, + { + "coordinates": [958, 220], + "flag": "fr", + "name": "France" + }, + { + "coordinates": [997, 205], + "flag": "de", + "name": "Germany" + }, + { + "coordinates": [1064, 101], + "flag": "se", + "name": "Sweden" + }, + { + "coordinates": [1046, 193], + "flag": "pl", + "name": "Poland" + }, + { + "coordinates": [1061, 188], + "flag": "by", + "name": "Belarus" + }, + { + "coordinates": [1073, 243], + "flag": "ro", + "name": "Romania" + }, + { + "coordinates": [1161, 274], + "flag": "tr", + "name": "Turkey" + }, + { + "coordinates": [969, 133], + "flag": "no", + "name": "Norway" + }, + { + "coordinates": [1062, 133], + "flag": "fi", + "name": "Finland" + }, + { + "coordinates": [1099, 211], + "flag": "ua", + "name": "Ukraine" + }, + { + "coordinates": [1344, 136], + "flag": "ru", + "name": "Russia" + }, + { + "coordinates": [1537, 186], + "flag": "mn", + "name": "Mongolia" + }, + { + "coordinates": [1524, 328], + "flag": "cn", + "name": "China" + }, + { + "coordinates": [1368, 373], + "flag": "in", + "name": "India" + }, + { + "coordinates": [1276, 239], + "flag": "kz", + "name": "Kazakhstan" + }, + { + "coordinates": [1238, 309], + "flag": "ir", + "name": "Islamic Republic Of Iran" + }, + { + "coordinates": [1178, 351], + "flag": "sa", + "name": "Saudi Arabia" + }, + { + "coordinates": [1679, 657], + "flag": "au", + "name": "Australia" + }, + { + "coordinates": [1890, 775], + "flag": "nz", + "name": "New Zealand" + }, + { + "coordinates": [918, 342], + "flag": "dz", + "name": "Algeria" + }, + { + "coordinates": [1030, 332], + "flag": "ly", + "name": "Libyan Arab Jamahiriya" + }, + { + "coordinates": [1092, 335], + "flag": "eg", + "name": "Egypt" + }, + { + "coordinates": [963, 410], + "flag": "ne", + "name": "Niger" + }, + { + "coordinates": [1112, 406], + "flag": "sd", + "name": "Sudan" + }, + { + "coordinates": [1074, 508], + "flag": "cd", + "name": "DR Congo" + }, + { + "coordinates": [1154, 443], + "flag": "et", + "name": "Ethiopia" + }, + { + "coordinates": [1075, 707], + "flag": "za", + "name": "South Africa" + }, + { + "coordinates": [1194, 627], + "flag": "mg", + "name": "Madagascar" + }, + { + "coordinates": [1052, 420], + "flag": "td", + "name": "Chad" + }, + { + "coordinates": [1030, 665], + "flag": "na", + "name": "Namibia" + }, + { + "coordinates": [1632, 465], + "flag": "ph", + "name": "Philippines" + }, + { + "coordinates": [1537, 426], + "flag": "th", + "name": "Thailand" + }, + { + "coordinates": [1610, 364], + "flag": "tw", + "name": "Taiwan" + }, + { + "coordinates": [1710, 290], + "flag": "jp", + "name": "Japan" + }, + { + "coordinates": [1869, 119], + "flag": "ru", + "name": "Siberia" + }, + { + "coordinates": [74, 117], + "flag": "polar_bears", + "name": "Polar Bears" + }, + { + "coordinates": [419, 975], + "flag": "aq", + "name": "West Antarctica" + }, + { + "coordinates": [542, 603], + "flag": "pe", + "name": "Peru" + }, + { + "coordinates": [1075, 615], + "flag": "zm", + "name": "Zambia" + }, + { + "coordinates": [1099, 165], + "flag": "lv", + "name": "Latvia" + }, + { + "coordinates": [1427, 336], + "flag": "bt", + "name": "Bhutan" + }, + { + "coordinates": [1511, 524], + "flag": "id", + "name": "Indonesia" + }, + { + "coordinates": [1809, 977], + "flag": "aq", + "name": "East Antarctica" + }, + { + "coordinates": [1255, 382], + "flag": "om", + "name": "Oman" + }, + { + "coordinates": [853, 373], + "flag": "ma", + "name": "Morocco" + }, + { + "coordinates": [656, 678], + "flag": "uy", + "name": "Uruguay" + } + ] +} diff --git a/tests/testdata/maps/world/map.bin b/tests/testdata/maps/world/map.bin new file mode 100644 index 000000000..d841a10b6 --- /dev/null +++ b/tests/testdata/maps/world/map.bin @@ -0,0 +1 @@ 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zLtibEPf}n|LkK=wdA62rACyocEmNKg`JK@4&p^CjdGp4?hwctr`Qr&M;gk0JI~=R~ zA=xBJ&vk$S_)Pwoz}YW>1Qa0v^KN{nI?bB?4TC@D&s*2`jNh|yx|B|wY*d;68*&AG zKUb!8D{(pklUM1Qp1u_bfiAvCaW748jz*rhnh<60ORU@E7hA*`q>4ED)6Y(_nB~P_ z$0LbfIC8U2ee1l;GS*l3p|7f(Sc42~Xut$F>VuL~pF9lB&ur(sn3g=_FjTiZ zSt_x>uA~*|?@|B&0000w?0umpuSpzoAlugosFtPtY>;Hqzpa#w_ci4jkaZ=pu1O7O ztuh zI|j=rs@jF;qysw$*k{tB|LG5XtBrD3LrCw zLt#($eHTjF3~?_%AX`NGm;?<(k1rg@!f*&TTNqoIpSAq9?rlD=%=QAb6POVL2Tjp< zoQp4&NP}cvaZ{>oXARGzcR(0zQ}{2zLV*_L9(MvCH^b9&%J7*{*Lmr2jRza2HE#=& ztun$c+_Tg#3VpJwCHpR9Gbbq4)Ic;7_y~0M(#U7(=zPzX$ihw&O;@Pb6bV&W)sR7c zJ7J&ct2!q62#GKrDgwZBpj?hFo6go@8gzIvR zOYbMvGtiNCUmi{A0%FWfyo2FE<|t3NGlkN;7lFw+xJfb^)E69{6vqJOM`_h42M*q0 zRt%Z~V*CrRQs3ea9K9ALc+6If*4XFs4Q-2U`g=0B^E5Gny~vqKW?aei4he%0C>*hKh}7gwrHPs>JvUfdJi{^f>b~M5C78Q;!hDHxB#va^eI)1L;az^o`3y&5l5nt2OVtP{Y2jV4)nEC)cKV-{iRXZ zalRk#jzcK6K=>SdldjhPR=1NkLh^?YZ8dG|q*N6D!oBq@bz2) zo_c&2Jp!XkL44X%05OQ=!L~CA {}; - // Load the specified map - const mapPath = path.join(__dirname, "..", "testdata", `${mapName}.png`); - const imageBuffer = await fs.readFile(mapPath); - const { map, miniMap } = await generateMap(imageBuffer, false); - const gameMap = await genTerrainFromBin(String.fromCharCode.apply(null, map)); - const miniGameMap = await genTerrainFromBin( - String.fromCharCode.apply(null, miniMap), - ); + // Try binary map format first (tests/testdata/maps/{mapName}/) + const binMapDir = path.join(__dirname, "..", "testdata", "maps", mapName); + const mapBinPath = path.join(binMapDir, "map.bin"); + const miniMapBinPath = path.join(binMapDir, "map4x.bin"); + + let gameMap, miniGameMap; + + if (fsSync.existsSync(mapBinPath) && fsSync.existsSync(miniMapBinPath)) { + // Binary map format + const mapBinBuffer = fsSync.readFileSync(mapBinPath); + const miniMapBinBuffer = fsSync.readFileSync(miniMapBinPath); + const mapBinString = String.fromCharCode(...new Uint8Array(mapBinBuffer)); + const miniMapBinString = String.fromCharCode( + ...new Uint8Array(miniMapBinBuffer), + ); + gameMap = await genTerrainFromBin(mapBinString); + miniGameMap = await genTerrainFromBin(miniMapBinString); + } else { + // Legacy PNG map format + const mapPath = path.join(__dirname, "..", "testdata", `${mapName}.png`); + const imageBuffer = await fs.readFile(mapPath); + const { map, miniMap } = await generateMap(imageBuffer, false); + gameMap = await genTerrainFromBin(String.fromCharCode.apply(null, map)); + miniGameMap = await genTerrainFromBin( + String.fromCharCode.apply(null, miniMap), + ); + } // Configure the game const serverConfig = new TestServerConfig(); diff --git a/tests/util/TestConfig.ts b/tests/util/TestConfig.ts index f8f180793..debb15cd0 100644 --- a/tests/util/TestConfig.ts +++ b/tests/util/TestConfig.ts @@ -21,6 +21,10 @@ export class TestConfig extends DefaultConfig { return 1; } + disableNavMesh(): boolean { + return this.gameConfig().disableNavMesh ?? true; + } + radiusPortSpawn(): number { return 1; } From 25a44f732b3c7ba7d8f9a632adf6d51cc4415766 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 04:23:04 +0100 Subject: [PATCH 22/34] Refactor pathfinding UI and backend for HPA* integration - Updated HTML structure to replace references from "Gateways" to "Nodes" and "Used Gateways" to "Used Nodes". - Changed button IDs and labels to reflect the new pathfinding algorithm (HPA*). - Removed unused PF.Mini pathfinding API endpoint and adjusted the main pathfinding endpoint to accept comparison adapters. - Enhanced CSS styles for comparison rows in the UI. - Updated pathfinding utility functions to support new pathfinding algorithms and configurations. - Deleted obsolete performance test for A* pathfinding. --- src/core/execution/BomberExecution.ts | 2 +- src/core/execution/CargoPlaneExecution.ts | 2 +- src/core/execution/CityAABulletExecution.ts | 2 +- src/core/execution/FighterJetExecution.ts | 2 +- src/core/execution/MIRVExecution.ts | 29 +- src/core/execution/NukeExecution.ts | 28 +- .../execution/ParatrooperAttackExecution.ts | 2 +- src/core/execution/SAMMissileExecution.ts | 16 +- src/core/execution/ShellExecution.ts | 15 +- src/core/execution/SubmarineExecution.ts | 25 +- src/core/execution/TradeManagerExecution.ts | 20 +- src/core/execution/TradeShipExecution.ts | 7 +- src/core/execution/TransportShipExecution.ts | 49 +- src/core/execution/WarshipExecution.ts | 180 +--- src/core/game/Game.ts | 12 +- src/core/game/GameImpl.ts | 95 +- src/core/game/PlayerImpl.ts | 2 +- src/core/game/TransportShipUtils.ts | 233 +---- src/core/pathfinding/AStar.ts | 31 - src/core/pathfinding/MiniAStar.ts | 256 ------ src/core/pathfinding/PathFinder.Air.ts | 66 ++ src/core/pathfinding/PathFinder.Parabola.ts | 88 ++ src/core/pathfinding/PathFinder.Straight.ts | 44 + src/core/pathfinding/PathFinder.ts | 104 ++- src/core/pathfinding/PathFinderBuilder.ts | 42 + src/core/pathfinding/PathFinderStepper.ts | 119 +++ src/core/pathfinding/PathFinding.ts | 285 ------ src/core/pathfinding/SerialAStar.ts | 219 ----- .../pathfinding/adapters/MiniAStarAdapter.ts | 66 -- .../pathfinding/adapters/NavMeshAdapter.ts | 99 --- .../algorithms/AStar.AbstractGraph.ts | 249 ++++++ .../pathfinding/algorithms/AStar.Bounded.ts | 289 ++++++ .../pathfinding/algorithms/AStar.Water.ts | 203 +++++ .../algorithms/AStar.WaterHierarchical.ts | 562 ++++++++++++ src/core/pathfinding/algorithms/AStar.ts | 127 +++ .../pathfinding/algorithms/AbstractGraph.ts | 682 +++++++++++++++ .../FastBFS.ts => algorithms/BFS.Grid.ts} | 62 +- src/core/pathfinding/algorithms/BFS.ts | 64 ++ .../ConnectedComponents.ts} | 10 +- .../pathfinding/algorithms/PriorityQueue.ts | 154 ++++ src/core/pathfinding/navmesh/FastAStar.ts | 202 ----- .../pathfinding/navmesh/FastAStarAdapter.ts | 120 --- src/core/pathfinding/navmesh/GatewayGraph.ts | 587 ------------- src/core/pathfinding/navmesh/NavMesh.ts | 819 ------------------ .../smoothing/BresenhamPathSmoother.ts | 168 ++++ .../pathfinding/smoothing/PathSmoother.ts | 7 + .../smoothing/SmoothingTransformer.ts | 18 + src/core/pathfinding/spatial/SpatialQuery.ts | 90 ++ .../transformers/ComponentCheckTransformer.ts | 35 + .../transformers/MiniMapTransformer.ts | 128 +++ .../transformers/ShoreCoercingTransformer.ts | 91 ++ src/core/pathfinding/types.ts | 34 + .../executions/TradeShipExecution.test.ts | 2 +- tests/core/pathfinding/PathFinder.test.ts | 332 ------- .../pathfinding/PathFinderStepper.test.ts | 178 ++++ .../core/pathfinding/PathFinding.Air.test.ts | 183 ++++ .../pathfinding/PathFinding.Water.test.ts | 276 ++++++ tests/core/pathfinding/SpatialQuery.test.ts | 235 +++++ .../UniversalPathFinding.Parabola.test.ts | 319 +++++++ .../core/pathfinding/WaterComponents.test.ts | 144 +++ tests/core/pathfinding/_fixtures.ts | 179 ++++ .../ComponentCheckTransformer.test.ts | 168 ++++ .../transformers/MiniMapTransformer.test.ts | 178 ++++ .../ShoreCoercingTransformer.test.ts | 244 ++++++ tests/pathfinding/benchmark/compare.ts | 180 ++++ tests/pathfinding/playground/api/maps.ts | 118 ++- .../pathfinding/playground/api/pathfinding.ts | 264 ++++-- tests/pathfinding/playground/public/client.js | 682 +++++++-------- .../pathfinding/playground/public/index.html | 79 +- .../pathfinding/playground/public/styles.css | 61 ++ tests/pathfinding/playground/server.ts | 78 +- tests/pathfinding/utils.ts | 74 +- tests/perf/AstarPerf.ts | 29 - 73 files changed, 6591 insertions(+), 4253 deletions(-) delete mode 100644 src/core/pathfinding/AStar.ts delete mode 100644 src/core/pathfinding/MiniAStar.ts create mode 100644 src/core/pathfinding/PathFinder.Air.ts create mode 100644 src/core/pathfinding/PathFinder.Parabola.ts create mode 100644 src/core/pathfinding/PathFinder.Straight.ts create mode 100644 src/core/pathfinding/PathFinderBuilder.ts create mode 100644 src/core/pathfinding/PathFinderStepper.ts delete mode 100644 src/core/pathfinding/PathFinding.ts delete mode 100644 src/core/pathfinding/SerialAStar.ts delete mode 100644 src/core/pathfinding/adapters/MiniAStarAdapter.ts delete mode 100644 src/core/pathfinding/adapters/NavMeshAdapter.ts create mode 100644 src/core/pathfinding/algorithms/AStar.AbstractGraph.ts create mode 100644 src/core/pathfinding/algorithms/AStar.Bounded.ts create mode 100644 src/core/pathfinding/algorithms/AStar.Water.ts create mode 100644 src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts create mode 100644 src/core/pathfinding/algorithms/AStar.ts create mode 100644 src/core/pathfinding/algorithms/AbstractGraph.ts rename src/core/pathfinding/{navmesh/FastBFS.ts => algorithms/BFS.Grid.ts} (66%) create mode 100644 src/core/pathfinding/algorithms/BFS.ts rename src/core/pathfinding/{navmesh/WaterComponents.ts => algorithms/ConnectedComponents.ts} (95%) create mode 100644 src/core/pathfinding/algorithms/PriorityQueue.ts delete mode 100644 src/core/pathfinding/navmesh/FastAStar.ts delete mode 100644 src/core/pathfinding/navmesh/FastAStarAdapter.ts delete mode 100644 src/core/pathfinding/navmesh/GatewayGraph.ts delete mode 100644 src/core/pathfinding/navmesh/NavMesh.ts create mode 100644 src/core/pathfinding/smoothing/BresenhamPathSmoother.ts create mode 100644 src/core/pathfinding/smoothing/PathSmoother.ts create mode 100644 src/core/pathfinding/smoothing/SmoothingTransformer.ts create mode 100644 src/core/pathfinding/spatial/SpatialQuery.ts create mode 100644 src/core/pathfinding/transformers/ComponentCheckTransformer.ts create mode 100644 src/core/pathfinding/transformers/MiniMapTransformer.ts create mode 100644 src/core/pathfinding/transformers/ShoreCoercingTransformer.ts create mode 100644 src/core/pathfinding/types.ts delete mode 100644 tests/core/pathfinding/PathFinder.test.ts create mode 100644 tests/core/pathfinding/PathFinderStepper.test.ts create mode 100644 tests/core/pathfinding/PathFinding.Air.test.ts create mode 100644 tests/core/pathfinding/PathFinding.Water.test.ts create mode 100644 tests/core/pathfinding/SpatialQuery.test.ts create mode 100644 tests/core/pathfinding/UniversalPathFinding.Parabola.test.ts create mode 100644 tests/core/pathfinding/WaterComponents.test.ts create mode 100644 tests/core/pathfinding/_fixtures.ts create mode 100644 tests/core/pathfinding/transformers/ComponentCheckTransformer.test.ts create mode 100644 tests/core/pathfinding/transformers/MiniMapTransformer.test.ts create mode 100644 tests/core/pathfinding/transformers/ShoreCoercingTransformer.test.ts create mode 100644 tests/pathfinding/benchmark/compare.ts delete mode 100644 tests/perf/AstarPerf.ts diff --git a/src/core/execution/BomberExecution.ts b/src/core/execution/BomberExecution.ts index e981e8cda..7df0c31fa 100644 --- a/src/core/execution/BomberExecution.ts +++ b/src/core/execution/BomberExecution.ts @@ -1,7 +1,7 @@ import type { Execution, Game, Player, Unit } from "../game/Game"; import { UnitType } from "../game/Game"; import type { TileRef } from "../game/GameMap"; -import { StraightPathFinder } from "../pathfinding/PathFinding"; +import { StraightPathFinder } from "../pathfinding/PathFinder.Straight"; import { roadEffectModifiers } from "../tech/TechEffects"; export class BomberExecution implements Execution { diff --git a/src/core/execution/CargoPlaneExecution.ts b/src/core/execution/CargoPlaneExecution.ts index 0ecb1c2ac..2b18bb839 100644 --- a/src/core/execution/CargoPlaneExecution.ts +++ b/src/core/execution/CargoPlaneExecution.ts @@ -8,7 +8,7 @@ import { UnitType, } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { StraightPathFinder } from "../pathfinding/PathFinding"; +import { StraightPathFinder } from "../pathfinding/PathFinder.Straight"; export class CargoPlaneExecution implements Execution { executionName = "CargoPlaneExecution"; diff --git a/src/core/execution/CityAABulletExecution.ts b/src/core/execution/CityAABulletExecution.ts index 11371fe2e..d1a5f54f3 100644 --- a/src/core/execution/CityAABulletExecution.ts +++ b/src/core/execution/CityAABulletExecution.ts @@ -1,6 +1,6 @@ import { Execution, Game, Player, Unit, UnitType } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { StraightPathFinder } from "../pathfinding/PathFinding"; +import { StraightPathFinder } from "../pathfinding/PathFinder.Straight"; /** * Execution for a single AA bullet fired from a city at an enemy plane. diff --git a/src/core/execution/FighterJetExecution.ts b/src/core/execution/FighterJetExecution.ts index e7c25997d..c75899453 100644 --- a/src/core/execution/FighterJetExecution.ts +++ b/src/core/execution/FighterJetExecution.ts @@ -9,7 +9,7 @@ import { import { GameImpl } from "../game/GameImpl"; import { TileRef } from "../game/GameMap"; -import { StraightPathFinder } from "../pathfinding/PathFinding"; +import { StraightPathFinder } from "../pathfinding/PathFinder.Straight"; import { PseudoRandom } from "../PseudoRandom"; import { ShellExecution } from "./ShellExecution"; diff --git a/src/core/execution/MIRVExecution.ts b/src/core/execution/MIRVExecution.ts index c0b576c7b..0c3938464 100644 --- a/src/core/execution/MIRVExecution.ts +++ b/src/core/execution/MIRVExecution.ts @@ -8,7 +8,9 @@ import { UnitType, } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { ParabolaPathFinder } from "../pathfinding/PathFinding"; +import { UniversalPathFinding } from "../pathfinding/PathFinder"; +import { ParabolaUniversalPathFinder } from "../pathfinding/PathFinder.Parabola"; +import { PathStatus } from "../pathfinding/types"; import { PseudoRandom } from "../PseudoRandom"; import { simpleHash } from "../Util"; import { NukeExecution } from "./NukeExecution"; @@ -26,11 +28,12 @@ export class MirvExecution implements Execution { private random: PseudoRandom; - private pathFinder: ParabolaPathFinder; + private pathFinder: ParabolaUniversalPathFinder; private targetPlayer: Player; private separateDst: TileRef; + private spawnTile: TileRef; private speed: number = -1; @@ -42,7 +45,6 @@ export class MirvExecution implements Execution { init(mg: Game, ticks: number): void { this.random = new PseudoRandom(mg.ticks() + simpleHash(this.player.id())); this.mg = mg; - this.pathFinder = new ParabolaPathFinder(mg); const target = this.mg.owner(this.dst); if (!target.isPlayer()) { console.warn(`cannot MIRV unowned land`); @@ -51,6 +53,9 @@ export class MirvExecution implements Execution { } this.targetPlayer = target as Player; this.speed = this.mg.config().defaultNukeSpeed(); + this.pathFinder = UniversalPathFinding.Parabola(mg, { + increment: this.speed, + }); // Record stats this.mg.stats().bombLaunch(this.player, this.targetPlayer, UnitType.MIRV); @@ -81,13 +86,15 @@ export class MirvExecution implements Execution { this.active = false; return; } - this.nuke = this.player.buildUnit(UnitType.MIRV, spawn, {}); + this.spawnTile = spawn; + this.nuke = this.player.buildUnit(UnitType.MIRV, spawn, { + targetTile: this.dst, + }); const x = Math.floor( (this.mg.x(this.dst) + this.mg.x(this.mg.x(this.nuke.tile()))) / 2, ); const y = Math.max(0, this.mg.y(this.dst) - 500) + 50; this.separateDst = this.mg.ref(x, y); - this.pathFinder.computeControlPoints(spawn, this.separateDst); this.mg.displayIncomingUnit( this.nuke.id(), @@ -98,15 +105,19 @@ export class MirvExecution implements Execution { ); } - const result = this.pathFinder.nextTile(this.speed); - if (result === true) { + const result = this.pathFinder.next( + this.spawnTile, + this.separateDst, + this.speed, + ); + if (result.status === PathStatus.COMPLETE) { this.separate(); this.active = false; // Record stats this.mg.stats().bombLand(this.player, this.targetPlayer, UnitType.MIRV); return; - } else { - this.nuke.move(result); + } else if (result.status === PathStatus.NEXT) { + this.nuke.move(result.node); } } diff --git a/src/core/execution/NukeExecution.ts b/src/core/execution/NukeExecution.ts index a9e47c9c7..968d3c605 100644 --- a/src/core/execution/NukeExecution.ts +++ b/src/core/execution/NukeExecution.ts @@ -10,7 +10,9 @@ import { UnitType, } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { ParabolaPathFinder } from "../pathfinding/PathFinding"; +import { UniversalPathFinding } from "../pathfinding/PathFinder"; +import { ParabolaUniversalPathFinder } from "../pathfinding/PathFinder.Parabola"; +import { PathStatus } from "../pathfinding/types"; import { PseudoRandom } from "../PseudoRandom"; import { NukeType } from "../StatsSchemas"; import { DoomsdayActivationExecution } from "./DoomsdayActivationExecution"; @@ -28,7 +30,7 @@ export class NukeExecution implements Execution { private nuke: Unit | null = null; private tilesToDestroyCache: Set | undefined; private eligibleCities: Unit[] = []; - private pathFinder: ParabolaPathFinder; + private pathFinder: ParabolaUniversalPathFinder; constructor( private nukeType: NukeType, @@ -44,7 +46,11 @@ export class NukeExecution implements Execution { if (this.speed === -1) { this.speed = this.mg.config().defaultNukeSpeed(); } - this.pathFinder = new ParabolaPathFinder(mg); + this.pathFinder = UniversalPathFinding.Parabola(mg, { + increment: this.speed, + distanceBasedHeight: this.nukeType !== UnitType.MIRVWarhead, + directionUp: this.nukeType !== UnitType.MIRVWarhead, + }); } public target(): Player | TerraNullius { @@ -109,12 +115,6 @@ export class NukeExecution implements Execution { return; } this.src = spawn; - this.pathFinder.computeControlPoints( - spawn, - this.dst, - this.speed, - this.nukeType !== UnitType.MIRVWarhead, - ); this.nuke = this.player.buildUnit(this.nukeType, spawn, { targetTile: this.dst, trajectory: this.getTrajectory(this.dst), @@ -186,13 +186,13 @@ export class NukeExecution implements Execution { } // Move to next tile - const nextTile = this.pathFinder.nextTile(this.speed); - if (nextTile === true) { + const result = this.pathFinder.next(this.src!, this.dst, this.speed); + if (result.status === PathStatus.COMPLETE) { this.detonate(); return; - } else { + } else if (result.status === PathStatus.NEXT) { this.updateNukeTargetable(); - this.nuke.move(nextTile); + this.nuke.move(result.node); // Update index so SAM can interpolate future position this.nuke.setTrajectoryIndex(this.pathFinder.currentIndex()); @@ -229,7 +229,7 @@ export class NukeExecution implements Execution { const trajectoryTiles: TrajectoryTile[] = []; const targetRangeSquared = this.mg.config().defaultNukeTargetableRange() ** 2; - const allTiles: TileRef[] = this.pathFinder.allTiles(); + const allTiles = this.pathFinder.findPath(this.src!, target) ?? []; for (const tile of allTiles) { trajectoryTiles.push({ tile, diff --git a/src/core/execution/ParatrooperAttackExecution.ts b/src/core/execution/ParatrooperAttackExecution.ts index c7c530507..0fd1f67d3 100644 --- a/src/core/execution/ParatrooperAttackExecution.ts +++ b/src/core/execution/ParatrooperAttackExecution.ts @@ -10,7 +10,7 @@ import { } from "../game/Game"; import { TerrainType, TileRef } from "../game/GameMap"; -import { StraightPathFinder } from "../pathfinding/PathFinding"; +import { StraightPathFinder } from "../pathfinding/PathFinder.Straight"; import { AttackExecution } from "./AttackExecution"; export class ParatrooperAttackExecution implements Execution { diff --git a/src/core/execution/SAMMissileExecution.ts b/src/core/execution/SAMMissileExecution.ts index 001ffc1d2..32448475d 100644 --- a/src/core/execution/SAMMissileExecution.ts +++ b/src/core/execution/SAMMissileExecution.ts @@ -7,14 +7,14 @@ import { UnitType, } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { AirPathFinder } from "../pathfinding/PathFinding"; -import { PseudoRandom } from "../PseudoRandom"; +import { PathFinding } from "../pathfinding/PathFinder"; +import { PathStatus, SteppingPathFinder } from "../pathfinding/types"; import { NukeType } from "../StatsSchemas"; export class SAMMissileExecution implements Execution { executionName = "SAMMissileExecution"; private active = true; - private pathFinder: AirPathFinder; + private pathFinder: SteppingPathFinder; private SAMMissile: Unit | undefined; private mg: Game; private speed: number = 0; @@ -28,7 +28,7 @@ export class SAMMissileExecution implements Execution { ) {} init(mg: Game, ticks: number): void { - this.pathFinder = new AirPathFinder(mg, new PseudoRandom(mg.ticks())); + this.pathFinder = PathFinding.Air(mg); this.mg = mg; this.speed = this.mg.config().defaultSamMissileSpeed(); } @@ -72,11 +72,11 @@ export class SAMMissileExecution implements Execution { } for (let i = 0; i < this.speed; i++) { - const result = this.pathFinder.nextTile( + const result = this.pathFinder.next( this.SAMMissile.tile(), this.targetTile, ); - if (result === true) { + if (result.status === PathStatus.COMPLETE) { if ( this.target.type() === UnitType.AtomBomb || this.target.type() === UnitType.HydrogenBomb @@ -96,8 +96,8 @@ export class SAMMissileExecution implements Execution { this.SAMMissile.delete(false); return; - } else { - this.SAMMissile.move(result); + } else if (result.status === PathStatus.NEXT) { + this.SAMMissile.move(result.node); } } } diff --git a/src/core/execution/ShellExecution.ts b/src/core/execution/ShellExecution.ts index 84248d201..4035b838e 100644 --- a/src/core/execution/ShellExecution.ts +++ b/src/core/execution/ShellExecution.ts @@ -1,12 +1,13 @@ import { Execution, Game, Player, Unit, UnitType } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { AirPathFinder } from "../pathfinding/PathFinding"; +import { PathFinding } from "../pathfinding/PathFinder"; +import { PathStatus, SteppingPathFinder } from "../pathfinding/types"; import { PseudoRandom } from "../PseudoRandom"; export class ShellExecution implements Execution { executionName = "ShellExecution"; private active = true; - private pathFinder: AirPathFinder; + private pathFinder: SteppingPathFinder; private shell: Unit | undefined; private mg: Game; private destroyAtTick: number = -1; @@ -20,7 +21,7 @@ export class ShellExecution implements Execution { ) {} init(mg: Game, ticks: number): void { - this.pathFinder = new AirPathFinder(mg, new PseudoRandom(mg.ticks())); + this.pathFinder = PathFinding.Air(mg); this.mg = mg; this.random = new PseudoRandom(mg.ticks()); } @@ -53,11 +54,11 @@ export class ShellExecution implements Execution { } for (let i = 0; i < bulletSpeed; i++) { - const result = this.pathFinder.nextTile( + const result = this.pathFinder.next( this.shell.tile(), this.target.tile(), ); - if (result === true) { + if (result.status === PathStatus.COMPLETE) { this.active = false; // Don't damage bombers that have landed at their airfield if (!this.target.isAtSourceAirfield()) { @@ -74,8 +75,8 @@ export class ShellExecution implements Execution { this.shell.setReachedTarget(); this.shell.delete(false); return; - } else { - this.shell.move(result); + } else if (result.status === PathStatus.NEXT) { + this.shell.move(result.node); } } } diff --git a/src/core/execution/SubmarineExecution.ts b/src/core/execution/SubmarineExecution.ts index 070c20dd5..d28e998f8 100644 --- a/src/core/execution/SubmarineExecution.ts +++ b/src/core/execution/SubmarineExecution.ts @@ -7,10 +7,9 @@ import { UnitParams, UnitType, } from "../game/Game"; -import { GameImpl } from "../game/GameImpl"; import { TileRef } from "../game/GameMap"; -import { PathFindResultType } from "../pathfinding/AStar"; -import { MiniPathFinder } from "../pathfinding/PathFinding"; +import { PathFinding } from "../pathfinding/PathFinder"; +import { PathStatus, SteppingPathFinder } from "../pathfinding/types"; import { PseudoRandom } from "../PseudoRandom"; import { ShellExecution } from "./ShellExecution"; @@ -18,8 +17,8 @@ export class SubmarineExecution implements Execution { executionName = "SubmarineExecution"; private random: PseudoRandom; private submarine: Unit; - private mg: GameImpl; - private pathfinder: MiniPathFinder; + private mg: Game; + private pathfinder: SteppingPathFinder; private lastShellAttack = 0; private alreadySentShell = new Set(); @@ -39,8 +38,8 @@ export class SubmarineExecution implements Execution { ) {} init(mg: Game, ticks: number): void { - this.mg = mg as GameImpl; - this.pathfinder = new MiniPathFinder(mg, 10_000, true, 100); + this.mg = mg; + this.pathfinder = PathFinding.Water(mg); this.random = new PseudoRandom(mg.ticks()); if (isUnit(this.input)) { this.submarine = this.input; @@ -299,22 +298,22 @@ export class SubmarineExecution implements Execution { } } - const result = this.pathfinder.nextTile( + const result = this.pathfinder.next( this.submarine.tile(), this.submarine.targetTile()!, ); - switch (result.type) { - case PathFindResultType.Completed: + switch (result.status) { + case PathStatus.COMPLETE: this.submarine.setTargetTile(undefined); this.submarine.move(result.node); break; - case PathFindResultType.NextTile: + case PathStatus.NEXT: this.submarine.move(result.node); break; - case PathFindResultType.Pending: + case PathStatus.PENDING: this.submarine.touch(); return; - case PathFindResultType.PathNotFound: + case PathStatus.NOT_FOUND: console.warn(`path not found to target tile`); this.submarine.setTargetTile(undefined); break; diff --git a/src/core/execution/TradeManagerExecution.ts b/src/core/execution/TradeManagerExecution.ts index 6b249ff8e..42ac3c646 100644 --- a/src/core/execution/TradeManagerExecution.ts +++ b/src/core/execution/TradeManagerExecution.ts @@ -11,8 +11,8 @@ import { UpgradeType, } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { PathFindResultType } from "../pathfinding/AStar"; -import { MiniPathFinder } from "../pathfinding/PathFinding"; +import { PathFinding } from "../pathfinding/PathFinder"; +import { PathStatus, SteppingPathFinder } from "../pathfinding/types"; import { PseudoRandom } from "../PseudoRandom"; import { roadEffectModifiers, tradeIncomeModifiers } from "../tech/TechEffects"; @@ -693,7 +693,7 @@ export class TradeManagerExecution implements Execution { export class AssignedTradeRouteExecution implements Execution { private mg!: Game; - private path!: MiniPathFinder; + private path!: SteppingPathFinder; private active = true; private phase: "toStart" | "toEnd" = "toStart"; private lastMoveTick = 0; @@ -708,7 +708,7 @@ export class AssignedTradeRouteExecution implements Execution { init(mg: Game, ticks: number): void { this.mg = mg; - this.path = new MiniPathFinder(mg, 30000, true, 100); + this.path = PathFinding.Water(mg); this.lastMoveTick = ticks; // Ensure ship is not in a stale 'returning' state from a prior turnaround this.ship.setReturning(false); @@ -1050,18 +1050,18 @@ export class AssignedTradeRouteExecution implements Execution { return; } - const res = this.path.nextTile(this.ship.tile(), navTarget); - switch (res.type) { - case PathFindResultType.Completed: + const res = this.path.next(this.ship.tile(), navTarget); + switch (res.status) { + case PathStatus.COMPLETE: this.ship.move(navTarget); // silent per-tick break; - case PathFindResultType.Pending: + case PathStatus.PENDING: this.ship.move(this.ship.tile()); // no movement break; - case PathFindResultType.NextTile: + case PathStatus.NEXT: this.ship.move(res.node); // silent step break; - case PathFindResultType.PathNotFound: + case PathStatus.NOT_FOUND: // Path cannot be found; try another port of the same owner before giving up if (!this.ship.returning()) { if (this.phase === "toEnd") { diff --git a/src/core/execution/TradeShipExecution.ts b/src/core/execution/TradeShipExecution.ts index f1230c6f4..334f2dca4 100644 --- a/src/core/execution/TradeShipExecution.ts +++ b/src/core/execution/TradeShipExecution.ts @@ -8,7 +8,8 @@ import { UnitType, } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { PathFinder, PathFinders, PathStatus } from "../pathfinding/PathFinder"; +import { PathFinding } from "../pathfinding/PathFinder"; +import { PathStatus, SteppingPathFinder } from "../pathfinding/types"; import { distSortUnit } from "../Util"; export class TradeShipExecution implements Execution { @@ -16,7 +17,7 @@ export class TradeShipExecution implements Execution { private mg: Game; private tradeShip: Unit | undefined; private wasCaptured = false; - private pathFinder: PathFinder; + private pathFinder: SteppingPathFinder; private tilesTraveled = 0; constructor( @@ -27,7 +28,7 @@ export class TradeShipExecution implements Execution { init(mg: Game, ticks: number): void { this.mg = mg; - this.pathFinder = PathFinders.Water(mg); + this.pathFinder = PathFinding.Water(mg); } tick(ticks: number): void { diff --git a/src/core/execution/TransportShipExecution.ts b/src/core/execution/TransportShipExecution.ts index 3c6cc73f3..6b5403a99 100644 --- a/src/core/execution/TransportShipExecution.ts +++ b/src/core/execution/TransportShipExecution.ts @@ -11,7 +11,8 @@ import { } from "../game/Game"; import { TileRef } from "../game/GameMap"; import { targetTransportTile } from "../game/TransportShipUtils"; -import { PathFinder, PathFinders, PathStatus } from "../pathfinding/PathFinder"; +import { PathFinding } from "../pathfinding/PathFinder"; +import { PathStatus, SteppingPathFinder } from "../pathfinding/types"; import { AttackExecution } from "./AttackExecution"; export class TransportShipExecution implements Execution { @@ -32,7 +33,7 @@ export class TransportShipExecution implements Execution { private boat: Unit; - private pathFinder: PathFinder; + private pathFinder: SteppingPathFinder; constructor( private attacker: Player, @@ -78,7 +79,7 @@ export class TransportShipExecution implements Execution { this.lastMove = ticks; this.mg = mg; - this.pathFinder = PathFinders.Water(mg); + this.pathFinder = PathFinding.Water(mg); if ( this.attacker.unitCount(UnitType.TransportShip) >= @@ -149,6 +150,12 @@ export class TransportShipExecution implements Execution { // Track intended target player on the boat for selective cancellation on peace (this.boat as any).setBoatTargetPlayerID?.(this.targetID); + if (this.dst !== null) { + this.boat.setTargetTile(this.dst); + } else { + this.boat.setTargetTile(undefined); + } + // Notify the target player about the incoming naval invasion if (this.targetID && this.targetID !== mg.terraNullius().id()) { mg.displayIncomingUnit( @@ -184,7 +191,32 @@ export class TransportShipExecution implements Execution { this.lastMove = ticks; if (this.boat.retreating()) { - this.dst = this.src!; // src is guaranteed to be set at this point + // Ensure retreat source is still valid for (new) owner + if (this.mg.owner(this.src!) !== this.attacker) { + // Use bestTransportShipSpawn, not canBuild because of its max boats check etc + const newSrc = this.attacker.bestTransportShipSpawn(this.dst); + if (newSrc === false) { + this.src = null; + } else { + this.src = newSrc; + } + } + + if (this.src === null) { + console.warn( + `TransportShipExecution: retreating but no src found for new attacker`, + ); + this.attacker.addTroops(this.boat.troops()); + this.boat.delete(false); + this.active = false; + return; + } else { + this.dst = this.src; + + if (this.boat.targetTile() !== this.dst) { + this.boat.setTargetTile(this.dst); + } + } } const result = this.pathFinder.next(this.boat.tile(), this.dst); @@ -228,13 +260,18 @@ export class TransportShipExecution implements Execution { break; case PathStatus.PENDING: break; - case PathStatus.NOT_FOUND: + case PathStatus.NOT_FOUND: { // TODO: add to poisoned port list - console.warn(`path not found to dst`); + const map = this.mg.map(); + const boatTile = this.boat.tile(); + console.warn( + `TransportShip path not found: boat@(${map.x(boatTile)},${map.y(boatTile)}) -> dst@(${map.x(this.dst)},${map.y(this.dst)}), attacker=${this.attacker.id()}, target=${this.targetID}`, + ); this.attacker.addTroops(this.boat.troops()); this.boat.delete(false); this.active = false; return; + } } } diff --git a/src/core/execution/WarshipExecution.ts b/src/core/execution/WarshipExecution.ts index 120a75e50..e63d89ca7 100644 --- a/src/core/execution/WarshipExecution.ts +++ b/src/core/execution/WarshipExecution.ts @@ -10,9 +10,8 @@ import { UpgradeType, } from "../game/Game"; import { TileRef } from "../game/GameMap"; -import { PathFindResultType } from "../pathfinding/AStar"; -import { PathFinder, PathFinders, PathStatus } from "../pathfinding/PathFinder"; -import { MiniPathFinder } from "../pathfinding/PathFinding"; +import { PathFinding } from "../pathfinding/PathFinder"; +import { PathStatus, SteppingPathFinder } from "../pathfinding/types"; import { PseudoRandom } from "../PseudoRandom"; import { SAMMissileExecution } from "./SAMMissileExecution"; import { ShellExecution } from "./ShellExecution"; @@ -22,7 +21,7 @@ export class WarshipExecution implements Execution { private random: PseudoRandom; private warship: Unit; private mg: Game; - private pathfinder: PathFinder; + private pathfinder: SteppingPathFinder; private lastShellAttack = 0; private alreadySentShell = new Set(); private nextAAScanTick = 0; @@ -41,7 +40,7 @@ export class WarshipExecution implements Execution { init(mg: Game, ticks: number): void { this.mg = mg; - this.pathfinder = PathFinders.Water(mg); + this.pathfinder = PathFinding.Water(mg); this.random = new PseudoRandom(mg.ticks()); if (isUnit(this.input)) { this.warship = this.input; @@ -380,9 +379,10 @@ export class WarshipExecution implements Execution { case PathStatus.PENDING: this.warship.touch(); break; - case PathStatus.NOT_FOUND: + case PathStatus.NOT_FOUND: { console.log(`path not found to target`); break; + } } } } @@ -410,10 +410,10 @@ export class WarshipExecution implements Execution { case PathStatus.PENDING: this.warship.touch(); return; - case PathStatus.NOT_FOUND: - console.warn(`path not found to target tile`); - this.warship.setTargetTile(undefined); + case PathStatus.NOT_FOUND: { + console.log(`path not found to target`); break; + } } } @@ -430,6 +430,10 @@ export class WarshipExecution implements Execution { const maxAttemptBeforeExpand: number = 500; let attempts: number = 0; let expandCount: number = 0; + + // Get warship's water component for connectivity check + const warshipComponent = this.mg.getWaterComponent(this.warship.tile()); + while (expandCount < 3) { const x = this.mg.x(this.warship.patrolTile()!) + @@ -454,6 +458,20 @@ export class WarshipExecution implements Execution { } continue; } + // Check water component connectivity + if ( + warshipComponent !== null && + !this.mg.hasWaterComponent(tile, warshipComponent) + ) { + attempts++; + if (attempts === maxAttemptBeforeExpand) { + expandCount++; + attempts = 0; + warshipPatrolRange = + warshipPatrolRange + Math.floor(warshipPatrolRange / 2); + } + continue; + } return tile; } console.warn( @@ -570,147 +588,3 @@ export class WarshipExecution implements Execution { return this.mg.owner(targetTile) === this.warship.owner(); } } - -class CapturedTradeShipReturnExecution implements Execution { - executionName = "CapturedTradeShipReturnExecution"; - private mg!: Game; - private pathfinder!: MiniPathFinder; - private active = true; - private lastMoveTick = 0; - private destPort: Unit | null = null; - - constructor(private ship: Unit) {} - - init(mg: Game, ticks: number): void { - this.mg = mg; - this.pathfinder = new MiniPathFinder(mg, 2500, true, 100); - this.lastMoveTick = ticks; - // Pick nearest active port owned by the ship's owner - this.destPort = this.selectNearestPort(this.ship.owner()); - if (this.destPort) { - this.ship.setTargetUnit(this.destPort); - } else { - // No port to return to; cancel - this.active = false; - } - } - - isActive(): boolean { - return this.active; - } - - activeDuringSpawnPhase(): boolean { - return false; - } - - tick(ticks: number): void { - if (!this.active) return; - if (!this.ship.isActive()) { - this.active = false; - return; - } - if (!this.destPort || !this.destPort.isActive()) { - // Destination no longer valid; try to pick another - this.destPort = this.selectNearestPort(this.ship.owner()); - if (!this.destPort) { - this.active = false; - return; - } - this.ship.setTargetUnit(this.destPort); - } - - if (ticks - this.lastMoveTick < 1) return; - this.lastMoveTick = ticks; - - const targetTile = this.destPort.tile(); - if (this.mg.manhattanDist(this.ship.tile(), targetTile) === 1) { - // Dock - this.ship.move(targetTile); - const cargo = this.ship.cargoGold(); - if (cargo > 0n) { - this.ship.owner().addGold(cargo); - this.ship.setCargoGold(0n); - } - this.ship.setTargetUnit(undefined); - this.active = false; - return; - } - - const navTarget = this.navTargetForPort(targetTile); - if (navTarget === null) { - this.active = false; - return; - } - - // If on land (port tile), step into adjacent ocean first - if (!this.mg.isOcean(this.ship.tile())) { - const step = this.stepIntoOceanTowards(navTarget); - if (step !== null) { - this.ship.move(step); - return; - } - this.active = false; - return; - } - - const res = this.pathfinder.nextTile(this.ship.tile(), navTarget); - switch (res.type) { - case PathFindResultType.Completed: - this.ship.move(navTarget); - break; - case PathFindResultType.NextTile: - this.ship.move(res.node); - break; - case PathFindResultType.Pending: - this.ship.touch(); - break; - case PathFindResultType.PathNotFound: - this.active = false; - break; - } - } - - private selectNearestPort(owner: Player): Unit | null { - const ports = this.mg - .units(UnitType.Port) - .filter((p) => p.owner() === owner && p.isActive()); - if (ports.length === 0) return null; - let best: Unit | null = null; - let bestDist = Number.POSITIVE_INFINITY; - for (const p of ports) { - const d = this.mg.euclideanDistSquared(this.ship.tile(), p.tile()); - if (d < bestDist) { - bestDist = d; - best = p; - } - } - return best; - } - - private navTargetForPort(portTile: TileRef): TileRef | null { - if (this.mg.isOcean(portTile)) return portTile; - const candidates = this.mg - .neighbors(portTile) - .filter((t) => this.mg.isOcean(t)); - if (candidates.length === 0) return null; - candidates.sort( - (a, b) => - this.mg.manhattanDist(this.ship.tile(), a) - - this.mg.manhattanDist(this.ship.tile(), b), - ); - return candidates[0]; - } - - private stepIntoOceanTowards(navTarget: TileRef): TileRef | null { - const oceanNeighbors = this.mg - .neighbors(this.ship.tile()) - .filter((t) => this.mg.isOcean(t)); - if (oceanNeighbors.length === 0) return null; - oceanNeighbors.sort( - (a, b) => - this.mg.manhattanDist(a, navTarget) - - this.mg.manhattanDist(b, navTarget), - ); - return oceanNeighbors[0]; - } -} diff --git a/src/core/game/Game.ts b/src/core/game/Game.ts index 01b11c95f..76caec2f8 100644 --- a/src/core/game/Game.ts +++ b/src/core/game/Game.ts @@ -1,5 +1,6 @@ import { Config } from "../configuration/Config"; -import { NavMesh } from "../pathfinding/navmesh/NavMesh"; +import { AbstractGraph } from "../pathfinding/algorithms/AbstractGraph"; +import { PathFinder } from "../pathfinding/types"; import { AllPlayersStats, ClientID } from "../Schemas"; import { Category } from "../tech/ResearchTree"; import { Cell, GameMap, MapPos, TerrainType, TileRef } from "./GameMap"; @@ -284,7 +285,9 @@ export interface UnitParamsMap { [UnitType.City]: Record; - [UnitType.MIRV]: Record; + [UnitType.MIRV]: { + targetTile?: number; + }; [UnitType.Hospital]: Record; @@ -882,7 +885,10 @@ export interface Game extends GameMap { conquer(newOwner: Player, tile: TileRef): void; addUpdate(update: GameUpdate): void; - navMesh(): NavMesh | null; + miniWaterHPA(): PathFinder | null; + miniWaterGraph(): AbstractGraph | null; + getWaterComponent(tile: TileRef): number | null; + hasWaterComponent(tile: TileRef, component: number): boolean; } export interface PlayerActions { diff --git a/src/core/game/GameImpl.ts b/src/core/game/GameImpl.ts index 20e810572..02528831b 100644 --- a/src/core/game/GameImpl.ts +++ b/src/core/game/GameImpl.ts @@ -1,6 +1,11 @@ import { Config } from "../configuration/Config"; import { AttackExecution } from "../execution/AttackExecution"; -import { NavMesh } from "../pathfinding/navmesh/NavMesh"; +import { + AbstractGraph, + AbstractGraphBuilder, +} from "../pathfinding/algorithms/AbstractGraph"; +import { AStarWaterHierarchical } from "../pathfinding/algorithms/AStar.WaterHierarchical"; +import { PathFinder } from "../pathfinding/types"; import { AllPlayersStats, ClientID, Winner } from "../Schemas"; import { simpleHash } from "../Util"; import { AllianceImpl } from "./AllianceImpl"; @@ -92,7 +97,8 @@ export class GameImpl implements Game { private botTeam: Team = ColoredTeams.Bot; private _isPaused: boolean = false; - private _navMesh: NavMesh | null = null; + private _miniWaterGraph: AbstractGraph | null = null; + private _miniWaterHPA: AStarWaterHierarchical | null = null; constructor( private _humans: PlayerInfo[], @@ -124,8 +130,14 @@ export class GameImpl implements Game { this.addPlayers(); if (!_config.disableNavMesh()) { - this._navMesh = new NavMesh(this, { cachePaths: true }); - this._navMesh.initialize(); + const graphBuilder = new AbstractGraphBuilder(this.miniGameMap); + this._miniWaterGraph = graphBuilder.build(); + + this._miniWaterHPA = new AStarWaterHierarchical( + this.miniGameMap, + this._miniWaterGraph, + { cachePaths: true }, + ); } } @@ -1223,8 +1235,79 @@ export class GameImpl implements Game { public alliances(): AllianceImpl[] { return this.alliances_; } - navMesh(): NavMesh | null { - return this._navMesh; + miniWaterHPA(): PathFinder | null { + return this._miniWaterHPA; + } + miniWaterGraph(): AbstractGraph | null { + return this._miniWaterGraph; + } + getWaterComponent(tile: TileRef): number | null { + // Permissive fallback for tests with disableNavMesh + if (!this._miniWaterGraph) return 0; + + const miniX = Math.floor(this._map.x(tile) / 2); + const miniY = Math.floor(this._map.y(tile) / 2); + const miniTile = this.miniGameMap.ref(miniX, miniY); + + if (this.miniGameMap.isWater(miniTile)) { + return this._miniWaterGraph.getComponentId(miniTile); + } + + // Shore tile: find water neighbor (expand search for minimap resolution loss) + for (const n of this.miniGameMap.neighbors(miniTile)) { + if (this.miniGameMap.isWater(n)) { + return this._miniWaterGraph.getComponentId(n); + } + } + + // Extended search: check 2-hop neighbors for narrow straits + for (const n of this.miniGameMap.neighbors(miniTile)) { + for (const n2 of this.miniGameMap.neighbors(n)) { + if (this.miniGameMap.isWater(n2)) { + return this._miniWaterGraph.getComponentId(n2); + } + } + } + return null; + } + hasWaterComponent(tile: TileRef, component: number): boolean { + // Permissive fallback for tests with disableNavMesh + if (!this._miniWaterGraph) return true; + + const miniX = Math.floor(this._map.x(tile) / 2); + const miniY = Math.floor(this._map.y(tile) / 2); + const miniTile = this.miniGameMap.ref(miniX, miniY); + + // Check miniTile itself (shore in full map may be water in minimap) + if ( + this.miniGameMap.isWater(miniTile) && + this._miniWaterGraph.getComponentId(miniTile) === component + ) { + return true; + } + + // Check neighbors + for (const n of this.miniGameMap.neighbors(miniTile)) { + if ( + this.miniGameMap.isWater(n) && + this._miniWaterGraph.getComponentId(n) === component + ) { + return true; + } + } + + // Extended search: check 2-hop neighbors for narrow straits + for (const n of this.miniGameMap.neighbors(miniTile)) { + for (const n2 of this.miniGameMap.neighbors(n)) { + if ( + this.miniGameMap.isWater(n2) && + this._miniWaterGraph.getComponentId(n2) === component + ) { + return true; + } + } + } + return false; } public hasRoadOnTile(tile: TileRef): boolean { diff --git a/src/core/game/PlayerImpl.ts b/src/core/game/PlayerImpl.ts index 56548a145..d017e14c6 100644 --- a/src/core/game/PlayerImpl.ts +++ b/src/core/game/PlayerImpl.ts @@ -1872,7 +1872,7 @@ export class PlayerImpl implements Player { } bestTransportShipSpawn(targetTile: TileRef): TileRef | false { - return bestShoreDeploymentSource(this.mg, this, targetTile); + return bestShoreDeploymentSource(this.mg, this, targetTile) ?? false; } // It's a probability list, so if an element appears twice it's because it's diff --git a/src/core/game/TransportShipUtils.ts b/src/core/game/TransportShipUtils.ts index b457ad94a..ec8ba7109 100644 --- a/src/core/game/TransportShipUtils.ts +++ b/src/core/game/TransportShipUtils.ts @@ -1,7 +1,6 @@ -import { PathFindResultType } from "../pathfinding/AStar"; -import { MiniAStar } from "../pathfinding/MiniAStar"; +import { SpatialQuery } from "../pathfinding/spatial/SpatialQuery"; import { Game, Player, UnitType } from "./Game"; -import { andFN, GameMap, manhattanDistFN, TileRef } from "./GameMap"; +import { TileRef } from "./GameMap"; export function canBuildTransportShip( game: Game, @@ -27,234 +26,20 @@ export function canBuildTransportShip( return false; } - if (game.isOceanShore(dst)) { - let myPlayerBordersOcean = false; - for (const bt of player.borderTiles()) { - if (game.isOceanShore(bt)) { - myPlayerBordersOcean = true; - break; - } - } - - let otherPlayerBordersOcean = false; - if (!game.hasOwner(tile)) { - otherPlayerBordersOcean = true; - } else { - for (const bt of (other as Player).borderTiles()) { - if (game.isOceanShore(bt)) { - otherPlayerBordersOcean = true; - break; - } - } - } - - if (myPlayerBordersOcean && otherPlayerBordersOcean) { - return transportShipSpawn(game, player, dst); - } else { - return false; - } - } - - // Now we are boating in a lake, so do a bfs from target until we find - // a border tile owned by the player - - const tiles = game.bfs( - dst, - andFN( - manhattanDistFN(dst, 300), - (_, t: TileRef) => game.isLake(t) || game.isShore(t), - ), - ); - - const sorted = Array.from(tiles).sort( - (a, b) => game.manhattanDist(dst, a) - game.manhattanDist(dst, b), - ); - - for (const t of sorted) { - if (game.owner(t) === player) { - return transportShipSpawn(game, player, t); - } - } - return false; -} - -function transportShipSpawn( - game: Game, - player: Player, - targetTile: TileRef, -): TileRef | false { - if (!game.isShore(targetTile)) { - return false; - } - const spawn = closestShoreFromPlayer(game, player, targetTile); - if (spawn === null) { - return false; - } - return spawn; -} - -export function sourceDstOceanShore( - gm: Game, - src: Player, - tile: TileRef, -): [TileRef | null, TileRef | null] { - const dst = gm.owner(tile); - const srcTile = closestShoreFromPlayer(gm, src, tile); - let dstTile: TileRef | null = null; - if (dst.isPlayer()) { - dstTile = closestShoreFromPlayer(gm, dst as Player, tile); - } else { - dstTile = closestShoreTN(gm, tile, 50); - } - return [srcTile, dstTile]; + const spatial = new SpatialQuery(game); + return spatial.closestShoreByWater(player, dst) ?? false; } export function targetTransportTile(gm: Game, tile: TileRef): TileRef | null { - const dst = gm.playerBySmallID(gm.ownerID(tile)); - let dstTile: TileRef | null = null; - if (dst.isPlayer()) { - dstTile = closestShoreFromPlayer(gm, dst as Player, tile); - } else { - dstTile = closestShoreTN(gm, tile, 50); - } - return dstTile; -} - -export function closestShoreFromPlayer( - gm: GameMap, - player: Player, - target: TileRef, -): TileRef | null { - const shoreTiles = Array.from(player.borderTiles()).filter((t) => - gm.isShore(t), - ); - if (shoreTiles.length === 0) { - return null; - } - - return shoreTiles.reduce((closest, current) => { - const closestDistance = gm.manhattanDist(target, closest); - const currentDistance = gm.manhattanDist(target, current); - return currentDistance < closestDistance ? current : closest; - }); + const spatial = new SpatialQuery(gm); + return spatial.closestShore(gm.owner(tile), tile); } export function bestShoreDeploymentSource( gm: Game, player: Player, - target: TileRef, -): TileRef | false { - const t = targetTransportTile(gm, target); - if (t === null) return false; - - const candidates = candidateShoreTiles(gm, player, t); - const aStar = new MiniAStar(gm, gm.miniMap(), candidates, t, 1_000_000, 1); - const result = aStar.compute(); - if (result !== PathFindResultType.Completed) { - console.warn(`bestShoreDeploymentSource: path not found: ${result}`); - return false; - } - const path = aStar.reconstructPath(); - if (path.length === 0) { - return false; - } - const potential = path[0]; - // Since mini a* downscales the map, we need to check the neighbors - // of the potential tile to find a valid deployment point - const neighbors = gm - .neighbors(potential) - .filter((n) => gm.isShore(n) && gm.owner(n) === player); - if (neighbors.length === 0) { - return false; - } - return neighbors[0]; -} - -export function candidateShoreTiles( - gm: Game, - player: Player, - target: TileRef, -): TileRef[] { - let closestManhattanDistance = Infinity; - let minX = Infinity, - minY = Infinity, - maxX = -Infinity, - maxY = -Infinity; - - let bestByManhattan: TileRef | null = null; - const extremumTiles: Record = { - minX: null, - minY: null, - maxX: null, - maxY: null, - }; - - const borderShoreTiles = Array.from(player.borderTiles()).filter((t) => - gm.isShore(t), - ); - - for (const tile of borderShoreTiles) { - const distance = gm.manhattanDist(tile, target); - const cell = gm.cell(tile); - - // Manhattan-closest tile - if (distance < closestManhattanDistance) { - closestManhattanDistance = distance; - bestByManhattan = tile; - } - - // Extremum tiles - if (cell.x < minX) { - minX = cell.x; - extremumTiles.minX = tile; - } else if (cell.y < minY) { - minY = cell.y; - extremumTiles.minY = tile; - } else if (cell.x > maxX) { - maxX = cell.x; - extremumTiles.maxX = tile; - } else if (cell.y > maxY) { - maxY = cell.y; - extremumTiles.maxY = tile; - } - } - - // Calculate sampling interval to ensure we get at most 50 tiles - const samplingInterval = Math.max( - 10, - Math.ceil(borderShoreTiles.length / 50), - ); - const sampledTiles = borderShoreTiles.filter( - (_, index) => index % samplingInterval === 0, - ); - - const candidates = [ - bestByManhattan, - extremumTiles.minX, - extremumTiles.minY, - extremumTiles.maxX, - extremumTiles.maxY, - ...sampledTiles, - ].filter(Boolean) as number[]; - - return candidates; -} - -function closestShoreTN( - gm: GameMap, - tile: TileRef, - searchDist: number, + dst: TileRef, ): TileRef | null { - const tn = Array.from( - gm.bfs( - tile, - andFN((_, t) => !gm.hasOwner(t), manhattanDistFN(tile, searchDist)), - ), - ) - .filter((t) => gm.isShore(t)) - .sort((a, b) => gm.manhattanDist(tile, a) - gm.manhattanDist(tile, b)); - if (tn.length === 0) { - return null; - } - return tn[0]; + const spatial = new SpatialQuery(gm); + return spatial.closestShoreByWater(player, dst); } diff --git a/src/core/pathfinding/AStar.ts b/src/core/pathfinding/AStar.ts deleted file mode 100644 index f16accf4e..000000000 --- a/src/core/pathfinding/AStar.ts +++ /dev/null @@ -1,31 +0,0 @@ -export interface AStar { - compute(): PathFindResultType; - reconstructPath(): NodeType[]; -} - -export enum PathFindResultType { - NextTile, - Pending, - Completed, - PathNotFound, -} -export type AStarResult = - | { - type: PathFindResultType.NextTile; - node: NodeType; - } - | { - type: PathFindResultType.Pending; - } - | { - type: PathFindResultType.Completed; - node: NodeType; - } - | { - type: PathFindResultType.PathNotFound; - }; - -export interface Point { - x: number; - y: number; -} diff --git a/src/core/pathfinding/MiniAStar.ts b/src/core/pathfinding/MiniAStar.ts deleted file mode 100644 index 0573c31a7..000000000 --- a/src/core/pathfinding/MiniAStar.ts +++ /dev/null @@ -1,256 +0,0 @@ -import { Cell, GameMap, TerrainType, TileRef } from "../game/GameMap"; -import { AStar, PathFindResultType } from "./AStar"; -import { GraphAdapter, SerialAStar } from "./SerialAStar"; - -export class GameMapAdapter implements GraphAdapter { - constructor( - private gameMap: GameMap, - private waterPath: boolean, - ) {} - - neighbors(node: TileRef): Iterable { - return this.gameMap.neighbors(node); - } - - cost(node: TileRef): number { - return this.gameMap.cost(node); - } - - position(node: TileRef): { x: number; y: number } { - return { x: this.gameMap.x(node), y: this.gameMap.y(node) }; - } - - isTraversable(from: TileRef, to: TileRef): boolean { - const isWater = this.gameMap.isWater(to); - if (this.gameMap.terrainType(to) === TerrainType.Barrier) { - return false; - } - return this.waterPath ? isWater : !isWater; - } -} -export class MiniAStar implements AStar { - private aStar: AStar; - - constructor( - private gameMap: GameMap, - private miniMap: GameMap, - private src: TileRef | TileRef[], - private dst: TileRef, - iterations: number, - maxTries: number, - waterPath: boolean = true, - directionChangePenalty: number = 0, - ) { - const srcArray: TileRef[] = Array.isArray(src) ? src : [src]; - const miniSrc = srcArray.map((srcPoint) => - this.miniMap.ref( - Math.floor(gameMap.x(srcPoint) / 2), - Math.floor(gameMap.y(srcPoint) / 2), - ), - ); - - const miniDst = this.miniMap.ref( - Math.floor(gameMap.x(dst) / 2), - Math.floor(gameMap.y(dst) / 2), - ); - - this.aStar = new SerialAStar( - miniSrc, - miniDst, - iterations, - maxTries, - new GameMapAdapter(miniMap, waterPath), - directionChangePenalty, - ); - } - - compute(): PathFindResultType { - return this.aStar.compute(); - } - - reconstructPath(): TileRef[] { - // Build start and destination cells at full resolution - let cellSrc: Cell | undefined; - if (!Array.isArray(this.src)) { - cellSrc = new Cell(this.gameMap.x(this.src), this.gameMap.y(this.src)); - } - const cellDst = new Cell( - this.gameMap.x(this.dst), - this.gameMap.y(this.dst), - ); - - // Get path in mini-map coords, upscale to full grid coordinates - const coarseCells = this.aStar - .reconstructPath() - .map((tr) => new Cell(this.miniMap.x(tr), this.miniMap.y(tr))); - const upscaled = fixExtremes(upscalePath(coarseCells), cellDst, cellSrc); - - // Convert to an orthogonal, water-preferred path on the full grid - const waterOrthogonal: Cell[] = []; - if (upscaled.length > 0) { - let curr = upscaled[0]; - waterOrthogonal.push(curr); - for (let i = 1; i < upscaled.length; i++) { - const target = upscaled[i]; - while (curr.x !== target.x || curr.y !== target.y) { - const stepX = Math.sign(target.x - curr.x); - const stepY = Math.sign(target.y - curr.y); - const candidates: Cell[] = []; - if (stepX !== 0) candidates.push(new Cell(curr.x + stepX, curr.y)); - if (stepY !== 0) candidates.push(new Cell(curr.x, curr.y + stepY)); - - // Prefer candidates that are water and reduce manhattan distance - let best: Cell | null = null; - let bestScore = Number.POSITIVE_INFINITY; - for (const cand of candidates) { - const ref = this.gameMap.ref(cand.x, cand.y); - const isWater = this.gameMap.isWater(ref); - const dist = - Math.abs(target.x - cand.x) + Math.abs(target.y - cand.y); - const score = (isWater ? 0 : 1000) + dist; // strong preference for water - if (score < bestScore) { - best = cand; - bestScore = score; - } - } - // If no candidates (shouldn't happen), break to avoid infinite loop - if (best === null) break; - curr = best; - waterOrthogonal.push(curr); - } - } - } - - // Remove any residual non-water cells if present (belt-and-suspenders) - let finalCells = waterOrthogonal.filter((c) => - this.gameMap.isWater(this.gameMap.ref(c.x, c.y)), - ); - - // Robustness: ensure path includes src and dst and has at least 2 cells - const srcCell = cellSrc ?? (upscaled.length > 0 ? upscaled[0] : undefined); - if (finalCells.length === 0) { - // Fallback to upscaled (pre-orthogonal) if filtering removed everything - finalCells = [...upscaled]; - } - if (srcCell) { - const first = finalCells[0]; - if (!first || first.x !== srcCell.x || first.y !== srcCell.y) { - finalCells.unshift(srcCell); - } - } - const last = finalCells[finalCells.length - 1]; - if (!last || last.x !== cellDst.x || last.y !== cellDst.y) { - finalCells.push(cellDst); - } - if (finalCells.length < 2) { - // Create a single orthogonal step toward dst - const start = finalCells[0]; - if (!start) { - finalCells = [cellDst]; - } else if (start.x !== cellDst.x || start.y !== cellDst.y) { - const stepX = Math.sign(cellDst.x - start.x); - const stepY = Math.sign(cellDst.y - start.y); - const candidates: Cell[] = []; - if (stepX !== 0) candidates.push(new Cell(start.x + stepX, start.y)); - if (stepY !== 0) candidates.push(new Cell(start.x, start.y + stepY)); - let best: Cell | null = null; - let bestScore = Number.POSITIVE_INFINITY; - for (const cand of candidates) { - const ref = this.gameMap.ref(cand.x, cand.y); - const isWater = this.gameMap.isWater(ref); - const dist = - Math.abs(cellDst.x - cand.x) + Math.abs(cellDst.y - cand.y); - const score = (isWater ? 0 : 1000) + dist; - if (score < bestScore) { - best = cand; - bestScore = score; - } - } - if (best) finalCells.push(best); - } - if (finalCells.length < 2) { - // As a final guard, ensure there are at least two cells - finalCells.push(cellDst); - } - } - - // Map to tile refs - return finalCells.map((c) => this.gameMap.ref(c.x, c.y)); - } -} - -function fixExtremes(upscaled: Cell[], cellDst: Cell, cellSrc?: Cell): Cell[] { - if (cellSrc !== undefined) { - const srcIndex = findCell(upscaled, cellSrc); - if (srcIndex === -1) { - // didnt find the start tile in the path - upscaled.unshift(cellSrc); - } else if (srcIndex !== 0) { - // found start tile but not at the start - // remove all tiles before the start tile - upscaled = upscaled.slice(srcIndex); - } - } - - const dstIndex = findCell(upscaled, cellDst); - if (dstIndex === -1) { - // didnt find the dst tile in the path - upscaled.push(cellDst); - } else if (dstIndex !== upscaled.length - 1) { - // found dst tile but not at the end - // remove all tiles after the dst tile - upscaled = upscaled.slice(0, dstIndex + 1); - } - return upscaled; -} - -function upscalePath(path: Cell[], scaleFactor: number = 2): Cell[] { - // Scale up each point - const scaledPath = path.map( - (point) => new Cell(point.x * scaleFactor, point.y * scaleFactor), - ); - - const smoothPath: Cell[] = []; - - for (let i = 0; i < scaledPath.length - 1; i++) { - const current = scaledPath[i]; - const next = scaledPath[i + 1]; - - // Add the current point - smoothPath.push(current); - - // Always interpolate between scaled points - const dx = next.x - current.x; - const dy = next.y - current.y; - - // Calculate number of steps needed - const distance = Math.max(Math.abs(dx), Math.abs(dy)); - const steps = distance; - - // Add intermediate points - for (let step = 1; step < steps; step++) { - smoothPath.push( - new Cell( - Math.round(current.x + (dx * step) / steps), - Math.round(current.y + (dy * step) / steps), - ), - ); - } - } - - // Add the last point - if (scaledPath.length > 0) { - smoothPath.push(scaledPath[scaledPath.length - 1]); - } - - return smoothPath; -} - -function findCell(upscaled: Cell[], cellDst: Cell): number { - for (let i = 0; i < upscaled.length; i++) { - if (upscaled[i].x === cellDst.x && upscaled[i].y === cellDst.y) { - return i; - } - } - return -1; -} diff --git a/src/core/pathfinding/PathFinder.Air.ts b/src/core/pathfinding/PathFinder.Air.ts new file mode 100644 index 000000000..504427643 --- /dev/null +++ b/src/core/pathfinding/PathFinder.Air.ts @@ -0,0 +1,66 @@ +import { Game } from "../game/Game"; +import { TileRef } from "../game/GameMap"; +import { PseudoRandom } from "../PseudoRandom"; +import { PathFinder } from "./types"; + +export class AirPathFinder implements PathFinder { + private seed: number; + + constructor(private game: Game) { + this.seed = game.ticks(); + } + + findPath(from: TileRef | TileRef[], to: TileRef): TileRef[] | null { + if (Array.isArray(from)) { + throw new Error("AirPathFinder does not support multiple start points"); + } + + const random = new PseudoRandom(this.seed); + const path: TileRef[] = [from]; + let current = from; + + while (current !== to) { + const next = this.computeNext(current, to, random); + if (next === current) break; // Prevent infinite loop if something breaks + current = next; + path.push(current); + } + + return path; + } + + private computeNext( + from: TileRef, + to: TileRef, + random: PseudoRandom, + ): TileRef { + const x = this.game.x(from); + const y = this.game.y(from); + const dstX = this.game.x(to); + const dstY = this.game.y(to); + + if (x === dstX && y === dstY) { + return to; + } + + let nextX = x; + let nextY = y; + const ratio = Math.floor(1 + Math.abs(dstY - y) / (Math.abs(dstX - x) + 1)); + + if (x === dstX) { + // Can only move in Y + nextY += y < dstY ? 1 : -1; + } else if (y === dstY) { + // Can only move in X + nextX += x < dstX ? 1 : -1; + } else { + if (random.chance(ratio)) { + nextX += x < dstX ? 1 : -1; + } else { + nextY += y < dstY ? 1 : -1; + } + } + + return this.game.ref(nextX, nextY); + } +} diff --git a/src/core/pathfinding/PathFinder.Parabola.ts b/src/core/pathfinding/PathFinder.Parabola.ts new file mode 100644 index 000000000..83a6de28a --- /dev/null +++ b/src/core/pathfinding/PathFinder.Parabola.ts @@ -0,0 +1,88 @@ +import { GameMap, TileRef } from "../game/GameMap"; +import { within } from "../Util"; +import { DistanceBasedBezierCurve } from "../utilities/Line"; +import { PathResult, PathStatus, SteppingPathFinder } from "./types"; + +export interface ParabolaOptions { + increment?: number; + distanceBasedHeight?: boolean; + directionUp?: boolean; +} + +const PARABOLA_MIN_HEIGHT = 50; + +export class ParabolaUniversalPathFinder implements SteppingPathFinder { + private curve: DistanceBasedBezierCurve | null = null; + private lastTo: TileRef | null = null; + + constructor( + private gameMap: GameMap, + private options?: ParabolaOptions, + ) {} + + private createCurve(from: TileRef, to: TileRef): DistanceBasedBezierCurve { + const increment = this.options?.increment ?? 3; + const distanceBasedHeight = this.options?.distanceBasedHeight ?? true; + const directionUp = this.options?.directionUp ?? true; + + const p0 = { x: this.gameMap.x(from), y: this.gameMap.y(from) }; + const p3 = { x: this.gameMap.x(to), y: this.gameMap.y(to) }; + const dx = p3.x - p0.x; + const dy = p3.y - p0.y; + const distance = Math.sqrt(dx * dx + dy * dy); + const maxHeight = distanceBasedHeight + ? Math.max(distance / 3, PARABOLA_MIN_HEIGHT) + : 0; + const heightMult = directionUp ? -1 : 1; + const mapHeight = this.gameMap.height(); + + const p1 = { + x: p0.x + dx / 4, + y: within(p0.y + dy / 4 + heightMult * maxHeight, 0, mapHeight - 1), + }; + const p2 = { + x: p0.x + (dx * 3) / 4, + y: within(p0.y + (dy * 3) / 4 + heightMult * maxHeight, 0, mapHeight - 1), + }; + + return new DistanceBasedBezierCurve(p0, p1, p2, p3, increment); + } + + findPath(from: TileRef | TileRef[], to: TileRef): TileRef[] | null { + if (Array.isArray(from)) { + throw new Error( + "ParabolaUniversalPathFinder does not support multiple start points", + ); + } + const curve = this.createCurve(from, to); + return curve + .getAllPoints() + .map((p) => this.gameMap.ref(Math.floor(p.x), Math.floor(p.y))); + } + + next(from: TileRef, to: TileRef, speed?: number): PathResult { + if (this.lastTo !== to) { + this.curve = this.createCurve(from, to); + this.lastTo = to; + } + + const nextPoint = this.curve!.increment(speed ?? 1); + if (!nextPoint) { + return { status: PathStatus.COMPLETE, node: to }; + } + const tile = this.gameMap.ref( + Math.floor(nextPoint.x), + Math.floor(nextPoint.y), + ); + return { status: PathStatus.NEXT, node: tile }; + } + + invalidate(): void { + this.curve = null; + this.lastTo = null; + } + + currentIndex(): number { + return this.curve?.getCurrentIndex() ?? 0; + } +} diff --git a/src/core/pathfinding/PathFinder.Straight.ts b/src/core/pathfinding/PathFinder.Straight.ts new file mode 100644 index 000000000..a230a6b99 --- /dev/null +++ b/src/core/pathfinding/PathFinder.Straight.ts @@ -0,0 +1,44 @@ +import { GameMap, TileRef } from "../game/GameMap"; + +export class StraightPathFinder { + constructor(private mg: GameMap) {} + + nextTile(curr: TileRef, dst: TileRef, speed: number): TileRef | true { + const currX = this.mg.x(curr); + const currY = this.mg.y(curr); + + const dstX = this.mg.x(dst); + const dstY = this.mg.y(dst); + + const dx = dstX - currX; + const dy = dstY - currY; + + const distSq = dx * dx + dy * dy; + + if (distSq <= speed * speed) { + return true; + } + + const dist = Math.sqrt(distSq); + + const dirX = dx / dist; + const dirY = dy / dist; + + let nextX = Math.round(currX + dirX * speed); + let nextY = Math.round(currY + dirY * speed); + + // Clamp to map bounds to prevent invalid coordinates + nextX = Math.max(0, Math.min(this.mg.width() - 1, nextX)); + nextY = Math.max(0, Math.min(this.mg.height() - 1, nextY)); + + const remainingDx = dstX - nextX; + const remainingDy = dstY - nextY; + const remainingDist = Math.hypot(remainingDx, remainingDy); + + if (remainingDist <= speed) { + return true; + } else { + return this.mg.ref(nextX, nextY); + } + } +} diff --git a/src/core/pathfinding/PathFinder.ts b/src/core/pathfinding/PathFinder.ts index 7422e836b..04a4b60a9 100644 --- a/src/core/pathfinding/PathFinder.ts +++ b/src/core/pathfinding/PathFinder.ts @@ -1,43 +1,83 @@ import { Game } from "../game/Game"; -import { TileRef } from "../game/GameMap"; -import { MiniAStarAdapter } from "./adapters/MiniAStarAdapter"; -import { NavMeshAdapter } from "./adapters/NavMeshAdapter"; - -export enum PathStatus { - NEXT, - PENDING, - COMPLETE, - NOT_FOUND, -} - -export type PathResult = - | { status: PathStatus.PENDING } - | { status: PathStatus.NEXT; node: TileRef } - | { status: PathStatus.COMPLETE; node: TileRef } - | { status: PathStatus.NOT_FOUND }; +import { GameMap, TileRef } from "../game/GameMap"; +import { AStarWater } from "./algorithms/AStar.Water"; +import { AirPathFinder } from "./PathFinder.Air"; +import { + ParabolaOptions, + ParabolaUniversalPathFinder, +} from "./PathFinder.Parabola"; +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 { PathStatus, SteppingPathFinder } from "./types"; -export interface PathFinder { - next(from: TileRef, to: TileRef, dist?: number): PathResult; - findPath(from: TileRef, to: TileRef): TileRef[] | null; +/** + * Pathfinders that work with GameMap - usable in both simulation and UI layers + */ +export class UniversalPathFinding { + static Parabola( + gameMap: GameMap, + options?: ParabolaOptions, + ): ParabolaUniversalPathFinder { + return new ParabolaUniversalPathFinder(gameMap, options); + } } -export interface MiniAStarOptions { - waterPath?: boolean; - iterations?: number; - maxTries?: number; -} +/** + * Pathfinders that require Game - simulation layer only + */ +export class PathFinding { + static Water(game: Game): SteppingPathFinder { + const pf = game.miniWaterHPA(); + const graph = game.miniWaterGraph(); -export class PathFinders { - static Water(game: Game): PathFinder { - if (!game.navMesh()) { - // Fall back to old water pathfinder if navmesh is not available - return PathFinders.WaterLegacy(game); + if (!pf || !graph || graph.nodeCount < 100) { + return PathFinding.WaterSimple(game); } - return new NavMeshAdapter(game); + const miniMap = game.miniMap(); + const componentCheckFn = (t: TileRef) => graph.getComponentId(t); + + return PathFinderBuilder.create(pf) + .wrap((pf) => new ComponentCheckTransformer(pf, componentCheckFn)) + .wrap((pf) => new BresenhamSmoothingTransformer(pf, miniMap)) + .wrap((pf) => new ShoreCoercingTransformer(pf, miniMap)) + .wrap((pf) => new MiniMapTransformer(pf, game.map(), miniMap)) + .buildWithStepper(tileStepperConfig(game)); } - static WaterLegacy(game: Game, options?: MiniAStarOptions): PathFinder { - return new MiniAStarAdapter(game, options); + static WaterSimple(game: Game): SteppingPathFinder { + const miniMap = game.miniMap(); + const pf = new AStarWater(miniMap); + + return PathFinderBuilder.create(pf) + .wrap((pf) => new ShoreCoercingTransformer(pf, miniMap)) + .wrap((pf) => new MiniMapTransformer(pf, game.map(), miniMap)) + .buildWithStepper(tileStepperConfig(game)); } + + static Air(game: Game): SteppingPathFinder { + const pf = new AirPathFinder(game); + + return PathFinderBuilder.create(pf).buildWithStepper({ + equals: (a, b) => a === b, + }); + } +} + +function tileStepperConfig(game: Game): StepperConfig { + return { + equals: (a, b) => a === b, + distance: (a, b) => game.manhattanDist(a, b), + preCheck: (from, to) => + typeof from !== "number" || + typeof to !== "number" || + !game.isValidRef(from) || + !game.isValidRef(to) + ? { status: PathStatus.NOT_FOUND } + : null, + }; } diff --git a/src/core/pathfinding/PathFinderBuilder.ts b/src/core/pathfinding/PathFinderBuilder.ts new file mode 100644 index 000000000..51d7b6460 --- /dev/null +++ b/src/core/pathfinding/PathFinderBuilder.ts @@ -0,0 +1,42 @@ +import { PathFinderStepper, StepperConfig } from "./PathFinderStepper"; +import { PathFinder, SteppingPathFinder } from "./types"; + +type WrapFactory = (pf: PathFinder) => PathFinder; + +/** + * PathFinderBuilder - fluent builder for composing PathFinder transformers. + * + * Usage: + * const finder = PathFinderBuilder.create(corePathFinder) + * .wrap((pf) => new SomeTransformer(pf, deps)) + * .wrap((pf) => new AnotherTransformer(pf, deps)) + * .build(); + */ +export class PathFinderBuilder { + private wrappers: WrapFactory[] = []; + + private constructor(private core: PathFinder) {} + + static create(core: PathFinder): PathFinderBuilder { + return new PathFinderBuilder(core); + } + + wrap(factory: WrapFactory): this { + this.wrappers.push(factory); + return this; + } + + build(): PathFinder { + return this.wrappers.reduce( + (pf, wrapper) => wrapper(pf), + this.core as PathFinder, + ); + } + + /** + * Build and wrap with PathFinderStepper for step-by-step traversal. + */ + buildWithStepper(config: StepperConfig): SteppingPathFinder { + return new PathFinderStepper(this.build(), config); + } +} diff --git a/src/core/pathfinding/PathFinderStepper.ts b/src/core/pathfinding/PathFinderStepper.ts new file mode 100644 index 000000000..4b8081fdc --- /dev/null +++ b/src/core/pathfinding/PathFinderStepper.ts @@ -0,0 +1,119 @@ +import { + PathFinder, + PathResult, + PathStatus, + SteppingPathFinder, +} from "./types"; + +export interface StepperConfig { + equals: (a: T, b: T) => boolean; + distance?: (a: T, b: T) => number; + preCheck?: (from: T, to: T) => PathResult | null; +} + +/** + * PathFinderStepper - wraps a PathFinder and provides step-by-step traversal + * + * Handles path caching, invalidation, and incremental movement. + * Generic over any PathFinder implementation. + */ +export class PathFinderStepper implements SteppingPathFinder { + private path: T[] | null = null; + private pathIndex = 0; + private lastTo: T | null = null; + + constructor( + private finder: PathFinder, + private config: StepperConfig = { equals: (a, b) => a === b }, + ) {} + + /** + * Get the next step on the path from `from` to `to`. + * Returns PathResult with status and optional next node. + */ + next(from: T, to: T, dist?: number): PathResult { + // Domain-specific pre-check (validation, cluster, etc.) + if (this.config.preCheck) { + const result = this.config.preCheck(from, to); + if (result) return result; + } + + if (this.config.equals(from, to)) { + return { status: PathStatus.COMPLETE, node: to }; + } + + // Distance-based early exit + if (dist !== undefined && dist > 0 && this.config.distance) { + if (this.config.distance(from, to) <= dist) { + return { status: PathStatus.COMPLETE, node: from }; + } + } + + // Invalidate cache if destination changed + if (this.lastTo === null || !this.config.equals(this.lastTo, to)) { + this.path = null; + this.pathIndex = 0; + this.lastTo = to; + } + + // Compute path if not cached + if (this.path === null) { + try { + this.path = this.finder.findPath(from, to); + } catch (err) { + console.error("PathFinder threw an error during findPath", err); + return { status: PathStatus.NOT_FOUND }; + } + + if (this.path === null) { + return { status: PathStatus.NOT_FOUND }; + } + + this.pathIndex = 0; + if (this.path.length > 0 && this.config.equals(this.path[0], from)) { + this.pathIndex = 1; + } + } + + const expectedPos = this.path[this.pathIndex - 1]; + if (this.pathIndex > 0 && !this.config.equals(from, expectedPos)) { + this.invalidate(); + this.lastTo = to; + return this.next(from, to, dist); + } + + // Check if we've reached the end + if (this.pathIndex >= this.path.length) { + return { status: PathStatus.COMPLETE, node: to }; + } + + // Return next step + const nextNode = this.path[this.pathIndex]; + this.pathIndex++; + + return { status: PathStatus.NEXT, node: nextNode }; + } + + invalidate(): void { + this.path = null; + this.pathIndex = 0; + this.lastTo = null; + } + + findPath(from: T | T[], to: T): T[] | null { + if (this.config.preCheck) { + const fromArray = Array.isArray(from) ? from : [from]; + + const allFailed = fromArray.every((f) => { + const result = this.config.preCheck!(f, to); + return result?.status === PathStatus.NOT_FOUND; + }); + + if (allFailed) { + return null; + } + } + + return this.finder.findPath(from, to); + } +} diff --git a/src/core/pathfinding/PathFinding.ts b/src/core/pathfinding/PathFinding.ts deleted file mode 100644 index 97e1422f8..000000000 --- a/src/core/pathfinding/PathFinding.ts +++ /dev/null @@ -1,285 +0,0 @@ -import { Game } from "../game/Game"; -import { GameMap, TileRef } from "../game/GameMap"; -import { PseudoRandom } from "../PseudoRandom"; -import { DistanceBasedBezierCurve } from "../utilities/Line"; -import { AStar, AStarResult, PathFindResultType } from "./AStar"; -import { MiniAStar } from "./MiniAStar"; -export { AStar, AStarResult, PathFindResultType }; - -const parabolaMinHeight = 50; - -export class ParabolaPathFinder { - constructor(private mg: GameMap) {} - private curve: DistanceBasedBezierCurve | undefined; - - computeControlPoints( - orig: TileRef, - dst: TileRef, - increment: number = 3, - distanceBasedHeight = true, - ) { - const p0 = { x: this.mg.x(orig), y: this.mg.y(orig) }; - const p3 = { x: this.mg.x(dst), y: this.mg.y(dst) }; - const dx = p3.x - p0.x; - const dy = p3.y - p0.y; - const distance = Math.sqrt(dx * dx + dy * dy); - const maxHeight = distanceBasedHeight - ? Math.max(distance / 3, parabolaMinHeight) - : 0; - // Use a bezier curve always pointing up - const p1 = { - x: p0.x + (p3.x - p0.x) / 4, - y: Math.max(p0.y + (p3.y - p0.y) / 4 - maxHeight, 0), - }; - const p2 = { - x: p0.x + ((p3.x - p0.x) * 3) / 4, - y: Math.max(p0.y + ((p3.y - p0.y) * 3) / 4 - maxHeight, 0), - }; - - this.curve = new DistanceBasedBezierCurve(p0, p1, p2, p3, increment); - } - - /** Clamp coordinates to valid map bounds */ - private clampToMap(x: number, y: number): { x: number; y: number } { - return { - x: Math.max(0, Math.min(this.mg.width() - 1, x)), - y: Math.max(0, Math.min(this.mg.height() - 1, y)), - }; - } - - nextTile(speed: number): TileRef | true { - if (!this.curve) { - throw new Error("ParabolaPathFinder not initialized"); - } - const nextPoint = this.curve.increment(speed); - if (!nextPoint) { - return true; - } - const clamped = this.clampToMap( - Math.floor(nextPoint.x), - Math.floor(nextPoint.y), - ); - return this.mg.ref(clamped.x, clamped.y); - } - - currentIndex(): number { - if (!this.curve) { - return 0; - } - return this.curve.getCurrentIndex(); - } - - allTiles(): TileRef[] { - if (!this.curve) { - return []; - } - return this.curve.getAllPoints().map((point) => { - const clamped = this.clampToMap(Math.floor(point.x), Math.floor(point.y)); - return this.mg.ref(clamped.x, clamped.y); - }); - } -} - -export class AirPathFinder { - constructor( - private mg: GameMap, - private random: PseudoRandom, - ) {} - - nextTile(tile: TileRef, dst: TileRef): TileRef | true { - const x = this.mg.x(tile); - const y = this.mg.y(tile); - const dstX = this.mg.x(dst); - const dstY = this.mg.y(dst); - - if (x === dstX && y === dstY) { - return true; - } - - // Calculate next position - let nextX = x; - let nextY = y; - - const ratio = Math.floor(1 + Math.abs(dstY - y) / (Math.abs(dstX - x) + 1)); - - if (this.random.chance(ratio) && x !== dstX) { - if (x < dstX) nextX++; - else if (x > dstX) nextX--; - } else { - if (y < dstY) nextY++; - else if (y > dstY) nextY--; - } - if (nextX === x && nextY === y) { - return true; - } - return this.mg.ref(nextX, nextY); - } -} - -export class StraightPathFinder { - constructor(private mg: GameMap) {} - - nextTile(curr: TileRef, dst: TileRef, speed: number): TileRef | true { - const currX = this.mg.x(curr); - const currY = this.mg.y(curr); - - const dstX = this.mg.x(dst); - const dstY = this.mg.y(dst); - - const dx = dstX - currX; - const dy = dstY - currY; - - const distSq = dx * dx + dy * dy; - - if (distSq <= speed * speed) { - return true; - } - - const dist = Math.sqrt(distSq); - - const dirX = dx / dist; - const dirY = dy / dist; - - let nextX = Math.round(currX + dirX * speed); - let nextY = Math.round(currY + dirY * speed); - - // Clamp to map bounds to prevent invalid coordinates - nextX = Math.max(0, Math.min(this.mg.width() - 1, nextX)); - nextY = Math.max(0, Math.min(this.mg.height() - 1, nextY)); - - const remainingDx = dstX - nextX; - const remainingDy = dstY - nextY; - const remainingDist = Math.hypot(remainingDx, remainingDy); - - if (remainingDist <= speed) { - return true; - } else { - return this.mg.ref(nextX, nextY); - } - } -} -export class MiniPathFinder { - private curr: TileRef | null = null; - private dst: TileRef | null = null; - private path: TileRef[] | null = null; - private path_idx: number = 0; - private aStar: AStar; - private computeFinished = true; - - constructor( - private game: Game, - private iterations: number, - private waterPath: boolean, - private maxTries: number, - ) {} - - private createAStar(curr: TileRef, dst: TileRef): AStar { - return new MiniAStar( - this.game.map(), - this.game.miniMap(), - curr, - dst, - this.iterations, - this.maxTries, - this.waterPath, - ); - } - - nextTile( - curr: TileRef | null, - dst: TileRef | null, - dist: number = 1, - ): AStarResult { - if (curr === null) { - console.error("curr is null"); - return { type: PathFindResultType.PathNotFound }; - } - if (dst === null) { - console.error("dst is null"); - return { type: PathFindResultType.PathNotFound }; - } - if (this.game.manhattanDist(curr, dst) < dist) { - this.path = null; - return { type: PathFindResultType.Completed, node: curr }; - } - - if (this.computeFinished) { - if (this.shouldRecompute(curr, dst)) { - this.curr = curr; - this.dst = dst; - this.path = null; - this.path_idx = 0; - this.aStar = this.createAStar(curr, dst); - this.computeFinished = false; - return this.nextTile(curr, dst); - } else { - const tile = this.path?.[this.path_idx++]; - if (tile === undefined) { - // Path exhausted unexpectedly. If already within step distance, report completion. - if (this.game.manhattanDist(curr, dst) < dist) { - return { type: PathFindResultType.Completed, node: curr }; - } - // Otherwise, recompute a fresh path from current position. - this.curr = curr; - this.dst = dst; - this.path = null; - this.path_idx = 0; - this.aStar = this.createAStar(curr, dst); - this.computeFinished = false; - return this.nextTile(curr, dst); - } - return { type: PathFindResultType.NextTile, node: tile }; - } - } - - switch (this.aStar.compute()) { - case PathFindResultType.Completed: - this.computeFinished = true; - this.path = this.aStar.reconstructPath(); - - // exclude first tile - this.path_idx = 1; - // If the reconstructed path is empty, fall back to completion or path-not-found handling. - if (!this.path || this.path.length === 0) { - if (this.game.manhattanDist(curr, dst) < dist) { - return { type: PathFindResultType.Completed, node: curr }; - } else { - return { type: PathFindResultType.PathNotFound }; - } - } - return this.nextTile(curr, dst); - case PathFindResultType.Pending: - return { type: PathFindResultType.Pending }; - case PathFindResultType.PathNotFound: - return { type: PathFindResultType.PathNotFound }; - default: - throw new Error("unexpected compute result"); - } - } - - public reconstructPath(): TileRef[] { - if (this.path === null) { - return []; - } - return this.path; - } - - private shouldRecompute(curr: TileRef, dst: TileRef) { - if (this.path === null || this.curr === null || this.dst === null) { - return true; - } - const dist = this.game.manhattanDist(curr, dst); - let tolerance = 10; - if (dist > 50) { - tolerance = 10; - } else if (dist > 25) { - tolerance = 5; - } else { - tolerance = 0; - } - if (this.game.manhattanDist(this.dst, dst) > tolerance) { - return true; - } - return false; - } -} diff --git a/src/core/pathfinding/SerialAStar.ts b/src/core/pathfinding/SerialAStar.ts deleted file mode 100644 index 81972720c..000000000 --- a/src/core/pathfinding/SerialAStar.ts +++ /dev/null @@ -1,219 +0,0 @@ -import FastPriorityQueue from "fastpriorityqueue"; -import { AStar, PathFindResultType } from "./AStar"; - -/** - * Implement this interface with your graph to find paths with A* - */ -export interface GraphAdapter { - // Iterable to support arrays or typed array views - neighbors(node: NodeType): Iterable; - cost(node: NodeType): number; - position(node: NodeType): { x: number; y: number }; - isTraversable(from: NodeType, to: NodeType): boolean; -} - -export class SerialAStar implements AStar { - private fwdOpenSet: FastPriorityQueue<{ - tile: NodeType; - fScore: number; - }>; - private bwdOpenSet: FastPriorityQueue<{ - tile: NodeType; - fScore: number; - }>; - - private fwdCameFrom = new Map(); - private bwdCameFrom = new Map(); - private fwdGScore = new Map(); - private bwdGScore = new Map(); - // Direction used to reach a node (encoded as an int 0..8) - private fwdDirTo = new Map(); - private bwdDirTo = new Map(); - - private meetingPoint: NodeType | null = null; - public completed = false; - private sources: NodeType[]; - private closestSource: NodeType; - - constructor( - src: NodeType | NodeType[], - private dst: NodeType, - private iterations: number, - private maxTries: number, - private graph: GraphAdapter, - private directionChangePenalty: number = 0, - ) { - this.fwdOpenSet = new FastPriorityQueue((a, b) => a.fScore < b.fScore); - this.bwdOpenSet = new FastPriorityQueue((a, b) => a.fScore < b.fScore); - this.sources = Array.isArray(src) ? src : [src]; - this.closestSource = this.findClosestSource(dst); - - // Initialize forward search with source point(s) - this.sources.forEach((startPoint) => { - this.fwdGScore.set(startPoint, 0); - this.fwdOpenSet.add({ - tile: startPoint, - fScore: this.heuristic(startPoint, dst), - }); - }); - - // Initialize backward search from destination - this.bwdGScore.set(dst, 0); - this.bwdOpenSet.add({ - tile: dst, - fScore: this.heuristic(dst, this.findClosestSource(dst)), - }); - } - - private findClosestSource(tile: NodeType): NodeType { - return this.sources.reduce((closest, source) => - this.heuristic(tile, source) < this.heuristic(tile, closest) - ? source - : closest, - ); - } - - compute(): PathFindResultType { - if (this.completed) return PathFindResultType.Completed; - - this.maxTries -= 1; - let iterations = this.iterations; - - while (!this.fwdOpenSet.isEmpty() && !this.bwdOpenSet.isEmpty()) { - iterations--; - if (iterations <= 0) { - if (this.maxTries <= 0) { - return PathFindResultType.PathNotFound; - } - return PathFindResultType.Pending; - } - - // Process forward search - const fwdCurrent = this.fwdOpenSet.poll()!.tile; - - // Check if we've found a meeting point - if (this.bwdGScore.has(fwdCurrent)) { - this.meetingPoint = fwdCurrent; - this.completed = true; - return PathFindResultType.Completed; - } - this.expandNode(fwdCurrent, true); - if (this.completed) return PathFindResultType.Completed; - - // Process backward search - const bwdCurrent = this.bwdOpenSet.poll()!.tile; - - // Check if we've found a meeting point - if (this.fwdGScore.has(bwdCurrent)) { - this.meetingPoint = bwdCurrent; - this.completed = true; - return PathFindResultType.Completed; - } - this.expandNode(bwdCurrent, false); - if (this.completed) return PathFindResultType.Completed; - } - - return this.completed - ? PathFindResultType.Completed - : PathFindResultType.PathNotFound; - } - - private expandNode(current: NodeType, isForward: boolean) { - // Hoist side-specific structures and immutable targets out of the loop - const gScore = isForward ? this.fwdGScore : this.bwdGScore; - const openSet = isForward ? this.fwdOpenSet : this.bwdOpenSet; - const cameFrom = isForward ? this.fwdCameFrom : this.bwdCameFrom; - const dirTo = isForward ? this.fwdDirTo : this.bwdDirTo; - const otherG = isForward ? this.bwdGScore : this.fwdGScore; - const target = isForward ? this.dst : this.closestSource; - - // Cache current and target positions once - const currentPos = this.graph.position(current); - const targetPos = this.graph.position(target); - const prevDirCode = - this.directionChangePenalty > 0 ? dirTo.get(current) : undefined; - const currentG = gScore.get(current)!; - - for (const neighbor of this.graph.neighbors(current)) { - // Skip non-traversable neighbors except when the neighbor is the target - if (neighbor !== target && !this.graph.isTraversable(current, neighbor)) - continue; - - const tentativeGScore = currentG + this.graph.cost(neighbor); - // Cache neighbor position once (used by penalty and heuristic) - const nPos = this.graph.position(neighbor); - - // Optional direction change penalty without string allocations - let penalty = 0; - let newDirCode: number | undefined = undefined; - if (this.directionChangePenalty > 0) { - const dx = Math.sign(nPos.x - currentPos.x) + 1; // 0..2 - const dy = Math.sign(nPos.y - currentPos.y) + 1; // 0..2 - newDirCode = dx * 3 + dy; // 0..8 - if (prevDirCode !== undefined && prevDirCode !== newDirCode) { - penalty = this.directionChangePenalty; - } - } - - const totalG = tentativeGScore + penalty; - const neighborG = gScore.get(neighbor); - if (neighborG === undefined || totalG < neighborG) { - cameFrom.set(neighbor, current); - gScore.set(neighbor, totalG); - if (this.directionChangePenalty > 0 && newDirCode !== undefined) { - dirTo.set(neighbor, newDirCode); - } - - // Inline heuristic using cached target position (2 * Manhattan) - const fScore = - totalG + - 2 * (Math.abs(nPos.x - targetPos.x) + Math.abs(nPos.y - targetPos.y)); - openSet.add({ tile: neighbor, fScore }); - - // Early meeting detection to reduce expansions - if (otherG.has(neighbor)) { - this.meetingPoint = neighbor; - this.completed = true; - return; - } - } - } - } - - private heuristic(a: NodeType, b: NodeType): number { - const posA = this.graph.position(a); - const posB = this.graph.position(b); - return 2 * (Math.abs(posA.x - posB.x) + Math.abs(posA.y - posB.y)); - } - - private getDirection(from: NodeType, to: NodeType): string { - const fromPos = this.graph.position(from); - const toPos = this.graph.position(to); - const dx = toPos.x - fromPos.x; - const dy = toPos.y - fromPos.y; - return `${Math.sign(dx)},${Math.sign(dy)}`; - } - - public reconstructPath(): NodeType[] { - if (!this.meetingPoint) return []; - - // Reconstruct path from start to meeting point - const fwdPath: NodeType[] = [this.meetingPoint]; - let current = this.meetingPoint; - - while (this.fwdCameFrom.has(current)) { - current = this.fwdCameFrom.get(current)!; - fwdPath.unshift(current); - } - - // Reconstruct path from meeting point to goal - current = this.meetingPoint; - - while (this.bwdCameFrom.has(current)) { - current = this.bwdCameFrom.get(current)!; - fwdPath.push(current); - } - - return fwdPath; - } -} diff --git a/src/core/pathfinding/adapters/MiniAStarAdapter.ts b/src/core/pathfinding/adapters/MiniAStarAdapter.ts deleted file mode 100644 index b1c1841d6..000000000 --- a/src/core/pathfinding/adapters/MiniAStarAdapter.ts +++ /dev/null @@ -1,66 +0,0 @@ -import { Game } from "../../game/Game"; -import { TileRef } from "../../game/GameMap"; -import { PathFindResultType } from "../AStar"; -import { - MiniAStarOptions, - PathFinder, - PathResult, - PathStatus, -} from "../PathFinder"; -import { MiniPathFinder } from "../PathFinding"; - -const DEFAULT_ITERATIONS = 10_000; -const DEFAULT_MAX_TRIES = 100; - -export class MiniAStarAdapter implements PathFinder { - private miniPathFinder: MiniPathFinder; - - constructor(game: Game, options?: MiniAStarOptions) { - this.miniPathFinder = new MiniPathFinder( - game, - options?.iterations ?? DEFAULT_ITERATIONS, - options?.waterPath ?? true, - options?.maxTries ?? DEFAULT_MAX_TRIES, - ); - } - - next(from: TileRef, to: TileRef, dist?: number): PathResult { - const result = this.miniPathFinder.nextTile(from, to, dist); - - switch (result.type) { - case PathFindResultType.Pending: - return { status: PathStatus.PENDING }; - case PathFindResultType.NextTile: - return { status: PathStatus.NEXT, node: result.node }; - case PathFindResultType.Completed: - return { status: PathStatus.COMPLETE, node: result.node }; - case PathFindResultType.PathNotFound: - return { status: PathStatus.NOT_FOUND }; - } - } - - findPath(from: TileRef, to: TileRef): TileRef[] | null { - const path: TileRef[] = [from]; - let current = from; - const maxSteps = 100_000; - - for (let i = 0; i < maxSteps; i++) { - const result = this.next(current, to); - - if (result.status === PathStatus.COMPLETE) { - return path; - } - - if (result.status === PathStatus.NOT_FOUND) { - return null; - } - - if (result.status === PathStatus.NEXT) { - current = result.node; - path.push(current); - } - } - - return null; - } -} diff --git a/src/core/pathfinding/adapters/NavMeshAdapter.ts b/src/core/pathfinding/adapters/NavMeshAdapter.ts deleted file mode 100644 index 4e081eb4a..000000000 --- a/src/core/pathfinding/adapters/NavMeshAdapter.ts +++ /dev/null @@ -1,99 +0,0 @@ -import { Game } from "../../game/Game"; -import { TileRef } from "../../game/GameMap"; -import { NavMesh } from "../navmesh/NavMesh"; -import { PathFinder, PathResult, PathStatus } from "../PathFinder"; - -export class NavMeshAdapter implements PathFinder { - private navMesh: NavMesh; - private pathIndex = 0; - private path: TileRef[] | null = null; - private lastTo: TileRef | null = null; - - constructor(private game: Game) { - const navMesh = game.navMesh(); - if (!navMesh) { - throw new Error("NavMeshAdapter requires game.navMesh() to be available"); - } - this.navMesh = navMesh; - } - - next(from: TileRef, to: TileRef, dist?: number): PathResult { - if (typeof from !== "number" || typeof to !== "number") { - return { status: PathStatus.NOT_FOUND }; - } - - if (!this.game.isValidRef(from) || !this.game.isValidRef(to)) { - return { status: PathStatus.NOT_FOUND }; - } - - if (from === to) { - return { status: PathStatus.COMPLETE, node: to }; - } - - if (dist !== undefined && dist > 0) { - const distance = this.game.manhattanDist(from, to); - - if (distance <= dist) { - return { status: PathStatus.COMPLETE, node: from }; - } - } - - if (this.lastTo !== to) { - this.path = null; - this.pathIndex = 0; - this.lastTo = to; - } - - if (this.path === null) { - this.cachePath(from, to); - - if (this.path === null) { - return { status: PathStatus.NOT_FOUND }; - } - } - - // Recompute if deviated from planned path - const expectedPos = this.path[this.pathIndex - 1]; - if (this.pathIndex > 0 && from !== expectedPos) { - this.cachePath(from, to); - - if (this.path === null) { - return { status: PathStatus.NOT_FOUND }; - } - } - - if (this.pathIndex >= this.path.length) { - return { status: PathStatus.COMPLETE, node: to }; - } - - const nextNode = this.path[this.pathIndex]; - this.pathIndex++; - - return { status: PathStatus.NEXT, node: nextNode }; - } - - findPath(from: TileRef, to: TileRef): TileRef[] | null { - return this.navMesh.findPath(from, to); - } - - private cachePath(from: TileRef, to: TileRef): boolean { - try { - this.path = this.navMesh.findPath(from, to); - } catch { - return false; - } - - if (this.path === null) { - return false; - } - - this.pathIndex = 0; - - // Path starts with 'from', skip to next tile - if (this.path.length > 0 && this.path[0] === from) { - this.pathIndex = 1; - } - - return true; - } -} diff --git a/src/core/pathfinding/algorithms/AStar.AbstractGraph.ts b/src/core/pathfinding/algorithms/AStar.AbstractGraph.ts new file mode 100644 index 000000000..82da9f604 --- /dev/null +++ b/src/core/pathfinding/algorithms/AStar.AbstractGraph.ts @@ -0,0 +1,249 @@ +import { PathFinder } from "../types"; +import { AbstractGraph } from "./AbstractGraph"; +import { BucketQueue, MinHeap, PriorityQueue } from "./PriorityQueue"; + +export interface AbstractGraphAStarConfig { + heuristicWeight?: number; + maxIterations?: number; + useMinHeap?: boolean; // Use MinHeap instead of BucketQueue (better for variable costs) +} + +export class AbstractGraphAStar implements PathFinder { + private stamp = 1; + + private readonly closedStamp: Uint32Array; + private readonly gScoreStamp: Uint32Array; + private readonly gScore: Float32Array; + private readonly cameFrom: Int32Array; + private readonly startNode: Int32Array; // tracks which start each node came from + private readonly queue: PriorityQueue; + private readonly graph: AbstractGraph; + private readonly heuristicWeight: number; + private readonly maxIterations: number; + + constructor(graph: AbstractGraph, config?: AbstractGraphAStarConfig) { + this.graph = graph; + this.heuristicWeight = config?.heuristicWeight ?? 1; + this.maxIterations = config?.maxIterations ?? 100_000; + + const numNodes = graph.nodeCount; + + this.closedStamp = new Uint32Array(numNodes); + this.gScoreStamp = new Uint32Array(numNodes); + this.gScore = new Float32Array(numNodes); + this.cameFrom = new Int32Array(numNodes); + this.startNode = new Int32Array(numNodes); + + // For abstract graphs with variable costs, MinHeap may be better + // BucketQueue is O(1) but requires integer priorities + if (config?.useMinHeap) { + this.queue = new MinHeap(numNodes); + } else { + // Estimate max priority: weight * (mapWidth + mapHeight) + // Use cluster size * clusters as approximation + const maxDist = graph.clusterSize * Math.max(graph.clustersX, 10) * 2; + const maxF = this.heuristicWeight * maxDist; + this.queue = new BucketQueue(maxF); + } + } + + findPath(start: number | number[], goal: number): number[] | null { + if (Array.isArray(start)) { + return this.findPathMultiSource(start, goal); + } + return this.findPathSingle(start, goal); + } + + private findPathSingle(startId: number, goalId: number): number[] | null { + this.stamp++; + if (this.stamp > 0xffffffff) { + this.closedStamp.fill(0); + this.gScoreStamp.fill(0); + this.stamp = 1; + } + + const stamp = this.stamp; + const graph = this.graph; + const closedStamp = this.closedStamp; + const gScoreStamp = this.gScoreStamp; + const gScore = this.gScore; + const cameFrom = this.cameFrom; + const queue = this.queue; + const weight = this.heuristicWeight; + + // Get goal node for heuristic + const goalNode = graph.getNode(goalId); + if (!goalNode) return null; + const goalX = goalNode.x; + const goalY = goalNode.y; + + // Get start node for initial heuristic + const startNode = graph.getNode(startId); + if (!startNode) return null; + + // Initialize + queue.clear(); + gScore[startId] = 0; + gScoreStamp[startId] = stamp; + cameFrom[startId] = -1; + + const startH = + weight * (Math.abs(startNode.x - goalX) + Math.abs(startNode.y - goalY)); + queue.push(startId, startH); + + let iterations = this.maxIterations; + + while (!queue.isEmpty()) { + if (--iterations <= 0) { + return null; + } + + const current = queue.pop(); + + if (closedStamp[current] === stamp) continue; + closedStamp[current] = stamp; + + if (current === goalId) { + return this.buildPathFromGoal(goalId); + } + + const currentG = gScore[current]; + const edges = graph.getNodeEdges(current); + + // Inline neighbor iteration + for (let i = 0; i < edges.length; i++) { + const edge = edges[i]; + const neighbor = graph.getOtherNode(edge, current); + + if (closedStamp[neighbor] === stamp) continue; + + const tentativeG = currentG + edge.cost; + + if (gScoreStamp[neighbor] !== stamp || tentativeG < gScore[neighbor]) { + cameFrom[neighbor] = current; + gScore[neighbor] = tentativeG; + gScoreStamp[neighbor] = stamp; + + // Inline heuristic calculation + const neighborNode = graph.getNode(neighbor); + if (neighborNode) { + const h = + weight * + (Math.abs(neighborNode.x - goalX) + + Math.abs(neighborNode.y - goalY)); + queue.push(neighbor, tentativeG + h); + } + } + } + } + + return null; + } + + private findPathMultiSource( + startIds: number[], + goalId: number, + ): number[] | null { + if (startIds.length === 0) return null; + if (startIds.length === 1) return this.findPathSingle(startIds[0], goalId); + + this.stamp++; + if (this.stamp > 0xffffffff) { + this.closedStamp.fill(0); + this.gScoreStamp.fill(0); + this.stamp = 1; + } + + const stamp = this.stamp; + const graph = this.graph; + const closedStamp = this.closedStamp; + const gScoreStamp = this.gScoreStamp; + const gScore = this.gScore; + const cameFrom = this.cameFrom; + const startNode = this.startNode; + const queue = this.queue; + const weight = this.heuristicWeight; + + // Get goal node for heuristic + const goalNode = graph.getNode(goalId); + if (!goalNode) return null; + const goalX = goalNode.x; + const goalY = goalNode.y; + + // Initialize all start nodes + queue.clear(); + for (const startId of startIds) { + const node = graph.getNode(startId); + if (!node) continue; + + gScore[startId] = 0; + gScoreStamp[startId] = stamp; + cameFrom[startId] = -1; + startNode[startId] = startId; // each start is its own origin + + const h = weight * (Math.abs(node.x - goalX) + Math.abs(node.y - goalY)); + queue.push(startId, h); + } + + let iterations = this.maxIterations; + + while (!queue.isEmpty()) { + if (--iterations <= 0) { + return null; + } + + const current = queue.pop(); + + if (closedStamp[current] === stamp) continue; + closedStamp[current] = stamp; + + if (current === goalId) { + return this.buildPathFromGoal(goalId); + } + + const currentG = gScore[current]; + const currentStart = startNode[current]; + const edges = graph.getNodeEdges(current); + + for (let i = 0; i < edges.length; i++) { + const edge = edges[i]; + const neighbor = graph.getOtherNode(edge, current); + + if (closedStamp[neighbor] === stamp) continue; + + const tentativeG = currentG + edge.cost; + + if (gScoreStamp[neighbor] !== stamp || tentativeG < gScore[neighbor]) { + cameFrom[neighbor] = current; + gScore[neighbor] = tentativeG; + gScoreStamp[neighbor] = stamp; + startNode[neighbor] = currentStart; // propagate origin + + const neighborNode = graph.getNode(neighbor); + if (neighborNode) { + const h = + weight * + (Math.abs(neighborNode.x - goalX) + + Math.abs(neighborNode.y - goalY)); + queue.push(neighbor, tentativeG + h); + } + } + } + } + + return null; + } + + private buildPathFromGoal(goalId: number): number[] { + const path: number[] = []; + let current = goalId; + + while (current !== -1) { + path.push(current); + current = this.cameFrom[current]; + } + + path.reverse(); + return path; + } +} diff --git a/src/core/pathfinding/algorithms/AStar.Bounded.ts b/src/core/pathfinding/algorithms/AStar.Bounded.ts new file mode 100644 index 000000000..923f06083 --- /dev/null +++ b/src/core/pathfinding/algorithms/AStar.Bounded.ts @@ -0,0 +1,289 @@ +import { GameMap, TileRef } from "../../game/GameMap"; +import { PathFinder } from "../types"; +import { BucketQueue } from "./PriorityQueue"; + +const LAND_BIT = 7; + +export interface BoundedAStarConfig { + heuristicWeight?: number; + maxIterations?: number; +} + +export interface SearchBounds { + minX: number; + maxX: number; + minY: number; + maxY: number; +} + +export class AStarBounded implements PathFinder { + private stamp = 1; + + private readonly closedStamp: Uint32Array; + private readonly gScoreStamp: Uint32Array; + private readonly gScore: Uint32Array; + private readonly cameFrom: Int32Array; + private readonly queue: BucketQueue; + private readonly terrain: Uint8Array; + private readonly mapWidth: number; + private readonly heuristicWeight: number; + private readonly maxIterations: number; + + constructor( + map: GameMap, + maxSearchArea: number, + config?: BoundedAStarConfig, + ) { + this.terrain = (map as any).terrain as Uint8Array; + this.mapWidth = map.width(); + this.heuristicWeight = config?.heuristicWeight ?? 1; + this.maxIterations = config?.maxIterations ?? 100_000; + + this.closedStamp = new Uint32Array(maxSearchArea); + this.gScoreStamp = new Uint32Array(maxSearchArea); + this.gScore = new Uint32Array(maxSearchArea); + this.cameFrom = new Int32Array(maxSearchArea); + + const maxDim = Math.ceil(Math.sqrt(maxSearchArea)); + const maxF = this.heuristicWeight * maxDim * 2; + this.queue = new BucketQueue(maxF); + } + + findPath(start: number | number[], goal: number): number[] | null { + const starts = Array.isArray(start) ? start : [start]; + const goalX = goal % this.mapWidth; + const goalY = (goal / this.mapWidth) | 0; + + let minX = goalX; + let maxX = goalX; + let minY = goalY; + let maxY = goalY; + + for (const s of starts) { + const sx = s % this.mapWidth; + const sy = (s / this.mapWidth) | 0; + minX = Math.min(minX, sx); + maxX = Math.max(maxX, sx); + minY = Math.min(minY, sy); + maxY = Math.max(maxY, sy); + } + + return this.searchBounded(starts as TileRef[], goal as TileRef, { + minX, + maxX, + minY, + maxY, + }); + } + + searchBounded( + start: TileRef | TileRef[], + goal: TileRef, + bounds: SearchBounds, + ): TileRef[] | null { + this.stamp++; + if (this.stamp > 0xffffffff) { + this.closedStamp.fill(0); + this.gScoreStamp.fill(0); + this.stamp = 1; + } + + const stamp = this.stamp; + const mapWidth = this.mapWidth; + const terrain = this.terrain; + const closedStamp = this.closedStamp; + const gScoreStamp = this.gScoreStamp; + const gScore = this.gScore; + const cameFrom = this.cameFrom; + const queue = this.queue; + const weight = this.heuristicWeight; + const landMask = 1 << LAND_BIT; + + const { minX, maxX, minY, maxY } = bounds; + const boundsWidth = maxX - minX + 1; + const goalX = goal % mapWidth; + const goalY = (goal / mapWidth) | 0; + const boundsHeight = maxY - minY + 1; + const numLocalNodes = boundsWidth * boundsHeight; + + if (numLocalNodes > this.closedStamp.length) { + return null; + } + + const toLocal = (tile: TileRef, clamp: boolean = false): number => { + let x = tile % mapWidth; + let y = (tile / mapWidth) | 0; + if (clamp) { + x = Math.max(minX, Math.min(maxX, x)); + y = Math.max(minY, Math.min(maxY, y)); + } + return (y - minY) * boundsWidth + (x - minX); + }; + + const toGlobal = (local: number): TileRef => { + const localX = local % boundsWidth; + const localY = (local / boundsWidth) | 0; + return ((localY + minY) * mapWidth + (localX + minX)) as TileRef; + }; + + const goalLocal = toLocal(goal, true); + if (goalLocal < 0 || goalLocal >= numLocalNodes) { + return null; + } + + queue.clear(); + const starts = Array.isArray(start) ? start : [start]; + for (const s of starts) { + const startLocal = toLocal(s, true); + if (startLocal < 0 || startLocal >= numLocalNodes) { + continue; + } + gScore[startLocal] = 0; + gScoreStamp[startLocal] = stamp; + cameFrom[startLocal] = -1; + const sx = s % mapWidth; + const sy = (s / mapWidth) | 0; + const h = weight * (Math.abs(sx - goalX) + Math.abs(sy - goalY)); + queue.push(startLocal, h); + } + + let iterations = this.maxIterations; + + while (!queue.isEmpty()) { + if (--iterations <= 0) { + return null; + } + + const currentLocal = queue.pop(); + + if (closedStamp[currentLocal] === stamp) continue; + closedStamp[currentLocal] = stamp; + + if (currentLocal === goalLocal) { + return this.buildPath(goalLocal, toGlobal, numLocalNodes); + } + + const currentG = gScore[currentLocal]; + const tentativeG = currentG + 1; + + // Convert to global coords for neighbor calculation + const current = toGlobal(currentLocal); + const currentX = current % mapWidth; + const currentY = (current / mapWidth) | 0; + + if (currentY > minY) { + const neighbor = current - mapWidth; + const neighborLocal = currentLocal - boundsWidth; + if ( + closedStamp[neighborLocal] !== stamp && + (neighbor === goal || (terrain[neighbor] & landMask) === 0) + ) { + if ( + gScoreStamp[neighborLocal] !== stamp || + tentativeG < gScore[neighborLocal] + ) { + cameFrom[neighborLocal] = currentLocal; + gScore[neighborLocal] = tentativeG; + gScoreStamp[neighborLocal] = stamp; + const f = + tentativeG + + weight * + (Math.abs(currentX - goalX) + Math.abs(currentY - 1 - goalY)); + queue.push(neighborLocal, f); + } + } + } + + if (currentY < maxY) { + const neighbor = current + mapWidth; + const neighborLocal = currentLocal + boundsWidth; + if ( + closedStamp[neighborLocal] !== stamp && + (neighbor === goal || (terrain[neighbor] & landMask) === 0) + ) { + if ( + gScoreStamp[neighborLocal] !== stamp || + tentativeG < gScore[neighborLocal] + ) { + cameFrom[neighborLocal] = currentLocal; + gScore[neighborLocal] = tentativeG; + gScoreStamp[neighborLocal] = stamp; + const f = + tentativeG + + weight * + (Math.abs(currentX - goalX) + Math.abs(currentY + 1 - goalY)); + queue.push(neighborLocal, f); + } + } + } + + if (currentX > minX) { + const neighbor = current - 1; + const neighborLocal = currentLocal - 1; + if ( + closedStamp[neighborLocal] !== stamp && + (neighbor === goal || (terrain[neighbor] & landMask) === 0) + ) { + if ( + gScoreStamp[neighborLocal] !== stamp || + tentativeG < gScore[neighborLocal] + ) { + cameFrom[neighborLocal] = currentLocal; + gScore[neighborLocal] = tentativeG; + gScoreStamp[neighborLocal] = stamp; + const f = + tentativeG + + weight * + (Math.abs(currentX - 1 - goalX) + Math.abs(currentY - goalY)); + queue.push(neighborLocal, f); + } + } + } + + if (currentX < maxX) { + const neighbor = current + 1; + const neighborLocal = currentLocal + 1; + if ( + closedStamp[neighborLocal] !== stamp && + (neighbor === goal || (terrain[neighbor] & landMask) === 0) + ) { + if ( + gScoreStamp[neighborLocal] !== stamp || + tentativeG < gScore[neighborLocal] + ) { + cameFrom[neighborLocal] = currentLocal; + gScore[neighborLocal] = tentativeG; + gScoreStamp[neighborLocal] = stamp; + const f = + tentativeG + + weight * + (Math.abs(currentX + 1 - goalX) + Math.abs(currentY - goalY)); + queue.push(neighborLocal, f); + } + } + } + } + + return null; + } + + private buildPath( + goalLocal: number, + toGlobal: (local: number) => TileRef, + maxPathLength: number, + ): TileRef[] { + const path: TileRef[] = []; + let current = goalLocal; + + // Safety check to prevent infinite loops + let iterations = 0; + while (current !== -1 && iterations < maxPathLength) { + path.push(toGlobal(current)); + current = this.cameFrom[current]; + iterations++; + } + + path.reverse(); + return path; + } +} diff --git a/src/core/pathfinding/algorithms/AStar.Water.ts b/src/core/pathfinding/algorithms/AStar.Water.ts new file mode 100644 index 000000000..920f1a475 --- /dev/null +++ b/src/core/pathfinding/algorithms/AStar.Water.ts @@ -0,0 +1,203 @@ +import { GameMap, TileRef } from "../../game/GameMap"; +import { PathFinder } from "../types"; +import { BucketQueue, PriorityQueue } from "./PriorityQueue"; + +const LAND_BIT = 7; // Bit 7 in terrain indicates land + +export interface AStarWaterConfig { + heuristicWeight?: number; + maxIterations?: number; +} + +export class AStarWater implements PathFinder { + private stamp = 1; + + private readonly closedStamp: Uint32Array; + private readonly gScoreStamp: Uint32Array; + private readonly gScore: Uint32Array; + private readonly cameFrom: Int32Array; + private readonly queue: PriorityQueue; + private readonly terrain: Uint8Array; + private readonly width: number; + private readonly numNodes: number; + private readonly heuristicWeight: number; + private readonly maxIterations: number; + + constructor(map: GameMap, config?: AStarWaterConfig) { + this.terrain = (map as any).terrain as Uint8Array; + this.width = map.width(); + this.numNodes = map.width() * map.height(); + this.heuristicWeight = config?.heuristicWeight ?? 15; + this.maxIterations = config?.maxIterations ?? 1_000_000; + + this.closedStamp = new Uint32Array(this.numNodes); + this.gScoreStamp = new Uint32Array(this.numNodes); + this.gScore = new Uint32Array(this.numNodes); + this.cameFrom = new Int32Array(this.numNodes); + + const maxF = this.heuristicWeight * (map.width() + map.height()); + this.queue = new BucketQueue(maxF); + } + + findPath(start: number | number[], goal: number): number[] | null { + this.stamp++; + if (this.stamp > 0xffffffff) { + this.closedStamp.fill(0); + this.gScoreStamp.fill(0); + this.stamp = 1; + } + + const stamp = this.stamp; + const width = this.width; + const numNodes = this.numNodes; + const terrain = this.terrain; + const closedStamp = this.closedStamp; + const gScoreStamp = this.gScoreStamp; + const gScore = this.gScore; + const cameFrom = this.cameFrom; + const queue = this.queue; + const weight = this.heuristicWeight; + const landMask = 1 << LAND_BIT; + + const goalX = goal % width; + const goalY = (goal / width) | 0; + + queue.clear(); + const starts = Array.isArray(start) ? start : [start]; + 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)); + queue.push(s, h); + } + + let iterations = this.maxIterations; + + while (!queue.isEmpty()) { + if (--iterations <= 0) { + return null; + } + + const current = queue.pop(); + + if (closedStamp[current] === stamp) continue; + closedStamp[current] = stamp; + + if (current === goal) { + return this.buildPath(goal); + } + + const currentG = gScore[current]; + const tentativeG = currentG + 1; + const currentX = current % width; + + if (current >= width) { + const neighbor = current - width; + if ( + closedStamp[neighbor] !== stamp && + (neighbor === goal || (terrain[neighbor] & landMask) === 0) + ) { + if ( + gScoreStamp[neighbor] !== stamp || + tentativeG < gScore[neighbor] + ) { + 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)); + queue.push(neighbor, f); + } + } + } + + if (current < numNodes - width) { + const neighbor = current + width; + if ( + closedStamp[neighbor] !== stamp && + (neighbor === goal || (terrain[neighbor] & landMask) === 0) + ) { + if ( + gScoreStamp[neighbor] !== stamp || + tentativeG < gScore[neighbor] + ) { + 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)); + queue.push(neighbor, f); + } + } + } + + if (currentX !== 0) { + const neighbor = current - 1; + if ( + closedStamp[neighbor] !== stamp && + (neighbor === goal || (terrain[neighbor] & landMask) === 0) + ) { + if ( + gScoreStamp[neighbor] !== stamp || + tentativeG < gScore[neighbor] + ) { + 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)); + queue.push(neighbor, f); + } + } + } + + if (currentX !== width - 1) { + const neighbor = current + 1; + if ( + closedStamp[neighbor] !== stamp && + (neighbor === goal || (terrain[neighbor] & landMask) === 0) + ) { + if ( + gScoreStamp[neighbor] !== stamp || + tentativeG < gScore[neighbor] + ) { + 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)); + queue.push(neighbor, f); + } + } + } + } + + return null; + } + + private buildPath(goal: number): TileRef[] { + const path: TileRef[] = []; + let current = goal; + + while (current !== -1) { + path.push(current as TileRef); + current = this.cameFrom[current]; + } + + path.reverse(); + return path; + } +} diff --git a/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts b/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts new file mode 100644 index 000000000..019893d6a --- /dev/null +++ b/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts @@ -0,0 +1,562 @@ +import { GameMap, TileRef } from "../../game/GameMap"; +import { PathFinder } from "../types"; +import { AbstractGraphAStar } from "./AStar.AbstractGraph"; +import { AStarBounded } from "./AStar.Bounded"; +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 sourceResolver: SourceResolver; + + public debugInfo: PathDebugInfo | null = null; + public debugMode: boolean = false; + + constructor( + private map: GameMap, + private graph: AbstractGraph, + private options: { + cachePaths?: boolean; + } = {}, + ) { + // BFS for nearest node search + this.tileBFS = new BFSGrid(map.width() * map.height()); + + const clusterSize = graph.clusterSize; + + // AbstractGraphAStar for abstract graph routing + this.abstractAStar = new AbstractGraphAStar(this.graph); + + // BoundedAStar for cluster-bounded local pathfinding + const maxLocalNodes = clusterSize * clusterSize; + this.localAStar = new AStarBounded(map, maxLocalNodes); + + // BoundedAStar for multi-cluster (3x3) local pathfinding + const multiClusterSize = clusterSize * 3; + const maxMultiClusterNodes = multiClusterSize * multiClusterSize; + this.localAStarMultiCluster = new AStarBounded(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 this.findPathSingle(from as TileRef, to as TileRef, this.debugMode); + } + + private findPathMultiSource( + sources: TileRef[], + target: TileRef, + ): TileRef[] | null { + // 1. Resolve target to abstract node + const targetNode = this.sourceResolver.resolveTarget(target); + if (!targetNode) return null; + + // 2. Map sources → abstract nodes (cheap O(1) cluster lookup per source) + const nodeToSource = this.sourceResolver.resolveSourcesToNodes(sources); + if (nodeToSource.size === 0) return null; + + // 3. Run multi-source A* on abstract graph + const nodeIds = [...nodeToSource.keys()]; + const nodePath = this.abstractAStar.findPath(nodeIds, targetNode.id); + if (!nodePath) return null; + + // 4. Get winning source tile (nodePath[0] is winning start node) + const winningSource = nodeToSource.get(nodePath[0])!; + + // 5. Run full single-source from winner + 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, + }, + }; + } + + const dist = this.map.manhattanDist(from, to); + + // Early exit for very short distances + if (dist <= this.graph.clusterSize) { + performance.mark("hpa:findPath:earlyExitLocalPath:start"); + 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; + } + + 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"); + 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; + } + + 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"); + 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; + } + + return path; + } + + performance.mark("hpa:findPath:findAbstractPath:start"); + 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; + } + + 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`); + } + + const initialPath: TileRef[] = []; + + performance.mark("hpa:findPath:buildInitialPath:start"); + + // 1. Find path from start to first node + const firstNode = this.graph.getNode(nodePath[0])!; + const firstNodeTile = firstNode.tile; + + const startX = this.map.x(from); + const startY = this.map.y(from); + const startClusterX = Math.floor(startX / this.graph.clusterSize); + const startClusterY = Math.floor(startY / this.graph.clusterSize); + const startSegment = this.findLocalPath( + from, + firstNodeTile, + startClusterX, + startClusterY, + ); + + if (!startSegment) { + return null; + } + + initialPath.push(...startSegment); + + // 2. Build path through abstract nodes + for (let i = 0; i < nodePath.length - 1; i++) { + const fromNodeId = nodePath[i]; + const toNodeId = nodePath[i + 1]; + + const edge = this.graph.getEdgeBetween(fromNodeId, toNodeId); + if (!edge) { + return null; + } + + const fromNode = this.graph.getNode(fromNodeId)!; + const toNode = this.graph.getNode(toNodeId)!; + const fromTile = fromNode.tile; + const toTile = toNode.tile; + + // Check path cache (stored on graph, shared across all instances) + // Cache is direction-aware: A→B and B→A are cached separately + if (this.options.cachePaths) { + const cachedPath = this.graph.getCachedPath(edge.id, fromNodeId); + if (cachedPath && cachedPath.length > 0) { + // Path is cached for this exact direction, use as-is + initialPath.push(...cachedPath.slice(1)); + continue; + } + } + + const segmentPath = this.findLocalPath( + fromTile, + toTile, + edge.clusterX, + edge.clusterY, + ); + + if (!segmentPath) { + return null; + } + + initialPath.push(...segmentPath.slice(1)); + + // Cache the path for this direction + if (this.options.cachePaths) { + this.graph.setCachedPath(edge.id, fromNodeId, segmentPath); + } + } + + // 3. Find path from last node to end + const lastNode = this.graph.getNode(nodePath[nodePath.length - 1])!; + const lastNodeTile = lastNode.tile; + + const endX = this.map.x(to); + const endY = this.map.y(to); + const endClusterX = Math.floor(endX / this.graph.clusterSize); + const endClusterY = Math.floor(endY / this.graph.clusterSize); + const endSegment = this.findLocalPath( + lastNodeTile, + to, + endClusterX, + endClusterY, + ); + + if (!endSegment) { + return null; + } + + 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`); + } + + // Smoothing moved to SmoothingTransformer - return raw path + return initialPath; + } + + private findNearestNode(tile: TileRef): AbstractNode | null { + const x = this.map.x(tile); + const y = this.map.y(tile); + + const clusterX = Math.floor(x / this.graph.clusterSize); + const clusterY = Math.floor(y / this.graph.clusterSize); + + const clusterSize = this.graph.clusterSize; + const minX = clusterX * clusterSize; + const minY = clusterY * clusterSize; + const maxX = Math.min(this.map.width() - 1, minX + clusterSize - 1); + const maxY = Math.min(this.map.height() - 1, minY + clusterSize - 1); + + const cluster = this.graph.getCluster(clusterX, clusterY); + if (!cluster || cluster.nodeIds.length === 0) { + return null; + } + + const candidateNodes = cluster.nodeIds.map((id) => this.graph.getNode(id)!); + const maxDistance = clusterSize * clusterSize; + + return this.tileBFS.search( + this.map.width(), + this.map.height(), + tile, + maxDistance, + (t: TileRef) => this.graph.getComponentId(t) !== LAND_MARKER, + (t: TileRef, _dist: number) => { + const tileX = this.map.x(t); + const tileY = this.map.y(t); + + for (const node of candidateNodes) { + if (node.x === tileX && node.y === tileY) { + return node; + } + } + + if (tileX < minX || tileX > maxX || tileY < minY || tileY > maxY) { + return null; + } + }, + ); + } + + private findAbstractPath( + fromNodeId: number, + toNodeId: number, + ): number[] | null { + return this.abstractAStar.findPath(fromNodeId, toNodeId); + } + + private findLocalPath( + from: TileRef, + to: TileRef, + clusterX: number, + clusterY: number, + multiCluster: boolean = false, + ): TileRef[] | null { + // Calculate cluster bounds + const clusterSize = this.graph.clusterSize; + + let minX: number; + let minY: number; + let maxX: number; + let maxY: number; + + if (multiCluster) { + // 3×3 clusters centered on the starting cluster + minX = Math.max(0, (clusterX - 1) * clusterSize); + minY = Math.max(0, (clusterY - 1) * clusterSize); + maxX = Math.min(this.map.width() - 1, (clusterX + 2) * clusterSize - 1); + maxY = Math.min(this.map.height() - 1, (clusterY + 2) * clusterSize - 1); + } else { + minX = clusterX * clusterSize; + minY = clusterY * clusterSize; + maxX = Math.min(this.map.width() - 1, minX + clusterSize - 1); + maxY = Math.min(this.map.height() - 1, minY + clusterSize - 1); + } + + // Choose the appropriate BoundedAStar based on search area + const selectedAStar = multiCluster + ? this.localAStarMultiCluster + : this.localAStar; + + // Run BoundedAStar on bounded region - works directly on map coords + const path = selectedAStar.searchBounded(from, to, { + minX, + maxX, + minY, + maxY, + }); + + if (!path || path.length === 0) { + return null; + } + + // Fix endpoints: BoundedAStar clamps tiles to bounds, but node tiles may be + // just outside cluster bounds. Ensure path starts/ends at exact requested tiles. + if (path[0] !== from) { + path.unshift(from); + } + if (path[path.length - 1] !== to) { + path.push(to); + } + + return path; + } +} + +// Helper class for resolving tiles to abstract nodes +// Assumes tiles are already water and component-filtered (by transformer pipeline) +class SourceResolver { + constructor( + private map: GameMap, + private graph: AbstractGraph, + ) {} + + // Resolves target to its abstract node + resolveTarget(target: TileRef): AbstractNode | null { + return this.getClusterNode(target); + } + + // Maps sources → abstract nodes, returns Map + resolveSourcesToNodes(sources: TileRef[]): Map { + const nodeToSource = new Map(); + const nodeToDist = new Map(); + + for (const source of sources) { + const node = this.getClusterNode(source); + if (node === null) continue; + + const x = this.map.x(source); + const y = this.map.y(source); + const dist = Math.abs(node.x - x) + Math.abs(node.y - y); + + // Keep closest source per node + const prevDist = nodeToDist.get(node.id); + if (prevDist === undefined || dist < prevDist) { + nodeToSource.set(node.id, source); + nodeToDist.set(node.id, dist); + } + } + + return nodeToSource; + } + + private getClusterNode(tile: TileRef): AbstractNode | null { + const x = this.map.x(tile); + const y = this.map.y(tile); + const clusterX = Math.floor(x / this.graph.clusterSize); + const clusterY = Math.floor(y / this.graph.clusterSize); + + const cluster = this.graph.getCluster(clusterX, clusterY); + if (!cluster || cluster.nodeIds.length === 0) return null; + + // Return closest node to tile + let bestNode: AbstractNode | null = null; + let bestDist = Infinity; + + for (const nodeId of cluster.nodeIds) { + const node = this.graph.getNode(nodeId); + if (!node) continue; + + const dist = Math.abs(node.x - x) + Math.abs(node.y - y); + if (dist < bestDist) { + bestDist = dist; + bestNode = node; + } + } + + return bestNode; + } +} diff --git a/src/core/pathfinding/algorithms/AStar.ts b/src/core/pathfinding/algorithms/AStar.ts new file mode 100644 index 000000000..bb8fe405d --- /dev/null +++ b/src/core/pathfinding/algorithms/AStar.ts @@ -0,0 +1,127 @@ +// Generic A* implementation with adapter interface +// See AStar.Rail.ts for adapter version where performance is not critical +// See AStar.Water.ts for inlined version for performance-critical use + +import { PathFinder } from "../types"; +import { BucketQueue, PriorityQueue } from "./PriorityQueue"; + +export interface AStarAdapter { + // Important optimization: write to the buffer and return the count + // You can do this and it will be much faster :) + neighbors(node: number, buffer: Int32Array): number; + + cost(from: number, to: number, prev?: number): number; + heuristic(node: number, goal: number): number; + numNodes(): number; + maxPriority(): number; + maxNeighbors(): number; +} + +export interface AStarConfig { + adapter: AStarAdapter; + maxIterations?: number; +} + +export class AStar implements PathFinder { + private stamp = 1; + + private readonly closedStamp: Uint32Array; + private readonly gScoreStamp: Uint32Array; + private readonly gScore: Uint32Array; + private readonly cameFrom: Int32Array; + private readonly queue: PriorityQueue; + private readonly adapter: AStarAdapter; + private readonly neighborBuffer: Int32Array; + private readonly maxIterations: number; + + constructor(config: AStarConfig) { + this.adapter = config.adapter; + this.maxIterations = config.maxIterations ?? 500_000; + this.neighborBuffer = new Int32Array(this.adapter.maxNeighbors()); + this.closedStamp = new Uint32Array(this.adapter.numNodes()); + this.gScoreStamp = new Uint32Array(this.adapter.numNodes()); + this.gScore = new Uint32Array(this.adapter.numNodes()); + this.cameFrom = new Int32Array(this.adapter.numNodes()); + this.queue = new BucketQueue(this.adapter.maxPriority()); + } + + findPath(start: number | number[], goal: number): number[] | null { + this.stamp++; + if (this.stamp > 0xffffffff) { + this.closedStamp.fill(0); + this.gScoreStamp.fill(0); + this.stamp = 1; + } + + const stamp = this.stamp; + const adapter = this.adapter; + const closedStamp = this.closedStamp; + const gScoreStamp = this.gScoreStamp; + const gScore = this.gScore; + const cameFrom = this.cameFrom; + const queue = this.queue; + const buffer = this.neighborBuffer; + + queue.clear(); + const starts = Array.isArray(start) ? start : [start]; + for (const s of starts) { + gScore[s] = 0; + gScoreStamp[s] = stamp; + cameFrom[s] = -1; + queue.push(s, adapter.heuristic(s, goal)); + } + + let iterations = this.maxIterations; + + while (!queue.isEmpty()) { + if (--iterations <= 0) { + return null; + } + + const current = queue.pop(); + + if (closedStamp[current] === stamp) continue; + closedStamp[current] = stamp; + + if (current === goal) { + return this.buildPath(goal); + } + + const currentG = gScore[current]; + const prev = cameFrom[current]; + const count = adapter.neighbors(current, buffer); + + for (let i = 0; i < count; i++) { + const neighbor = buffer[i]; + + if (closedStamp[neighbor] === stamp) continue; + + const tentativeG = + currentG + + adapter.cost(current, neighbor, prev === -1 ? undefined : prev); + + if (gScoreStamp[neighbor] !== stamp || tentativeG < gScore[neighbor]) { + cameFrom[neighbor] = current; + gScore[neighbor] = tentativeG; + gScoreStamp[neighbor] = stamp; + queue.push(neighbor, tentativeG + adapter.heuristic(neighbor, goal)); + } + } + } + + return null; + } + + private buildPath(goal: number): number[] { + const path: number[] = []; + let current = goal; + + while (current !== -1) { + path.push(current); + current = this.cameFrom[current]; + } + + path.reverse(); + return path; + } +} diff --git a/src/core/pathfinding/algorithms/AbstractGraph.ts b/src/core/pathfinding/algorithms/AbstractGraph.ts new file mode 100644 index 000000000..d7be8faeb --- /dev/null +++ b/src/core/pathfinding/algorithms/AbstractGraph.ts @@ -0,0 +1,682 @@ +import { GameMap, TileRef } from "../../game/GameMap"; +import { BFSGrid } from "./BFS.Grid"; +import { ConnectedComponents } from "./ConnectedComponents"; + +export interface AbstractNode { + id: number; + x: number; + y: number; + tile: TileRef; + componentId: number; +} + +export interface AbstractEdge { + id: number; + nodeA: number; // Lower node ID (canonical order: nodeA < nodeB) + nodeB: number; // Higher node ID + cost: number; + clusterX: number; + clusterY: number; +} + +export interface Cluster { + x: number; + y: number; + 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[] = []; + + // Edges (bidirectional, stored once) + private readonly _edges: AbstractEdge[] = []; + private readonly _nodeEdgeIds: number[][] = []; // nodeId → edge IDs + + // Clusters (array indexed by clusterKey) + private readonly _clusters: Cluster[] = []; + + // Path cache indexed by edge.id (shared across all users) + private _pathCache: (TileRef[] | null)[] = []; + + // Water components for componentId lookup + private _waterComponents: ConnectedComponents | null = null; + + constructor( + readonly clusterSize: number, + readonly clustersX: number, + readonly clustersY: number, + ) {} + + getNode(id: number): AbstractNode | undefined { + return this._nodes[id]; + } + + getAllNodes(): readonly AbstractNode[] { + return this._nodes; + } + + get nodeCount(): number { + return this._nodes.length; + } + + getEdge(id: number): AbstractEdge | undefined { + return this._edges[id]; + } + + getNodeEdges(nodeId: number): AbstractEdge[] { + const edgeIds = this._nodeEdgeIds[nodeId]; + if (!edgeIds) return []; + return edgeIds.map((id) => this._edges[id]); + } + + getEdgeBetween(nodeA: number, nodeB: number): AbstractEdge | undefined { + const edgeIds = this._nodeEdgeIds[nodeA]; + if (!edgeIds) return undefined; + + for (const edgeId of edgeIds) { + const edge = this._edges[edgeId]; + if (edge.nodeA === nodeB || edge.nodeB === nodeB) { + return edge; + } + } + return undefined; + } + + getOtherNode(edge: AbstractEdge, nodeId: number): number { + return edge.nodeA === nodeId ? edge.nodeB : edge.nodeA; + } + + get edgeCount(): number { + return this._edges.length; + } + + /** + * Get cached path for edge in specific direction + * @param edgeId Edge ID + * @param fromNodeId The starting node of the traversal (determines direction) + */ + getCachedPath(edgeId: number, fromNodeId: number): TileRef[] | null { + const edge = this._edges[edgeId]; + if (!edge) return null; + // Direction: 0 if traversing A→B, 1 if traversing B→A + const direction = fromNodeId === edge.nodeA ? 0 : 1; + const cacheIndex = edgeId * 2 + direction; + return this._pathCache[cacheIndex] ?? null; + } + + /** + * Cache path for edge in specific direction + * @param edgeId Edge ID + * @param fromNodeId The starting node of the traversal (determines direction) + * @param path The path tiles + */ + setCachedPath(edgeId: number, fromNodeId: number, path: TileRef[]): void { + const edge = this._edges[edgeId]; + if (!edge) return; + // Direction: 0 if traversing A→B, 1 if traversing B→A + const direction = fromNodeId === edge.nodeA ? 0 : 1; + const cacheIndex = edgeId * 2 + direction; + this._pathCache[cacheIndex] = path; + } + + _initPathCache(): void { + // Double the cache size to store both directions + this._pathCache = new Array(this._edges.length * 2).fill(null); + } + + setWaterComponents(wc: ConnectedComponents): void { + this._waterComponents = wc; + } + + getComponentId(tile: TileRef): number { + return this._waterComponents?.getComponentId(tile) ?? 0; + } + + getClusterKey(clusterX: number, clusterY: number): number { + return clusterY * this.clustersX + clusterX; + } + + getCluster(clusterX: number, clusterY: number): Cluster | undefined { + return this._clusters[this.getClusterKey(clusterX, clusterY)]; + } + + getClusterNodes(clusterX: number, clusterY: number): AbstractNode[] { + const cluster = this.getCluster(clusterX, clusterY); + if (!cluster) return []; + return cluster.nodeIds.map((id) => this._nodes[id]); + } + + getNearbyClusterNodes(clusterX: number, clusterY: number): AbstractNode[] { + const nodes: AbstractNode[] = []; + + for (let dy = -1; dy <= 1; dy++) { + for (let dx = -1; dx <= 1; dx++) { + const cluster = this.getCluster(clusterX + dx, clusterY + dy); + if (cluster) { + for (const nodeId of cluster.nodeIds) { + nodes.push(this._nodes[nodeId]); + } + } + } + } + + return nodes; + } + + _addNode(node: AbstractNode): void { + this._nodes[node.id] = node; + this._nodeEdgeIds[node.id] = []; + } + + _addEdge(edge: AbstractEdge): void { + this._edges[edge.id] = edge; + this._nodeEdgeIds[edge.nodeA].push(edge.id); + this._nodeEdgeIds[edge.nodeB].push(edge.id); + } + + _setCluster(key: number, cluster: Cluster): void { + this._clusters[key] = cluster; + } + + _addNodeToCluster(clusterKey: number, nodeId: number): void { + if (!this._clusters[clusterKey]) { + // This shouldn't happen if clusters are pre-created + return; + } + + this._clusters[clusterKey].nodeIds.push(nodeId); + } +} + +export class AbstractGraphBuilder { + static readonly CLUSTER_SIZE = 32; + + // Derived immutable state + private readonly width: number; + private readonly height: number; + private readonly clustersX: number; + private readonly clustersY: number; + private readonly tileBFS: BFSGrid; + private readonly waterComponents: ConnectedComponents; + + // Build state + private graph!: AbstractGraph; + private tileToNode = new Map(); + private nextNodeId = 0; + private nextEdgeId = 0; + private edgeBetween = new Map>(); + + public debugInfo: BuildDebugInfo | null = null; + + constructor( + private readonly map: GameMap, + private readonly clusterSize: number = AbstractGraphBuilder.CLUSTER_SIZE, + ) { + this.width = map.width(); + this.height = map.height(); + this.clustersX = Math.ceil(this.width / clusterSize); + this.clustersY = Math.ceil(this.height / clusterSize); + this.tileBFS = new BFSGrid(this.width * this.height); + this.waterComponents = new ConnectedComponents(map); + } + + build(debug: boolean = false): AbstractGraph { + performance.mark("abstractgraph:build:start"); + + this.graph = new AbstractGraph( + this.clusterSize, + this.clustersX, + 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++) { + for (let cx = 0; cx < this.clustersX; cx++) { + const key = this.graph.getClusterKey(cx, cy); + this.graph._setCluster(key, { x: cx, y: cy, nodeIds: [] }); + } + } + + // Find nodes (gateways) at cluster boundaries + performance.mark("abstractgraph:build:nodes:start"); + 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; + } + + // Build edges between nodes in same cluster + performance.mark("abstractgraph:build:edges:start"); + 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", + ); + + 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; + } + + // Initialize path cache after all edges are built + this.graph._initPathCache(); + + // Store water components for componentId lookups + this.graph.setWaterComponents(this.waterComponents); + + return this.graph; + } + + private getOrCreateNode(x: number, y: number): AbstractNode { + const tile = this.map.ref(x, y); + + const existing = this.tileToNode.get(tile); + if (existing) { + return existing; + } + + const node: AbstractNode = { + id: this.nextNodeId++, + x, + y, + tile, + componentId: this.waterComponents.getComponentId(tile), + }; + + this.graph._addNode(node); + this.tileToNode.set(tile, node); + return node; + } + + private addNodeToCluster( + clusterX: number, + clusterY: number, + node: AbstractNode, + ): void { + const cluster = this.graph.getCluster(clusterX, clusterY); + if (!cluster) return; + + // Check for duplicates (node at cluster corner can be found by both edge scans) + if (!cluster.nodeIds.includes(node.id)) { + cluster.nodeIds.push(node.id); + } + } + + private processCluster(cx: number, cy: number): void { + const baseX = cx * this.clusterSize; + const baseY = cy * this.clusterSize; + + // Right edge (vertical boundary to next cluster) + if (cx < this.clustersX - 1) { + const edgeX = Math.min(baseX + this.clusterSize - 1, this.width - 1); + const nodes = this.findNodesOnVerticalEdge(edgeX, baseY); + + for (const node of nodes) { + this.addNodeToCluster(cx, cy, node); + this.addNodeToCluster(cx + 1, cy, node); + } + } + + // Bottom edge (horizontal boundary to next cluster) + if (cy < this.clustersY - 1) { + const edgeY = Math.min(baseY + this.clusterSize - 1, this.height - 1); + const nodes = this.findNodesOnHorizontalEdge(edgeY, baseX); + + for (const node of nodes) { + this.addNodeToCluster(cx, cy, node); + this.addNodeToCluster(cx, cy + 1, node); + } + } + } + + private findNodesOnVerticalEdge(x: number, baseY: number): AbstractNode[] { + const nodes: AbstractNode[] = []; + const maxY = Math.min(baseY + this.clusterSize, this.height); + + let spanStart = -1; + + const tryAddNode = (y: number) => { + if (spanStart === -1) return; + + const spanLength = y - spanStart; + const midY = spanStart + Math.floor(spanLength / 2); + spanStart = -1; + + const node = this.getOrCreateNode(x, midY); + nodes.push(node); + }; + + for (let y = baseY; y < maxY; y++) { + const tile = this.map.ref(x, y); + const nextTile = x + 1 < this.map.width() ? this.map.ref(x + 1, y) : -1; + const isEntrance = + this.map.isWater(tile) && nextTile !== -1 && this.map.isWater(nextTile); + + if (isEntrance) { + if (spanStart === -1) { + spanStart = y; + } + } else { + tryAddNode(y); + } + } + + tryAddNode(maxY); + return nodes; + } + + private findNodesOnHorizontalEdge(y: number, baseX: number): AbstractNode[] { + const nodes: AbstractNode[] = []; + const maxX = Math.min(baseX + this.clusterSize, this.width); + + let spanStart = -1; + + const tryAddNode = (x: number) => { + if (spanStart === -1) return; + + const spanLength = x - spanStart; + const midX = spanStart + Math.floor(spanLength / 2); + spanStart = -1; + + const node = this.getOrCreateNode(midX, y); + nodes.push(node); + }; + + for (let x = baseX; x < maxX; x++) { + const tile = this.map.ref(x, y); + const nextTile = y + 1 < this.map.height() ? this.map.ref(x, y + 1) : -1; + const isEntrance = + this.map.isWater(tile) && nextTile !== -1 && this.map.isWater(nextTile); + + if (isEntrance) { + if (spanStart === -1) { + spanStart = x; + } + } else { + tryAddNode(x); + } + } + + tryAddNode(maxX); + return nodes; + } + + private buildClusterConnections(cx: number, cy: number): void { + const cluster = this.graph.getCluster(cx, cy); + if (!cluster) return; + + const nodeIds = cluster.nodeIds; + const nodes = nodeIds.map((id) => this.graph.getNode(id)!); + + // Calculate cluster bounds + const clusterMinX = cx * this.clusterSize; + const clusterMinY = cy * this.clusterSize; + const clusterMaxX = Math.min( + this.width - 1, + clusterMinX + this.clusterSize - 1, + ); + const clusterMaxY = Math.min( + this.height - 1, + clusterMinY + this.clusterSize - 1, + ); + + for (let i = 0; i < nodes.length; i++) { + const fromNode = nodes[i]; + + // Build list of target nodes (only those we haven't processed with this node) + const targetNodes: AbstractNode[] = []; + for (let j = i + 1; j < nodes.length; j++) { + // Skip if nodes are in different water components + if (nodes[i].componentId !== nodes[j].componentId) { + continue; + } + targetNodes.push(nodes[j]); + } + + if (targetNodes.length === 0) continue; + + // Single BFS to find all reachable target nodes + const reachable = this.findAllReachableNodesInBounds( + fromNode.tile, + targetNodes, + clusterMinX, + clusterMaxX, + clusterMinY, + clusterMaxY, + ); + + // Create edges for all reachable nodes + for (const [targetId, cost] of reachable.entries()) { + this.addOrUpdateEdge(fromNode.id, targetId, cost, cx, cy); + } + } + } + + /** + * Add or update edge between two nodes. + * Edges are bidirectional and stored once with canonical order (nodeA < nodeB). + * If edge exists with higher cost, update it. + */ + private addOrUpdateEdge( + nodeIdA: number, + nodeIdB: number, + cost: number, + clusterX: number, + clusterY: number, + ): void { + // Canonical order: lower ID first + const [lo, hi] = + nodeIdA < nodeIdB ? [nodeIdA, nodeIdB] : [nodeIdB, nodeIdA]; + + // Check for existing edge + let nodeMap = this.edgeBetween.get(lo); + if (!nodeMap) { + nodeMap = new Map(); + this.edgeBetween.set(lo, nodeMap); + } + + const existingEdge = nodeMap.get(hi); + + if (existingEdge) { + // Update if new cost is cheaper + if (cost < existingEdge.cost) { + existingEdge.cost = cost; + existingEdge.clusterX = clusterX; + existingEdge.clusterY = clusterY; + } + return; + } + + // Create new edge + const edge: AbstractEdge = { + id: this.nextEdgeId++, + nodeA: lo, + nodeB: hi, + cost, + clusterX, + clusterY, + }; + + nodeMap.set(hi, edge); + this.graph._addEdge(edge); + } + + private findAllReachableNodesInBounds( + from: TileRef, + targetNodes: AbstractNode[], + minX: number, + maxX: number, + minY: number, + maxY: number, + ): Map { + const fromX = this.map.x(from); + const fromY = this.map.y(from); + + // Create a map of tile positions to node IDs for fast lookup + const tileToNodeId = new Map(); + let maxManhattanDist = 0; + + for (const node of targetNodes) { + tileToNodeId.set(node.tile, node.id); + const dx = Math.abs(node.x - fromX); + const dy = Math.abs(node.y - fromY); + maxManhattanDist = Math.max(maxManhattanDist, dx + dy); + } + + const maxDistance = maxManhattanDist * 4; // Allow path deviation + const reachable = new Map(); + let foundCount = 0; + + this.tileBFS.search( + this.map.width(), + this.map.height(), + from, + maxDistance, + (tile: number) => this.map.isWater(tile), + (tile: number, dist: number) => { + const x = this.map.x(tile); + const y = this.map.y(tile); + + // Reject if outside of bounding box (except start/target) + const isStartOrTarget = tile === from || tileToNodeId.has(tile); + if ( + !isStartOrTarget && + (x < minX || x > maxX || y < minY || y > maxY) + ) { + return null; + } + + // Check if this tile is one of our target nodes + const nodeId = tileToNodeId.get(tile); + + if (nodeId !== undefined) { + reachable.set(nodeId, dist); + foundCount++; + + // Early exit if we've found all target nodes + if (foundCount === targetNodes.length) { + return dist; // Return to stop BFS + } + } + }, + ); + + return reachable; + } +} diff --git a/src/core/pathfinding/navmesh/FastBFS.ts b/src/core/pathfinding/algorithms/BFS.Grid.ts similarity index 66% rename from src/core/pathfinding/navmesh/FastBFS.ts rename to src/core/pathfinding/algorithms/BFS.Grid.ts index 11ff34725..d70803c71 100644 --- a/src/core/pathfinding/navmesh/FastBFS.ts +++ b/src/core/pathfinding/algorithms/BFS.Grid.ts @@ -1,11 +1,7 @@ -export interface FastBFSAdapter { - visitor(node: number, dist: number): T | null | undefined; - isValidNode(node: number): boolean; -} - -// Optimized BFS using stamp-based visited tracking and typed array queue -export class FastBFS { +// 4-direction grid BFS with stamp-based visited tracking +export class BFSGrid { private stamp = 1; + private readonly visitedStamp: Uint32Array; private readonly queue: Int32Array; private readonly dist: Uint16Array; @@ -16,48 +12,57 @@ export class FastBFS { this.dist = new Uint16Array(numNodes); } - search( + /** + * Grid BFS search with visitor pattern. + * @param start - Starting node(s) + * @param maxDistance - Maximum distance to search + * @param isValidNode - Filter for traversable nodes + * @param visitor - Called for each node: + * - Returns R: Found target, return immediately + * - Returns undefined: Valid node, explore neighbors + * - Returns null: Reject node, don't explore neighbors + */ + search( width: number, height: number, - start: number, + start: number | number[], maxDistance: number, - isValidNode: FastBFSAdapter["isValidNode"], - visitor: FastBFSAdapter["visitor"], - ): T | null { + isValidNode: (node: number) => boolean, + visitor: (node: number, dist: number) => R | null | undefined, + ): R | null { const stamp = this.nextStamp(); const lastRowStart = (height - 1) * width; + const starts = typeof start === "number" ? [start] : start; let head = 0; let tail = 0; - this.visitedStamp[start] = stamp; - this.dist[start] = 0; - this.queue[tail++] = start; + for (const s of starts) { + this.visitedStamp[s] = stamp; + this.dist[s] = 0; + this.queue[tail++] = s; + } while (head < tail) { const node = this.queue[head++]; - const currentDist = this.dist[node]; + const dist = this.dist[node]; - if (currentDist > maxDistance) { - continue; - } - - // Call visitor: - // - Returns T: Found target, return immediately - // - Returns null: Reject tile, don't explore neighbors - // - Returns undefined: Valid tile, explore neighbors - const result = visitor(node, currentDist); + const result = visitor(node, dist); if (result !== null && result !== undefined) { return result; } - // If visitor returned null, reject this tile and don't explore neighbors if (result === null) { continue; } - const nextDist = currentDist + 1; + const nextDist = dist + 1; + + if (nextDist > maxDistance) { + continue; + } + const x = node % width; // North @@ -107,8 +112,7 @@ export class FastBFS { private nextStamp(): number { const stamp = this.stamp++; - if (this.stamp === 0) { - // Overflow - reset (extremely rare) + if (this.stamp > 0xffffffff) { this.visitedStamp.fill(0); this.stamp = 1; } diff --git a/src/core/pathfinding/algorithms/BFS.ts b/src/core/pathfinding/algorithms/BFS.ts new file mode 100644 index 000000000..06a7acc80 --- /dev/null +++ b/src/core/pathfinding/algorithms/BFS.ts @@ -0,0 +1,64 @@ +// Generic BFS implementation with adapter interface + +export interface BFSAdapter { + neighbors(node: T): T[]; +} + +export class BFS { + constructor(private adapter: BFSAdapter) {} + + /** + * BFS search with visitor pattern. + * @param start - Starting node(s) + * @param maxDistance - Maximum distance to search (Infinity for unlimited) + * @param visitor - Called for each node: + * - Returns R: Found target, return immediately + * - Returns undefined: Valid node, explore neighbors + * - Returns null: Reject node, don't explore neighbors + */ + search( + start: T | T[], + maxDistance: number, + visitor: (node: T, dist: number) => R | null | undefined, + ): R | null { + const visited = new Set(); + const queue: { node: T; dist: number }[] = []; + const starts = Array.isArray(start) ? start : [start]; + + for (const s of starts) { + visited.add(s); + queue.push({ node: s, dist: 0 }); + } + + while (queue.length > 0) { + const { node, dist } = queue.shift()!; + + const result = visitor(node, dist); + + if (result !== null && result !== undefined) { + return result; + } + + if (result === null) { + continue; + } + + const nextDist = dist + 1; + + if (nextDist > maxDistance) { + continue; + } + + for (const neighbor of this.adapter.neighbors(node)) { + if (visited.has(neighbor)) { + continue; + } + + visited.add(neighbor); + queue.push({ node: neighbor, dist: nextDist }); + } + } + + return null; + } +} diff --git a/src/core/pathfinding/navmesh/WaterComponents.ts b/src/core/pathfinding/algorithms/ConnectedComponents.ts similarity index 95% rename from src/core/pathfinding/navmesh/WaterComponents.ts rename to src/core/pathfinding/algorithms/ConnectedComponents.ts index e58cdf96f..93813b341 100644 --- a/src/core/pathfinding/navmesh/WaterComponents.ts +++ b/src/core/pathfinding/algorithms/ConnectedComponents.ts @@ -1,12 +1,14 @@ +// Connected Component Labeling using flood-fill + import { GameMap, TileRef } from "../../game/GameMap"; -const LAND_MARKER = 0xff; // Must fit in Uint8Array +export const LAND_MARKER = 0xff; // Must fit in Uint8Array /** - * Manages water component identification using flood-fill. - * Pre-allocates buffers and provides explicit initialization. + * Connected component labeling for grid-based maps. + * Identifies isolated regions using scan-line flood-fill. */ -export class WaterComponents { +export class ConnectedComponents { private readonly width: number; private readonly height: number; private readonly numTiles: number; diff --git a/src/core/pathfinding/algorithms/PriorityQueue.ts b/src/core/pathfinding/algorithms/PriorityQueue.ts new file mode 100644 index 000000000..c8f525f0b --- /dev/null +++ b/src/core/pathfinding/algorithms/PriorityQueue.ts @@ -0,0 +1,154 @@ +export interface PriorityQueue { + push(node: number, priority: number): void; + pop(): number; + isEmpty(): boolean; + clear(): void; +} + +// Binary min-heap: O(log n) push/pop, works with any priority values +export class MinHeap implements PriorityQueue { + private heap: Int32Array; + private priorities: Float32Array; + private size = 0; + + constructor(private capacity: number) { + this.heap = new Int32Array(capacity); + this.priorities = new Float32Array(capacity); + } + + push(node: number, priority: number): void { + if (this.size >= this.capacity) { + throw new Error(`MinHeap capacity exceeded: ${this.capacity}`); + } + + let i = this.size++; + this.heap[i] = node; + this.priorities[i] = priority; + + // Bubble up + while (i > 0) { + const parent = (i - 1) >> 1; + if (this.priorities[parent] <= this.priorities[i]) break; + // Swap + const tmpNode = this.heap[parent]; + const tmpPri = this.priorities[parent]; + this.heap[parent] = this.heap[i]; + this.priorities[parent] = this.priorities[i]; + this.heap[i] = tmpNode; + this.priorities[i] = tmpPri; + i = parent; + } + } + + pop(): number { + const result = this.heap[0]; + this.size--; + if (this.size > 0) { + this.heap[0] = this.heap[this.size]; + this.priorities[0] = this.priorities[this.size]; + + // Bubble down + let i = 0; + while (true) { + const left = (i << 1) + 1; + const right = left + 1; + let smallest = i; + + if ( + left < this.size && + this.priorities[left] < this.priorities[smallest] + ) { + smallest = left; + } + if ( + right < this.size && + this.priorities[right] < this.priorities[smallest] + ) { + smallest = right; + } + if (smallest === i) break; + + // Swap + const tmpNode = this.heap[smallest]; + const tmpPri = this.priorities[smallest]; + this.heap[smallest] = this.heap[i]; + this.priorities[smallest] = this.priorities[i]; + this.heap[i] = tmpNode; + this.priorities[i] = tmpPri; + i = smallest; + } + } + return result; + } + + isEmpty(): boolean { + return this.size === 0; + } + + clear(): void { + this.size = 0; + } +} + +// Bucket queue: O(1) push/pop when priorities are integers +export class BucketQueue implements PriorityQueue { + private buckets: Int32Array[]; + private bucketSizes: Int32Array; + private minBucket: number; + private maxBucket: number; + private size: number; + + constructor(maxPriority: number) { + this.maxBucket = maxPriority + 1; + this.buckets = new Array(this.maxBucket); + this.bucketSizes = new Int32Array(this.maxBucket); + this.minBucket = this.maxBucket; + this.size = 0; + } + + push(node: number, priority: number): void { + const bucket = Math.min(priority | 0, this.maxBucket - 1); + + if (!this.buckets[bucket]) { + this.buckets[bucket] = new Int32Array(64); + } + + const size = this.bucketSizes[bucket]; + if (size >= this.buckets[bucket].length) { + const newBucket = new Int32Array(this.buckets[bucket].length * 2); + newBucket.set(this.buckets[bucket]); + this.buckets[bucket] = newBucket; + } + + this.buckets[bucket][size] = node; + this.bucketSizes[bucket]++; + this.size++; + + if (bucket < this.minBucket) { + this.minBucket = bucket; + } + } + + pop(): number { + while (this.minBucket < this.maxBucket) { + const size = this.bucketSizes[this.minBucket]; + if (size > 0) { + this.bucketSizes[this.minBucket]--; + this.size--; + return this.buckets[this.minBucket][size - 1]; + } + this.minBucket++; + } + return -1; + } + + isEmpty(): boolean { + return this.size === 0; + } + + clear(): void { + this.bucketSizes.fill(0); + this.minBucket = this.maxBucket; + this.size = 0; + } +} diff --git a/src/core/pathfinding/navmesh/FastAStar.ts b/src/core/pathfinding/navmesh/FastAStar.ts deleted file mode 100644 index 770248e79..000000000 --- a/src/core/pathfinding/navmesh/FastAStar.ts +++ /dev/null @@ -1,202 +0,0 @@ -// A* optimized for performance for small to medium graphs. -// Works with node IDs represented as integers (0 to numNodes-1) - -export interface FastAStarAdapter { - getNeighbors(node: number): number[]; - getCost(from: number, to: number): number; - heuristic(node: number, goal: number): number; -} - -// Simple binary min-heap for open set using typed arrays -class MinHeap { - private heap: Int32Array; - private scores: Float32Array; - private size = 0; - - constructor(capacity: number, scores: Float32Array) { - this.heap = new Int32Array(capacity); - this.scores = scores; - } - - push(node: number): void { - let i = this.size++; - this.heap[i] = node; - - // Bubble up - while (i > 0) { - const parent = (i - 1) >> 1; - if (this.scores[this.heap[parent]] <= this.scores[this.heap[i]]) { - break; - } - - // Swap - const tmp = this.heap[parent]; - this.heap[parent] = this.heap[i]; - this.heap[i] = tmp; - i = parent; - } - } - - pop(): number { - const result = this.heap[0]; - this.heap[0] = this.heap[--this.size]; - - // Bubble down - let i = 0; - while (true) { - const left = (i << 1) + 1; - const right = left + 1; - let smallest = i; - - if ( - left < this.size && - this.scores[this.heap[left]] < this.scores[this.heap[smallest]] - ) { - smallest = left; - } - - if ( - right < this.size && - this.scores[this.heap[right]] < this.scores[this.heap[smallest]] - ) { - smallest = right; - } - - if (smallest === i) { - break; - } - - // Swap - const tmp = this.heap[smallest]; - this.heap[smallest] = this.heap[i]; - this.heap[i] = tmp; - i = smallest; - } - - return result; - } - - isEmpty(): boolean { - return this.size === 0; - } - - clear(): void { - this.size = 0; - } -} - -export class FastAStar { - private stamp = 1; - private readonly closedStamp: Uint32Array; // Tracks fully processed nodes - private readonly gScoreStamp: Uint32Array; // Tracks valid gScores - private readonly gScore: Float32Array; - private readonly fScore: Float32Array; - private readonly cameFrom: Int32Array; - private readonly openHeap: MinHeap; - - constructor(numNodes: number) { - this.closedStamp = new Uint32Array(numNodes); - this.gScoreStamp = new Uint32Array(numNodes); - this.gScore = new Float32Array(numNodes); - this.fScore = new Float32Array(numNodes); - this.cameFrom = new Int32Array(numNodes); - this.openHeap = new MinHeap(numNodes, this.fScore); - } - - private nextStamp(): number { - const stamp = this.stamp++; - - if (this.stamp === 0) { - // Overflow - reset (extremely rare) - this.closedStamp.fill(0); - this.gScoreStamp.fill(0); - this.stamp = 1; - } - - return stamp; - } - - search( - start: number, - goal: number, - adapter: FastAStarAdapter, - maxIterations: number = 100000, - ): number[] | null { - const stamp = this.nextStamp(); - - this.openHeap.clear(); - this.gScore[start] = 0; - this.gScoreStamp[start] = stamp; - this.fScore[start] = adapter.heuristic(start, goal); - this.cameFrom[start] = -1; - this.openHeap.push(start); - - let iterations = 0; - - while (!this.openHeap.isEmpty() && iterations < maxIterations) { - iterations++; - - const current = this.openHeap.pop(); - - // Skip if already processed (duplicate from heap) - if (this.closedStamp[current] === stamp) { - continue; - } - - // Mark as processed - this.closedStamp[current] = stamp; - - // Found goal - if (current === goal) { - return this.reconstructPath(start, goal); - } - - const neighbors = adapter.getNeighbors(current); - const currentGScore = this.gScore[current]; - - for (const neighbor of neighbors) { - // Skip already processed neighbors - if (this.closedStamp[neighbor] === stamp) { - continue; - } - - const tentativeGScore = - currentGScore + adapter.getCost(current, neighbor); - - // If we haven't visited this neighbor yet, or found a better path - const hasValidGScore = this.gScoreStamp[neighbor] === stamp; - if (!hasValidGScore || tentativeGScore < this.gScore[neighbor]) { - this.cameFrom[neighbor] = current; - this.gScore[neighbor] = tentativeGScore; - this.gScoreStamp[neighbor] = stamp; - this.fScore[neighbor] = - tentativeGScore + adapter.heuristic(neighbor, goal); - - // Add to heap (allow duplicates for better paths) - this.openHeap.push(neighbor); - } - } - } - - return null; - } - - private reconstructPath(start: number, goal: number): number[] { - const path: number[] = []; - let current = goal; - - while (current !== start) { - path.push(current); - current = this.cameFrom[current]; - - // Safety check - if (current === -1) { - return []; - } - } - - path.push(start); - path.reverse(); - return path; - } -} diff --git a/src/core/pathfinding/navmesh/FastAStarAdapter.ts b/src/core/pathfinding/navmesh/FastAStarAdapter.ts deleted file mode 100644 index 95b962233..000000000 --- a/src/core/pathfinding/navmesh/FastAStarAdapter.ts +++ /dev/null @@ -1,120 +0,0 @@ -import { GameMap, TileRef } from "../../game/GameMap"; -import { FastAStarAdapter } from "./FastAStar"; -import { GatewayGraph } from "./GatewayGraph"; - -export class GatewayGraphAdapter implements FastAStarAdapter { - constructor(private graph: GatewayGraph) {} - - getNeighbors(node: number): number[] { - const edges = this.graph.getEdges(node); - return edges.map((edge) => edge.to); - } - - getCost(from: number, to: number): number { - const edges = this.graph.getEdges(from); - const edge = edges.find((edge) => edge.to === to); - return edge?.cost ?? 1; - } - - heuristic(node: number, goal: number): number { - const nodeGw = this.graph.getGateway(node); - const goalGw = this.graph.getGateway(goal); - - if (!nodeGw || !goalGw) { - throw new Error( - `Invalid gateway ID in heuristic: node=${node} (${nodeGw ? "exists" : "missing"}), goal=${goal} (${goalGw ? "exists" : "missing"})`, - ); - } - - // Manhattan distance heuristic - const dx = Math.abs(nodeGw.x - goalGw.x); - const dy = Math.abs(nodeGw.y - goalGw.y); - return dx + dy; - } -} - -export class BoundedGameMapAdapter implements FastAStarAdapter { - private readonly minX: number; - private readonly minY: number; - private readonly width: number; - private readonly height: number; - private readonly startTile: TileRef; - private readonly goalTile: TileRef; - - readonly numNodes: number; - - constructor( - private map: GameMap, - startTile: TileRef, - goalTile: TileRef, - bounds: { minX: number; maxX: number; minY: number; maxY: number }, - ) { - this.startTile = startTile; - this.goalTile = goalTile; - - this.minX = bounds.minX; - this.minY = bounds.minY; - this.width = bounds.maxX - bounds.minX + 1; - this.height = bounds.maxY - bounds.minY + 1; - - this.numNodes = this.width * this.height; - } - - // Convert global TileRef to local node ID - tileToNode(tile: TileRef): number { - const x = this.map.x(tile) - this.minX; - const y = this.map.y(tile) - this.minY; - - // Allow start and goal tiles to be outside bounds (matching graph building behavior) - const isOutsideBounds = - x < 0 || x >= this.width || y < 0 || y >= this.height; - const isStartOrGoal = tile === this.startTile || tile === this.goalTile; - if (isOutsideBounds && !isStartOrGoal) { - return -1; // Outside bounds - } - - // Clamp coordinates for start/goal tiles that are outside bounds - const clampedX = Math.max(0, Math.min(this.width - 1, x)); - const clampedY = Math.max(0, Math.min(this.height - 1, y)); - - return clampedY * this.width + clampedX; - } - - // Convert local node ID to global TileRef - nodeToTile(node: number): TileRef { - const localX = node % this.width; - const localY = Math.floor(node / this.width); - return this.map.ref(localX + this.minX, localY + this.minY); - } - - getNeighbors(node: number): number[] { - const tile = this.nodeToTile(node); - const neighbors = this.map.neighbors(tile); - const result: number[] = []; - - for (const neighborTile of neighbors) { - if (!this.map.isWater(neighborTile)) continue; - - const neighborNode = this.tileToNode(neighborTile); - if (neighborNode !== -1) { - result.push(neighborNode); - } - } - - return result; - } - - getCost(_from: number, _to: number): number { - return 1; // Uniform cost for water tiles - } - - heuristic(node: number, goal: number): number { - const nodeTile = this.nodeToTile(node); - const goalTile = this.nodeToTile(goal); - - const dx = Math.abs(this.map.x(nodeTile) - this.map.x(goalTile)); - const dy = Math.abs(this.map.y(nodeTile) - this.map.y(goalTile)); - - return dx + dy; // Manhattan distance - } -} diff --git a/src/core/pathfinding/navmesh/GatewayGraph.ts b/src/core/pathfinding/navmesh/GatewayGraph.ts deleted file mode 100644 index c08b60a99..000000000 --- a/src/core/pathfinding/navmesh/GatewayGraph.ts +++ /dev/null @@ -1,587 +0,0 @@ -import { Game } from "../../game/Game"; -import { GameMap, TileRef } from "../../game/GameMap"; -import { FastBFS } from "./FastBFS"; -import { WaterComponents } from "./WaterComponents"; - -export interface Gateway { - id: number; - x: number; - y: number; - tile: TileRef; - componentId: number; -} - -export interface Edge { - from: number; - to: number; - cost: number; - path?: TileRef[]; - sectorX: number; - sectorY: number; -} - -export interface Sector { - x: number; - y: number; - gateways: Gateway[]; - edges: Edge[]; -} - -export type BuildDebugInfo = { - sectors: number | null; - gateways: number | null; - edges: number | null; - actualBFSCalls: number | null; - potentialBFSCalls: number | null; - skippedByComponentFilter: number | null; - timings: { [key: string]: number }; -}; - -export class GatewayGraph { - constructor( - readonly sectors: ReadonlyMap, - readonly gateways: ReadonlyMap, - readonly edges: ReadonlyMap, - readonly sectorSize: number, - readonly sectorsX: number, - ) {} - - getSectorKey(sectorX: number, sectorY: number): number { - return sectorY * this.sectorsX + sectorX; - } - - getSector(sectorX: number, sectorY: number): Sector | undefined { - return this.sectors.get(this.getSectorKey(sectorX, sectorY)); - } - - getGateway(id: number): Gateway | undefined { - return this.gateways.get(id); - } - - getEdges(gatewayId: number): Edge[] { - return this.edges.get(gatewayId) ?? []; - } - - getNearbySectorGateways(sectorX: number, sectorY: number): Gateway[] { - const nearby: Gateway[] = []; - for (let dy = -1; dy <= 1; dy++) { - for (let dx = -1; dx <= 1; dx++) { - const sector = this.getSector(sectorX + dx, sectorY + dy); - if (sector) { - nearby.push(...sector.gateways); - } - } - } - return nearby; - } - - getAllGateways(): Gateway[] { - return Array.from(this.gateways.values()); - } -} - -export class GatewayGraphBuilder { - static readonly SECTOR_SIZE = 32; - - // Derived immutable state - private readonly miniMap: GameMap; - private readonly width: number; - private readonly height: number; - private readonly sectorsX: number; - private readonly sectorsY: number; - private readonly fastBFS: FastBFS; - private readonly waterComponents: WaterComponents; - - // Mutable build state - private sectors = new Map(); - private gateways = new Map(); - private tileToGateway = new Map(); - private edges = new Map(); - private nextGatewayId = 0; - - // Programatically accessible debug info - public debugInfo: BuildDebugInfo | null = null; - - constructor( - private readonly game: Game, - private readonly sectorSize: number, - ) { - this.miniMap = game.miniMap(); - this.width = this.miniMap.width(); - this.height = this.miniMap.height(); - this.sectorsX = Math.ceil(this.width / sectorSize); - this.sectorsY = Math.ceil(this.height / sectorSize); - this.fastBFS = new FastBFS(this.width * this.height); - this.waterComponents = new WaterComponents(this.miniMap); - } - - build(debug: boolean): GatewayGraph { - performance.mark("navsat:build:start"); - - if (debug) { - console.log( - `[DEBUG] Building gateway graph with sector size ${this.sectorSize} (${this.sectorsX}x${this.sectorsY} sectors)`, - ); - - this.debugInfo = { - sectors: null, - gateways: null, - edges: null, - actualBFSCalls: null, - potentialBFSCalls: null, - skippedByComponentFilter: null, - timings: {}, - }; - } - - // Initialize water components before building gateway graph - performance.mark("navsat:build:water-component:start"); - this.waterComponents.initialize(); - performance.mark("navsat:build:water-component:end"); - const measure = performance.measure( - "navsat:build:water-component", - "navsat:build:water-component:start", - "navsat:build:water-component:end", - ); - - if (debug) { - console.log( - `[DEBUG] Water Component Identification: ${measure.duration.toFixed(2)}ms`, - ); - } - - performance.mark("navsat:build:gateways:start"); - for (let sy = 0; sy < this.sectorsY; sy++) { - for (let sx = 0; sx < this.sectorsX; sx++) { - this.processSector(sx, sy); - } - } - performance.mark("navsat:build:gateways:end"); - const gatewaysMeasure = performance.measure( - "navsat:build:gateways", - "navsat:build:gateways:start", - "navsat:build:gateways:end", - ); - - if (debug) { - console.log( - `[DEBUG] Gateway identification: ${gatewaysMeasure.duration.toFixed(2)}ms`, - ); - - this.debugInfo!.edges = 0; - this.debugInfo!.potentialBFSCalls = 0; - this.debugInfo!.skippedByComponentFilter = 0; - } - - performance.mark("navsat:build:edges:start"); - for (const sector of this.sectors.values()) { - const gws = sector.gateways; - const numGateways = gws.length; - - if (debug) { - this.debugInfo!.potentialBFSCalls! += - (numGateways * (numGateways - 1)) / 2; - - for (let i = 0; i < gws.length; i++) { - for (let j = i + 1; j < gws.length; j++) { - if (gws[i].componentId !== gws[j].componentId) { - this.debugInfo!.skippedByComponentFilter!++; - } - } - } - } - - this.buildSectorConnections(sector); - - if (debug) { - // Divide by 2 because bidirectional - this.debugInfo!.edges! += sector.edges.length / 2; - } - } - - if (debug) { - this.debugInfo!.actualBFSCalls = - this.debugInfo!.potentialBFSCalls! - - this.debugInfo!.skippedByComponentFilter!; - } - - performance.mark("navsat:build:edges:end"); - const edgesMeasure = performance.measure( - "navsat:build:edges", - "navsat:build:edges:start", - "navsat:build:edges:end", - ); - - if (debug) { - console.log( - `[DEBUG] Edges 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}`, - ); - console.log( - `[DEBUG] Edges Found: ${this.debugInfo!.edges} (${((this.debugInfo!.edges! / this.debugInfo!.actualBFSCalls!) * 100).toFixed(1)}% success rate)`, - ); - } - - performance.mark("navsat:build:end"); - const totalMeasure = performance.measure( - "navsat:build:total", - "navsat:build:start", - "navsat:build:end", - ); - - if (debug) { - console.log( - `[DEBUG] Gateway graph built in ${totalMeasure.duration.toFixed(2)}ms`, - ); - console.log(`[DEBUG] Gateways: ${this.gateways.size}`); - console.log(`[DEBUG] Sectors: ${this.sectors.size}`); - } - - return new GatewayGraph( - this.sectors, - this.gateways, - this.edges, - this.sectorSize, - this.sectorsX, - ); - } - - private getSectorKey(sectorX: number, sectorY: number): number { - return sectorY * this.sectorsX + sectorX; - } - - private getOrCreateGateway(x: number, y: number): Gateway { - const tile = this.miniMap.ref(x, y); - - // O(1) lookup using tile reference - const existing = this.tileToGateway.get(tile); - if (existing) { - return existing; - } - - const gateway: Gateway = { - id: this.nextGatewayId++, - x: x, - y: y, - tile: tile, - componentId: this.waterComponents.getComponentId(tile), - }; - - this.gateways.set(gateway.id, gateway); - this.tileToGateway.set(tile, gateway); - return gateway; - } - - private addGatewayToSector(sector: Sector, gateway: Gateway): void { - // Check for duplicates: a gateway at a sector corner can be - // detected by both horizontal and vertical edge scans - for (const existingGw of sector.gateways) { - if (existingGw.x === gateway.x && existingGw.y === gateway.y) { - return; - } - } - - // Gateway doesn't exist in sector yet, add it - sector.gateways.push(gateway); - } - - private processSector(sx: number, sy: number): void { - const sectorKey = this.getSectorKey(sx, sy); - let sector = this.sectors.get(sectorKey); - - if (!sector) { - sector = { x: sx, y: sy, gateways: [], edges: [] }; - this.sectors.set(sectorKey, sector); - } - - const baseX = sx * this.sectorSize; - const baseY = sy * this.sectorSize; - - if (sx < this.sectorsX - 1) { - const edgeX = Math.min(baseX + this.sectorSize - 1, this.width - 1); - const newGateways = this.findGatewaysOnVerticalEdge(edgeX, baseY); - - for (const gateway of newGateways) { - this.addGatewayToSector(sector, gateway); - - const rightSectorKey = this.getSectorKey(sx + 1, sy); - let rightSector = this.sectors.get(rightSectorKey); - - if (!rightSector) { - rightSector = { x: sx + 1, y: sy, gateways: [], edges: [] }; - this.sectors.set(rightSectorKey, rightSector); - } - - this.addGatewayToSector(rightSector, gateway); - } - } - - if (sy < this.sectorsY - 1) { - const edgeY = Math.min(baseY + this.sectorSize - 1, this.height - 1); - const newGateways = this.findGatewaysOnHorizontalEdge(edgeY, baseX); - - for (const gateway of newGateways) { - this.addGatewayToSector(sector, gateway); - - const bottomSectorKey = this.getSectorKey(sx, sy + 1); - let bottomSector = this.sectors.get(bottomSectorKey); - - if (!bottomSector) { - bottomSector = { x: sx, y: sy + 1, gateways: [], edges: [] }; - this.sectors.set(bottomSectorKey, bottomSector); - } - - this.addGatewayToSector(bottomSector, gateway); - } - } - } - - private findGatewaysOnVerticalEdge(x: number, baseY: number): Gateway[] { - const gateways: Gateway[] = []; - const maxY = Math.min(baseY + this.sectorSize, this.height); - - let gatewayStart = -1; - - const tryAddGateway = (y: number) => { - if (gatewayStart === -1) return; - - const gatewayLength = y - gatewayStart; - const midY = gatewayStart + Math.floor(gatewayLength / 2); - - gatewayStart = -1; - - const gateway = this.getOrCreateGateway(x, midY); - gateways.push(gateway); - }; - - for (let y = baseY; y < maxY; y++) { - const tile = this.miniMap.ref(x, y); - const nextTile = - x + 1 < this.miniMap.width() ? this.miniMap.ref(x + 1, y) : -1; - const isGateway = - this.miniMap.isWater(tile) && - nextTile !== -1 && - this.miniMap.isWater(nextTile); - - if (isGateway) { - if (gatewayStart === -1) { - gatewayStart = y; - } - } else { - tryAddGateway(y); - } - } - - tryAddGateway(maxY); - - return gateways; - } - - private findGatewaysOnHorizontalEdge(y: number, baseX: number): Gateway[] { - const gateways: Gateway[] = []; - const maxX = Math.min(baseX + this.sectorSize, this.width); - - let gatewayStart = -1; - - const tryAddGateway = (x: number) => { - if (gatewayStart === -1) return; - - const gatewayLength = x - gatewayStart; - const midX = gatewayStart + Math.floor(gatewayLength / 2); - - gatewayStart = -1; - - const gateway = this.getOrCreateGateway(midX, y); - gateways.push(gateway); - }; - - for (let x = baseX; x < maxX; x++) { - const tile = this.miniMap.ref(x, y); - const nextTile = - y + 1 < this.miniMap.height() ? this.miniMap.ref(x, y + 1) : -1; - const isGateway = - this.miniMap.isWater(tile) && - nextTile !== -1 && - this.miniMap.isWater(nextTile); - - if (isGateway) { - if (gatewayStart === -1) { - gatewayStart = x; - } - } else { - tryAddGateway(x); - } - } - - tryAddGateway(maxX); - - return gateways; - } - - private buildSectorConnections(sector: Sector): void { - const gateways = sector.gateways; - - // Calculate bounding box once for this sector - const sectorMinX = sector.x * this.sectorSize; - const sectorMinY = sector.y * this.sectorSize; - const sectorMaxX = Math.min( - this.width - 1, - sectorMinX + this.sectorSize - 1, - ); - const sectorMaxY = Math.min( - this.height - 1, - sectorMinY + this.sectorSize - 1, - ); - - for (let i = 0; i < gateways.length; i++) { - const fromGateway = gateways[i]; - - // Build list of target gateways (only those we haven't processed yet) - const targetGateways: Gateway[] = []; - for (let j = i + 1; j < gateways.length; j++) { - // Skip if gateways are in different water components - if (gateways[i].componentId !== gateways[j].componentId) { - continue; - } - - targetGateways.push(gateways[j]); - } - - if (targetGateways.length === 0) { - continue; - } - - // Single BFS to find all reachable target gateways - const reachableGateways = this.findAllReachableGatewaysInBounds( - fromGateway.tile, - targetGateways, - sectorMinX, - sectorMaxX, - sectorMinY, - sectorMaxY, - ); - - // Create edges for all reachable gateways - for (const [targetId, cost] of reachableGateways.entries()) { - if (!this.edges.has(fromGateway.id)) { - this.edges.set(fromGateway.id, []); - } - - if (!this.edges.has(targetId)) { - this.edges.set(targetId, []); - } - - // Check for existing edges - gateways may live in 2 sectors, keep only cheaper connection - const existingEdgeFromI = this.edges - .get(fromGateway.id)! - .find((e) => e.to === targetId); - const existingEdgeFromJ = this.edges - .get(targetId)! - .find((e) => e.to === fromGateway.id); - - // If edge doesn't exist or new cost is cheaper, update it - if (!existingEdgeFromI || cost < existingEdgeFromI.cost) { - const edge1: Edge = { - from: fromGateway.id, - to: targetId, - cost: cost, - sectorX: sector.x, - sectorY: sector.y, - }; - - const edge2: Edge = { - from: targetId, - to: fromGateway.id, - cost: cost, - sectorX: sector.x, - sectorY: sector.y, - }; - - // Add to sector edges for tracking - sector.edges.push(edge1, edge2); - - if (existingEdgeFromI) { - const idx1 = this.edges - .get(fromGateway.id)! - .indexOf(existingEdgeFromI); - this.edges.get(fromGateway.id)![idx1] = edge1; - - const idx2 = this.edges.get(targetId)!.indexOf(existingEdgeFromJ!); - this.edges.get(targetId)![idx2] = edge2; - } else { - this.edges.get(fromGateway.id)!.push(edge1); - this.edges.get(targetId)!.push(edge2); - } - } - } - } - } - - private findAllReachableGatewaysInBounds( - from: TileRef, - targetGateways: Gateway[], - minX: number, - maxX: number, - minY: number, - maxY: number, - ): Map { - const fromX = this.miniMap.x(from); - const fromY = this.miniMap.y(from); - - // Create a map of tile positions to gateway IDs for fast lookup - const tileToGateway = new Map(); - let maxManhattanDist = 0; - - for (const gateway of targetGateways) { - tileToGateway.set(gateway.tile, gateway.id); - const dx = Math.abs(gateway.x - fromX); - const dy = Math.abs(gateway.y - fromY); - maxManhattanDist = Math.max(maxManhattanDist, dx + dy); - } - - const maxDistance = maxManhattanDist * 4; // Allow path deviation - const reachable = new Map(); - let foundCount = 0; - - this.fastBFS.search( - this.miniMap.width(), - this.miniMap.height(), - from, - maxDistance, - (tile: number) => this.miniMap.isWater(tile), - (tile: number, dist: number) => { - const x = this.miniMap.x(tile); - const y = this.miniMap.y(tile); - - // Reject if outside of bounding box - const isStartOrEnd = tile === from || tileToGateway.has(tile); - if (!isStartOrEnd && (x < minX || x > maxX || y < minY || y > maxY)) { - return null; - } - - // Check if this tile is one of our target gateways - const gatewayId = tileToGateway.get(tile); - - if (gatewayId !== undefined) { - reachable.set(gatewayId, dist); - foundCount++; - - // Early exit if we've found all target gateways - if (foundCount === targetGateways.length) { - return dist; // Return to stop BFS - } - } - }, - ); - - return reachable; - } -} diff --git a/src/core/pathfinding/navmesh/NavMesh.ts b/src/core/pathfinding/navmesh/NavMesh.ts deleted file mode 100644 index 574dbfccc..000000000 --- a/src/core/pathfinding/navmesh/NavMesh.ts +++ /dev/null @@ -1,819 +0,0 @@ -import { Game } from "../../game/Game"; -import { TileRef } from "../../game/GameMap"; -import { FastAStar } from "./FastAStar"; -import { BoundedGameMapAdapter, GatewayGraphAdapter } from "./FastAStarAdapter"; -import { FastBFS } from "./FastBFS"; -import { Gateway, GatewayGraph, GatewayGraphBuilder } from "./GatewayGraph"; - -type PathDebugInfo = { - gatewayPath: TileRef[] | null; - initialPath: TileRef[] | null; - smoothPath: TileRef[] | null; - graph: { - sectorSize: number; - gateways: Array<{ id: number; tile: TileRef }>; - edges: Array<{ - fromId: number; - toId: number; - from: TileRef; - to: TileRef; - cost: number; - path: TileRef[] | null; - }>; - }; - timings: { [key: string]: number }; -}; - -export class NavMesh { - private graph!: GatewayGraph; - private initialized = false; - private fastBFS!: FastBFS; - private gatewayAStar!: FastAStar; - private localAStar!: FastAStar; - private localAStarMultiSector!: FastAStar; - - public debugInfo: PathDebugInfo | null = null; - - constructor( - private game: Game, - private options: { - cachePaths?: boolean; - } = {}, - ) {} - - initialize(debug: boolean = false) { - const gatewayGraphBuilder = new GatewayGraphBuilder( - this.game, - GatewayGraphBuilder.SECTOR_SIZE, - ); - this.graph = gatewayGraphBuilder.build(debug); - - const miniMap = this.game.miniMap(); - this.fastBFS = new FastBFS(miniMap.width() * miniMap.height()); - - const gatewayCount = this.graph.getAllGateways().length; - this.gatewayAStar = new FastAStar(gatewayCount); - - // Fixed-size FastAStar for sector-bounded local pathfinding - // Single sector: 32×32 = 1,024 nodes - const sectorSize = GatewayGraphBuilder.SECTOR_SIZE; - const maxLocalNodes = sectorSize * sectorSize; // 1,024 nodes - this.localAStar = new FastAStar(maxLocalNodes); - - // Multi-sector FastAStar for cross-sector pathfinding (same gateway, different sectors) - // 3×3 sectors: 96×96 = 9,216 nodes - const multiSectorSize = sectorSize * 3; - const maxMultiSectorNodes = multiSectorSize * multiSectorSize; - this.localAStarMultiSector = new FastAStar(maxMultiSectorNodes); - - this.initialized = true; - } - - findPath( - from: TileRef, - to: TileRef, - debug: boolean = false, - ): TileRef[] | null { - if (!this.initialized) { - throw new Error( - "NavMesh not initialized. Call initialize() before using findPath().", - ); - } - - if (debug) { - // Collect all edges with their paths for visualization - const allEdges: Array<{ - fromId: number; - toId: number; - from: TileRef; - to: TileRef; - cost: number; - path: TileRef[] | null; - }> = []; - - for (const [fromId, edges] of this.graph.edges.entries()) { - const fromGw = this.graph.getGateway(fromId); - if (!fromGw) continue; - - for (const edge of edges) { - const toGw = this.graph.getGateway(edge.to); - if (!toGw) continue; - - // Only add each edge once (not both directions) - // Include self-loops (fromId === edge.to) for debugging - if (fromId <= edge.to) { - allEdges.push({ - fromId: fromId, - toId: edge.to, - from: fromGw.tile, - to: toGw.tile, - cost: edge.cost, - path: edge.path ?? null, - }); - } - } - } - - this.debugInfo = { - gatewayPath: null, - initialPath: null, - smoothPath: null, - graph: { - sectorSize: this.graph.sectorSize, - gateways: this.graph - .getAllGateways() - .map((gw) => ({ id: gw.id, tile: gw.tile })), - edges: allEdges, - }, - timings: { - total: 0, - }, - }; - } - - const dist = this.game.manhattanDist(from, to); - - // Early exit for very short distances that fit within multi-sector range - if (dist <= this.graph.sectorSize) { - performance.mark("navsat:findPath:earlyExitLocalPath:start"); - const map = this.game.map(); - const startMiniX = Math.floor(map.x(from) / 2); - const startMiniY = Math.floor(map.y(from) / 2); - const sectorX = Math.floor(startMiniX / this.graph.sectorSize); - const sectorY = Math.floor(startMiniY / this.graph.sectorSize); - const localPath = this.findLocalPath( - from, - to, - sectorX, - sectorY, - 2000, - true, - ); - performance.mark("navsat:findPath:earlyExitLocalPath:end"); - const measure = performance.measure( - "navsat:findPath:earlyExitLocalPath", - "navsat:findPath:earlyExitLocalPath:start", - "navsat:findPath:earlyExitLocalPath:end", - ); - - if (debug) { - this.debugInfo!.timings.earlyExitLocalPath = measure.duration; - this.debugInfo!.timings.total += measure.duration; - } - - 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 gateway graph`, - ); - } - } - - performance.mark("navsat:findPath:findGateways:start"); - const startGateway = this.findNearestGateway(from); - const endGateway = this.findNearestGateway(to); - performance.mark("navsat:findPath:findGateways:end"); - const findGatewaysMeasure = performance.measure( - "navsat:findPath:findGateways", - "navsat:findPath:findGateways:start", - "navsat:findPath:findGateways:end", - ); - - if (debug) { - this.debugInfo!.timings.findGateways = findGatewaysMeasure.duration; - this.debugInfo!.timings.total += findGatewaysMeasure.duration; - } - - if (!startGateway) { - if (debug) { - console.log( - `[DEBUG] Cannot find start gateway for (${this.game.x(from)}, ${this.game.y(from)})`, - ); - } - - return null; - } - - if (!endGateway) { - if (debug) { - console.log( - `[DEBUG] Cannot find end gateway for (${this.game.x(to)}, ${this.game.y(to)})`, - ); - } - - return null; - } - - if (startGateway.id === endGateway.id) { - if (debug) { - console.log( - `[DEBUG] Start and end gateways are the same (ID=${startGateway.id}), finding local path with multi-sector search`, - ); - } - - performance.mark("navsat:findPath:sameGatewayLocalPath:start"); - const sectorX = Math.floor(startGateway.x / this.graph.sectorSize); - const sectorY = Math.floor(startGateway.y / this.graph.sectorSize); - const path = this.findLocalPath(from, to, sectorX, sectorY, 10000, true); - performance.mark("navsat:findPath:sameGatewayLocalPath:end"); - const sameGatewayMeasure = performance.measure( - "navsat:findPath:sameGatewayLocalPath", - "navsat:findPath:sameGatewayLocalPath:start", - "navsat:findPath:sameGatewayLocalPath:end", - ); - - if (debug) { - this.debugInfo!.timings.sameGatewayLocalPath = - sameGatewayMeasure.duration; - this.debugInfo!.timings.total += sameGatewayMeasure.duration; - } - - return path; - } - - performance.mark("navsat:findPath:findGatewayPath:start"); - const gatewayPath = this.findGatewayPath(startGateway.id, endGateway.id); - performance.mark("navsat:findPath:findGatewayPath:end"); - const findGatewayPathMeasure = performance.measure( - "navsat:findPath:findGatewayPath", - "navsat:findPath:findGatewayPath:start", - "navsat:findPath:findGatewayPath:end", - ); - - if (debug) { - this.debugInfo!.timings.findGatewayPath = findGatewayPathMeasure.duration; - this.debugInfo!.timings.total += findGatewayPathMeasure.duration; - - this.debugInfo!.gatewayPath = gatewayPath - ? gatewayPath - .map((gwId) => { - const gw = this.graph.getGateway(gwId); - return gw ? gw.tile : -1; - }) - .filter((tile) => tile !== -1) - : null; - } - - if (!gatewayPath) { - if (debug) { - console.log( - `[DEBUG] No gateway path between gateways ${startGateway.id} and ${endGateway.id}`, - ); - } - - return null; - } - - if (debug) { - console.log( - `[DEBUG] Gateway path found: ${gatewayPath.length} waypoints`, - ); - } - - const initialPath: TileRef[] = []; - const map = this.game.map(); - const miniMap = this.game.miniMap(); - - performance.mark("navsat:findPath:buildInitialPath:start"); - - // 1. Find path from start to first gateway - const firstGateway = this.graph.getGateway(gatewayPath[0])!; - const firstGatewayTile = map.ref( - miniMap.x(firstGateway.tile) * 2, - miniMap.y(firstGateway.tile) * 2, - ); - - // Use start position's sector with multi-sector search (gateway may be on border) - const startMiniX = Math.floor(map.x(from) / 2); - const startMiniY = Math.floor(map.y(from) / 2); - const startSectorX = Math.floor(startMiniX / this.graph.sectorSize); - const startSectorY = Math.floor(startMiniY / this.graph.sectorSize); - const startSegment = this.findLocalPath( - from, - firstGatewayTile, - startSectorX, - startSectorY, - ); - - if (!startSegment) { - return null; - } - - initialPath.push(...startSegment); - - // 2. Build path through gateways - for (let i = 0; i < gatewayPath.length - 1; i++) { - const fromGwId = gatewayPath[i]; - const toGwId = gatewayPath[i + 1]; - - const edges = this.graph.getEdges(fromGwId); - const edge = edges.find((edge) => edge.to === toGwId); - - if (!edge) { - return null; - } - - if (edge.path) { - // Use cached path if available - initialPath.push(...edge.path.slice(1)); - continue; - } - - const fromGw = this.graph.getGateway(fromGwId)!; - const toGw = this.graph.getGateway(toGwId)!; - const fromTile = map.ref( - miniMap.x(fromGw.tile) * 2, - miniMap.y(fromGw.tile) * 2, - ); - const toTile = map.ref( - miniMap.x(toGw.tile) * 2, - miniMap.y(toGw.tile) * 2, - ); - - const segmentPath = this.findLocalPath( - fromTile, - toTile, - edge.sectorX, - edge.sectorY, - ); - - if (!segmentPath) { - return null; - } - - // Skip first tile to avoid duplication - initialPath.push(...segmentPath.slice(1)); - - if (this.options.cachePaths) { - // Cache the path for future reuse on both directional edges - edge.path = segmentPath; - - // Also cache the reversed path on the opposite direction edge - const reverseEdges = this.graph.getEdges(toGwId); - const reverseEdge = reverseEdges.find((e) => e.to === fromGwId); - if (reverseEdge) { - reverseEdge.path = segmentPath.slice().reverse(); - } - } - } - - // 3. Find path from last gateway to end - const lastGateway = this.graph.getGateway( - gatewayPath[gatewayPath.length - 1], - )!; - const lastGatewayTile = map.ref( - miniMap.x(lastGateway.tile) * 2, - miniMap.y(lastGateway.tile) * 2, - ); - - // Use end position's sector with multi-sector search (gateway may be on border) - const endMiniX = Math.floor(map.x(to) / 2); - const endMiniY = Math.floor(map.y(to) / 2); - const endSectorX = Math.floor(endMiniX / this.graph.sectorSize); - const endSectorY = Math.floor(endMiniY / this.graph.sectorSize); - const endSegment = this.findLocalPath( - lastGatewayTile, - to, - endSectorX, - endSectorY, - ); - - if (!endSegment) { - return null; - } - - // Skip first tile to avoid duplication - initialPath.push(...endSegment.slice(1)); - - performance.mark("navsat:findPath:buildInitialPath:end"); - const buildInitialPathMeasure = performance.measure( - "navsat:findPath:buildInitialPath", - "navsat:findPath:buildInitialPath:start", - "navsat: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`); - } - - performance.mark("navsat:findPath:smoothPath:start"); - const smoothedPath = this.smoothPath(initialPath); - performance.mark("navsat:findPath:smoothPath:end"); - const smoothPathMeasure = performance.measure( - "navsat:findPath:smoothPath", - "navsat:findPath:smoothPath:start", - "navsat:findPath:smoothPath:end", - ); - - if (debug) { - this.debugInfo!.timings.buildSmoothPath = smoothPathMeasure.duration; - this.debugInfo!.timings.total += smoothPathMeasure.duration; - this.debugInfo!.smoothPath = smoothedPath; - console.log( - `[DEBUG] Smoothed path: ${initialPath.length} → ${smoothedPath.length} tiles`, - ); - } - - return smoothedPath; - } - - private findNearestGateway(tile: TileRef): Gateway | null { - const map = this.game.map(); - const x = map.x(tile); - const y = map.y(tile); - - // Convert to miniMap coordinates - const miniMap = this.game.miniMap(); - const miniX = Math.floor(x / 2); - const miniY = Math.floor(y / 2); - const miniFrom = miniMap.ref(miniX, miniY); - - // Check gateways in the tile's own sector (using miniMap coordinates) - const sectorX = Math.floor(miniX / this.graph.sectorSize); - const sectorY = Math.floor(miniY / this.graph.sectorSize); - - // Calculate single sector bounds - const sectorSize = this.graph.sectorSize; - const minX = sectorX * sectorSize; - const minY = sectorY * sectorSize; - const maxX = Math.min(miniMap.width() - 1, minX + sectorSize - 1); - const maxY = Math.min(miniMap.height() - 1, minY + sectorSize - 1); - - // Get gateways from the tile's own sector only (includes border gateways) - const sector = this.graph.getSector(sectorX, sectorY); - - if (!sector) { - return null; - } - - const candidateGateways = sector.gateways; - if (candidateGateways.length === 0) { - return null; - } - - // Use BFS to find the nearest reachable gateway (by water path distance) - // Search space is bounded by sector bounds, so maxDistance can be large - const maxDistance = sectorSize * sectorSize; - - return this.fastBFS.search( - miniMap.width(), - miniMap.height(), - miniFrom, - maxDistance, - (tile: TileRef) => miniMap.isWater(tile), - (tile: TileRef, _dist: number) => { - const tileX = miniMap.x(tile); - const tileY = miniMap.y(tile); - - // Check if any candidate gateway is at this position first - for (const gateway of candidateGateways) { - if (gateway.x === tileX && gateway.y === tileY) { - return gateway; - } - } - - // Reject non-gateway tiles outside the sector bounds - if (tileX < minX || tileX > maxX || tileY < minY || tileY > maxY) { - return null; - } - }, - ); - } - - private findGatewayPath( - fromGatewayId: number, - toGatewayId: number, - ): number[] | null { - const adapter = new GatewayGraphAdapter(this.graph); - return this.gatewayAStar.search( - fromGatewayId, - toGatewayId, - adapter, - 100000, - ); - } - - private findLocalPath( - from: TileRef, - to: TileRef, - sectorX: number, - sectorY: number, - maxIterations: number = 10000, - multiSector: boolean = false, - ): TileRef[] | null { - const map = this.game.map(); - const miniMap = this.game.miniMap(); - - // Convert full map coordinates to miniMap coordinates - const miniFrom = miniMap.ref( - Math.floor(map.x(from) / 2), - Math.floor(map.y(from) / 2), - ); - - const miniTo = miniMap.ref( - Math.floor(map.x(to) / 2), - Math.floor(map.y(to) / 2), - ); - - // Calculate sector bounds - const sectorSize = this.graph.sectorSize; - - let minX: number; - let minY: number; - let maxX: number; - let maxY: number; - - if (multiSector) { - // 3×3 sectors centered on the starting sector - minX = Math.max(0, (sectorX - 1) * sectorSize); - minY = Math.max(0, (sectorY - 1) * sectorSize); - maxX = Math.min(miniMap.width() - 1, (sectorX + 2) * sectorSize - 1); - maxY = Math.min(miniMap.height() - 1, (sectorY + 2) * sectorSize - 1); - } else { - // Single sector - minX = sectorX * sectorSize; - minY = sectorY * sectorSize; - maxX = Math.min(miniMap.width() - 1, minX + sectorSize - 1); - maxY = Math.min(miniMap.height() - 1, minY + sectorSize - 1); - } - - const adapter = new BoundedGameMapAdapter(miniMap, miniFrom, miniTo, { - minX, - maxX, - minY, - maxY, - }); - - // Convert to local node IDs - const startNode = adapter.tileToNode(miniFrom); - const goalNode = adapter.tileToNode(miniTo); - - if (startNode === -1 || goalNode === -1) { - return null; // Start or goal outside bounds - } - - // Choose the appropriate FastAStar buffer based on search area - const selectedAStar = multiSector - ? this.localAStarMultiSector - : this.localAStar; - - // Run FastAStar on bounded region - const path = selectedAStar.search( - startNode, - goalNode, - adapter, - maxIterations, - ); - - if (!path) { - return null; - } - - // Convert path from local node IDs back to miniMap TileRefs - const miniPath = path.map((node: number) => adapter.nodeToTile(node)); - - // Upscale from miniMap to full map (same logic as MiniAStar) - const result = this.upscalePathToFullMap(miniPath, from, to); - - return result; - } - - private upscalePathToFullMap( - miniPath: TileRef[], - from: TileRef, - to: TileRef, - ): TileRef[] { - const map = this.game.map(); - const miniMap = this.game.miniMap(); - - // Convert miniMap path to cells - const miniCells = miniPath.map((tile) => ({ - x: miniMap.x(tile), - y: miniMap.y(tile), - })); - - // FIRST: Scale all points (2x) - const scaledPath = miniCells.map((point) => ({ - x: point.x * 2, - y: point.y * 2, - })); - - // SECOND: Interpolate between scaled points - const smoothPath: Array<{ x: number; y: number }> = []; - for (let i = 0; i < scaledPath.length - 1; i++) { - const current = scaledPath[i]; - const next = scaledPath[i + 1]; - - // Add the current point - smoothPath.push(current); - - // Calculate dx/dy from SCALED coordinates - const dx = next.x - current.x; - const dy = next.y - current.y; - const distance = Math.max(Math.abs(dx), Math.abs(dy)); - const steps = distance; - - // Add intermediate points - for (let step = 1; step < steps; step++) { - smoothPath.push({ - x: Math.round(current.x + (dx * step) / steps), - y: Math.round(current.y + (dy * step) / steps), - }); - } - } - - // Add last point - if (scaledPath.length > 0) { - smoothPath.push(scaledPath[scaledPath.length - 1]); - } - - const scaledCells = smoothPath; - - // Fix extremes to ensure exact start/end - const fromCell = { x: map.x(from), y: map.y(from) }; - const toCell = { x: map.x(to), y: map.y(to) }; - - // Ensure start is correct - const startIdx = scaledCells.findIndex( - (c) => c.x === fromCell.x && c.y === fromCell.y, - ); - if (startIdx === -1) { - scaledCells.unshift(fromCell); - } else if (startIdx !== 0) { - scaledCells.splice(0, startIdx); - } - - // Ensure end is correct - const endIdx = scaledCells.findIndex( - (c) => c.x === toCell.x && c.y === toCell.y, - ); - if (endIdx === -1) { - scaledCells.push(toCell); - } else if (endIdx !== scaledCells.length - 1) { - scaledCells.splice(endIdx + 1); - } - - // Convert back to TileRefs - return scaledCells.map((cell) => map.ref(cell.x, cell.y)); - } - - private tracePath(from: TileRef, to: TileRef): TileRef[] | null { - const x0 = this.game.x(from); - const y0 = this.game.y(from); - const x1 = this.game.x(to); - const y1 = this.game.y(to); - - const tiles: TileRef[] = []; - - // Bresenham's line algorithm - trace and collect all tiles - 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; - - // Safety limit to prevent excessive memory allocation - const maxTiles = 100000; - let iterations = 0; - - while (true) { - if (iterations++ > maxTiles) { - return null; // Path too long - } - const tile = this.game.ref(x, y); - if (!this.game.isWater(tile)) { - return null; // Path blocked - } - - tiles.push(tile); - - if (x === x1 && y === y1) { - break; - } - - const e2 = 2 * err; - const shouldMoveX = e2 > -dy; - const shouldMoveY = e2 < dx; - - if (shouldMoveX && shouldMoveY) { - // Diagonal move - need to expand into two 4-directional moves - // Try moving X first, then Y - x += sx; - err -= dy; - - const intermediateTile = this.game.ref(x, y); - if (!this.game.isWater(intermediateTile)) { - // X first doesn't work, try Y first instead - x -= sx; // undo - err += dy; // undo - - y += sy; - err += dx; - - const altTile = this.game.ref(x, y); - if (!this.game.isWater(altTile)) { - return null; // Neither direction works - } - tiles.push(altTile); - - // Now move X - x += sx; - err -= dy; - } else { - tiles.push(intermediateTile); - - // Now move Y - y += sy; - err += dx; - } - } else { - // Single-axis move - if (shouldMoveX) { - x += sx; - err -= dy; - } - - if (shouldMoveY) { - y += sy; - err += dx; - } - } - } - - return tiles; - } - - private smoothPath(path: TileRef[]): TileRef[] { - if (path.length <= 2) { - return path; - } - - const smoothed: TileRef[] = []; - let current = 0; - - while (current < path.length - 1) { - // Look as far ahead as possible while maintaining line of sight - 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; - } - } - - // Also try the final tile if we haven't already - 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; - } - } - - // Add the traced path (or just current tile if no improvement) - if (bestTrace !== null && farthest > current + 1) { - // Add all tiles from the trace except the last one (to avoid duplication) - smoothed.push(...bestTrace.slice(0, -1)); - } else { - // No LOS improvement, just add current tile - smoothed.push(path[current]); - } - - current = farthest; - } - - // Add the final tile - smoothed.push(path[path.length - 1]); - - return smoothed; - } -} diff --git a/src/core/pathfinding/smoothing/BresenhamPathSmoother.ts b/src/core/pathfinding/smoothing/BresenhamPathSmoother.ts new file mode 100644 index 000000000..d4cafdba9 --- /dev/null +++ b/src/core/pathfinding/smoothing/BresenhamPathSmoother.ts @@ -0,0 +1,168 @@ +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 new file mode 100644 index 000000000..fc4188afc --- /dev/null +++ b/src/core/pathfinding/smoothing/PathSmoother.ts @@ -0,0 +1,7 @@ +/** + * 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 new file mode 100644 index 000000000..ed1c60bff --- /dev/null +++ b/src/core/pathfinding/smoothing/SmoothingTransformer.ts @@ -0,0 +1,18 @@ +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/spatial/SpatialQuery.ts b/src/core/pathfinding/spatial/SpatialQuery.ts new file mode 100644 index 000000000..1336a636f --- /dev/null +++ b/src/core/pathfinding/spatial/SpatialQuery.ts @@ -0,0 +1,90 @@ +import { Game, Player, TerraNullius } from "../../game/Game"; +import { TileRef } from "../../game/GameMap"; +import { PathFinding } from "../PathFinder"; + +type Owner = Player | TerraNullius; + +export class SpatialQuery { + constructor(private game: Game) {} + + /** + * Find nearest tile matching predicate using BFS traversal. + * Uses Manhattan distance filter, ignores terrain barriers. + */ + private bfsNearest( + from: TileRef, + maxDist: number, + predicate: (t: TileRef) => boolean, + ): TileRef | null { + const map = this.game.map(); + const candidates: TileRef[] = []; + + for (const tile of map.bfs( + from, + (_, t) => map.manhattanDist(from, t) <= maxDist, + )) { + if (predicate(tile)) { + candidates.push(tile); + } + } + + if (candidates.length === 0) return null; + + // Sort by Manhattan distance to find actual nearest + candidates.sort( + (a, b) => map.manhattanDist(from, a) - map.manhattanDist(from, b), + ); + + return candidates[0]; + } + + /** + * Find closest shore tile by land BFS. + * Works for both players and terra nullius. + */ + closestShore( + owner: Owner, + tile: TileRef, + maxDist: number = 50, + ): TileRef | null { + const gm = this.game; + const ownerId = owner.smallID(); + + const isValidTile = (t: TileRef) => { + if (!gm.isShore(t) || !gm.isLand(t)) return false; + const tOwner = gm.ownerID(t); + return tOwner === ownerId; + }; + + return this.bfsNearest(tile, maxDist, isValidTile); + } + + /** + * Find closest shore tile by water pathfinding. + * Returns null for terra nullius (no borderTiles). + */ + closestShoreByWater(owner: Owner, target: TileRef): TileRef | null { + if (!owner.isPlayer()) return null; + + const gm = this.game; + const player = owner as Player; + + // Target must be water or shore (land adjacent to water) + if (!gm.isWater(target) && !gm.isShore(target)) return null; + + const targetComponent = gm.getWaterComponent(target); + if (targetComponent === null) return null; + + const isValidTile = (t: TileRef) => { + if (!gm.isShore(t) || !gm.isLand(t)) return false; + const tComponent = gm.getWaterComponent(t); + return tComponent === targetComponent; + }; + + const shores = Array.from(player.borderTiles()).filter(isValidTile); + if (shores.length === 0) return null; + + const path = PathFinding.Water(gm).findPath(shores, target); + return path?.[0] ?? null; + } +} diff --git a/src/core/pathfinding/transformers/ComponentCheckTransformer.ts b/src/core/pathfinding/transformers/ComponentCheckTransformer.ts new file mode 100644 index 000000000..2d1d4d685 --- /dev/null +++ b/src/core/pathfinding/transformers/ComponentCheckTransformer.ts @@ -0,0 +1,35 @@ +// Component check transformer - fail fast if src/dst in different components + +import { PathFinder } from "../types"; + +/** + * Wraps a PathFinder to fail fast when source and destination + * are in different components (e.g., disconnected water bodies). + * + * Avoids running expensive pathfinding when no path exists. + */ +export class ComponentCheckTransformer implements PathFinder { + constructor( + private inner: PathFinder, + private getComponent: (t: T) => number, + ) {} + + findPath(from: T | T[], to: T): T[] | null { + const toComponent = this.getComponent(to); + + // Check all sources - at least one must match destination component + const fromArray = Array.isArray(from) ? from : [from]; + const validSources = fromArray.filter( + (f) => this.getComponent(f) === toComponent, + ); + + if (validSources.length === 0) { + return null; // No source in same component as destination + } + + // Delegate with only valid sources + const delegateFrom = + validSources.length === 1 ? validSources[0] : validSources; + return this.inner.findPath(delegateFrom, to); + } +} diff --git a/src/core/pathfinding/transformers/MiniMapTransformer.ts b/src/core/pathfinding/transformers/MiniMapTransformer.ts new file mode 100644 index 000000000..885368716 --- /dev/null +++ b/src/core/pathfinding/transformers/MiniMapTransformer.ts @@ -0,0 +1,128 @@ +import { Cell } from "../../game/Game"; +import { GameMap, TileRef } from "../../game/GameMap"; +import { PathFinder } from "../types"; + +export class MiniMapTransformer implements PathFinder { + constructor( + private inner: PathFinder, + private map: GameMap, + private miniMap: GameMap, + ) {} + + findPath(from: TileRef | TileRef[], to: TileRef): TileRef[] | null { + // Convert game coords → minimap coords (supports multi-source) + const fromArray = Array.isArray(from) ? from : [from]; + const miniFromArray = fromArray.map((f) => + this.miniMap.ref( + Math.floor(this.map.x(f) / 2), + Math.floor(this.map.y(f) / 2), + ), + ); + const miniFrom = + miniFromArray.length === 1 ? miniFromArray[0] : miniFromArray; + + const miniTo = this.miniMap.ref( + Math.floor(this.map.x(to) / 2), + Math.floor(this.map.y(to) / 2), + ); + + // Search on minimap + const path = this.inner.findPath(miniFrom, miniTo); + if (!path || path.length === 0) { + return null; + } + + // Convert minimap TileRefs → Cells + const cellPath = path.map( + (ref) => new Cell(this.miniMap.x(ref), this.miniMap.y(ref)), + ); + + // For multi-source, find closest source to path start + const upscaledPath = this.upscalePath(cellPath); + let cellFrom: Cell | undefined; + if (Array.isArray(from)) { + if (upscaledPath.length > 0) { + const pathStart = upscaledPath[0]; + let minDist = Infinity; + for (const f of from) { + const fx = this.map.x(f); + const fy = this.map.y(f); + const dist = Math.abs(fx - pathStart.x) + Math.abs(fy - pathStart.y); + if (dist < minDist) { + minDist = dist; + cellFrom = new Cell(fx, fy); + } + } + } + } else { + cellFrom = new Cell(this.map.x(from), this.map.y(from)); + } + const cellTo = new Cell(this.map.x(to), this.map.y(to)); + const upscaled = this.fixExtremes(upscaledPath, cellTo, cellFrom); + + return upscaled.map((c) => this.map.ref(c.x, c.y)); + } + + private upscalePath(path: Cell[], scaleFactor: number = 2): Cell[] { + const scaledPath = path.map( + (point) => new Cell(point.x * scaleFactor, point.y * scaleFactor), + ); + + const smoothPath: Cell[] = []; + + for (let i = 0; i < scaledPath.length - 1; i++) { + const current = scaledPath[i]; + const next = scaledPath[i + 1]; + + smoothPath.push(current); + + const dx = next.x - current.x; + const dy = next.y - current.y; + const distance = Math.max(Math.abs(dx), Math.abs(dy)); + const steps = distance; + + for (let step = 1; step < steps; step++) { + smoothPath.push( + new Cell( + Math.round(current.x + (dx * step) / steps), + Math.round(current.y + (dy * step) / steps), + ), + ); + } + } + + if (scaledPath.length > 0) { + smoothPath.push(scaledPath[scaledPath.length - 1]); + } + + return smoothPath; + } + + private fixExtremes(upscaled: Cell[], cellDst: Cell, cellSrc?: Cell): Cell[] { + if (cellSrc !== undefined) { + const srcIndex = this.findCell(upscaled, cellSrc); + if (srcIndex === -1) { + upscaled.unshift(cellSrc); + } else if (srcIndex !== 0) { + upscaled = upscaled.slice(srcIndex); + } + } + + const dstIndex = this.findCell(upscaled, cellDst); + if (dstIndex === -1) { + upscaled.push(cellDst); + } else if (dstIndex !== upscaled.length - 1) { + upscaled = upscaled.slice(0, dstIndex + 1); + } + return upscaled; + } + + private findCell(cells: Cell[], target: Cell): number { + for (let i = 0; i < cells.length; i++) { + if (cells[i].x === target.x && cells[i].y === target.y) { + return i; + } + } + return -1; + } +} diff --git a/src/core/pathfinding/transformers/ShoreCoercingTransformer.ts b/src/core/pathfinding/transformers/ShoreCoercingTransformer.ts new file mode 100644 index 000000000..523387127 --- /dev/null +++ b/src/core/pathfinding/transformers/ShoreCoercingTransformer.ts @@ -0,0 +1,91 @@ +// Shore-coercing transformer that converts shore tiles to water tiles for pathfinding + +import { GameMap, TileRef } from "../../game/GameMap"; +import { PathFinder } from "../types"; + +/** + * Wraps a PathFinder to handle shore tiles. + * Coerces shore tiles to nearby water tiles before pathfinding, + * then fixes the path extremes to include the original shore tiles. + * + * Works at whatever resolution the map provides - can be used with + * full map or minimap-based pathfinders. + */ +export class ShoreCoercingTransformer implements PathFinder { + constructor( + private inner: PathFinder, + private map: GameMap, + ) {} + + findPath(from: TileRef | TileRef[], to: TileRef): TileRef[] | null { + const fromArray = Array.isArray(from) ? from : [from]; + const waterToOriginal = new Map(); + const waterFrom: TileRef[] = []; + + for (const f of fromArray) { + const coerced = this.coerceToWater(f); + if (coerced.water !== null) { + waterFrom.push(coerced.water); + waterToOriginal.set(coerced.water, coerced.original); + } + } + + if (waterFrom.length === 0) { + return null; + } + + // Coerce to tile + const coercedTo = this.coerceToWater(to); + if (coercedTo.water === null) { + return null; + } + + // Search on water tiles + const fromTiles = waterFrom.length === 1 ? waterFrom[0] : waterFrom; + const path = this.inner.findPath(fromTiles, coercedTo.water); + if (!path || path.length === 0) { + return null; + } + + // Look up the actual path start in the map + const originalShore = waterToOriginal.get(path[0]); + if (originalShore !== undefined && originalShore !== null) { + path.unshift(originalShore); + } + + // Append original to if different + if ( + coercedTo.original !== null && + path[path.length - 1] !== coercedTo.original + ) { + path.push(coercedTo.original); + } + + return path; + } + + /** + * Coerce a tile to water for pathfinding. + * If tile is already water, returns it unchanged. + * If tile is shore (land with water neighbor), finds the nearest water neighbor. + */ + private coerceToWater(tile: TileRef): { + water: TileRef | null; + original: TileRef | null; + } { + // If already water, no coercion needed + if (this.map.isWater(tile)) { + return { water: tile, original: null }; + } + + // Find adjacent water neighbor + for (const n of this.map.neighbors(tile)) { + if (this.map.isWater(n)) { + return { water: n, original: tile }; + } + } + + // No water neighbor found - let HPA* handle at minimap level + return { water: null, original: tile }; + } +} diff --git a/src/core/pathfinding/types.ts b/src/core/pathfinding/types.ts new file mode 100644 index 000000000..89e746957 --- /dev/null +++ b/src/core/pathfinding/types.ts @@ -0,0 +1,34 @@ +/** + * Core pathfinding types and interfaces. + * No dependencies - safe to import from anywhere. + */ + +export enum PathStatus { + NEXT, + PENDING, + COMPLETE, + NOT_FOUND, +} + +export type PathResult = + | { status: PathStatus.PENDING } + | { status: PathStatus.NEXT; node: T } + | { status: PathStatus.COMPLETE; node: T } + | { status: PathStatus.NOT_FOUND }; + +/** + * PathFinder - core pathfinding interface. + * Implementations find paths between nodes. + */ +export interface PathFinder { + findPath(from: T | T[], to: T): T[] | null; +} + +/** + * SteppingPathFinder - PathFinder with stepping support. + * Used by execution classes that need incremental path traversal. + */ +export interface SteppingPathFinder extends PathFinder { + next(from: T, to: T, dist?: number): PathResult; + invalidate(): void; +} diff --git a/tests/core/executions/TradeShipExecution.test.ts b/tests/core/executions/TradeShipExecution.test.ts index 2ea187a51..6e74d66ce 100644 --- a/tests/core/executions/TradeShipExecution.test.ts +++ b/tests/core/executions/TradeShipExecution.test.ts @@ -1,6 +1,6 @@ import { TradeShipExecution } from "../../../src/core/execution/TradeShipExecution"; import { Game, Player, Unit } from "../../../src/core/game/Game"; -import { PathStatus } from "../../../src/core/pathfinding/PathFinder"; +import { PathStatus } from "../../../src/core/pathfinding/types"; import { setup } from "../../util/Setup"; describe("TradeShipExecution", () => { diff --git a/tests/core/pathfinding/PathFinder.test.ts b/tests/core/pathfinding/PathFinder.test.ts deleted file mode 100644 index 2c13486f8..000000000 --- a/tests/core/pathfinding/PathFinder.test.ts +++ /dev/null @@ -1,332 +0,0 @@ -import { Game } from "../../../src/core/game/Game"; -import { TileRef } from "../../../src/core/game/GameMap"; -import { MiniAStarAdapter } from "../../../src/core/pathfinding/adapters/MiniAStarAdapter"; -import { NavMeshAdapter } from "../../../src/core/pathfinding/adapters/NavMeshAdapter"; -import { - PathFinder, - PathStatus, -} from "../../../src/core/pathfinding/PathFinder"; -import { setup } from "../../util/Setup"; -import { gameFromString } from "./utils"; - -type AdapterFactory = { - name: string; - create: (game: Game) => PathFinder; -}; - -const adapters: AdapterFactory[] = [ - { - name: "MiniAStarAdapter", - create: (game) => new MiniAStarAdapter(game, { waterPath: true }), - }, - { - name: "NavMeshAdapter", - create: (game) => new NavMeshAdapter(game), - }, -]; - -// Shared world game instance -let worldGame: Game; - -beforeAll(async () => { - worldGame = await setup("world", { disableNavMesh: false }); -}); - -describe.each(adapters)("$name", ({ create }) => { - describe("findPath()", () => { - test("finds path between adjacent tiles", async () => { - const game = await gameFromString(["WWWW"]); - const adapter = create(game); - const src = game.ref(0, 0); - const dst = game.ref(1, 0); - - const path = adapter.findPath(src, dst); - - expect(path).not.toBeNull(); - expect(path![0]).toBe(src); - expect(path![path!.length - 1]).toBe(dst); - }); - - test("finds path across multiple tiles", async () => { - const game = await gameFromString(["WWWWWW", "WWWWWW", "WWWWWW"]); - const adapter = create(game); - const src = game.ref(0, 0); - const dst = game.ref(5, 2); - - const path = adapter.findPath(src, dst); - - expect(path).not.toBeNull(); - expect(path![0]).toBe(src); - expect(path![path!.length - 1]).toBe(dst); - }); - - test("returns single-element path for same tile", async () => { - // Old quirk of MiniAStar, we return dst tile twice - // Should probably be fixed to return [] instead - - const game = await gameFromString(["WW"]); - const adapter = create(game); - const tile = game.ref(0, 0); - - const path = adapter.findPath(tile, tile); - - expect(path).not.toBeNull(); - expect(path!.length).toBe(1); - expect(path![0]).toBe(tile); - }); - - test("returns null for blocked path", async () => { - const game = await gameFromString(["WWLLWW"]); - const adapter = create(game); - const src = game.ref(0, 0); - const dst = game.ref(5, 0); - - const path = adapter.findPath(src, dst); - - expect(path).toBeNull(); - }); - - test("returns null for water to land", () => { - const adapter = create(worldGame); - const src = worldGame.ref(926, 283); // water - const dst = worldGame.ref(950, 230); // land - - const path = adapter.findPath(src, dst); - - expect(path).toBeNull(); - }); - - test("traverses 3-tile path in 3 tiles", async () => { - // Expected: [1, 2, 3] - const game = await gameFromString(["WWWW"]); - const adapter = create(game); - const src = game.ref(0, 0); - const dst = game.ref(3, 0); - - const path = adapter.findPath(src, dst); - - expect(path).not.toBeNull(); - expect(path).toEqual([ - game.ref(0, 0), - game.ref(1, 0), - game.ref(2, 0), - game.ref(3, 0), - ]); - }); - }); - - describe("next() state machine", () => { - test("returns NEXT on first call", async () => { - const game = await gameFromString(["WWWW"]); - const adapter = create(game); - const src = game.ref(0, 0); - const dst = game.ref(3, 0); - - const result = adapter.next(src, dst); - - expect(result.status).toBe(PathStatus.NEXT); - }); - - test("returns COMPLETE when at destination", async () => { - const game = await gameFromString(["WW"]); - const adapter = create(game); - const tile = game.ref(0, 0); - - const result = adapter.next(tile, tile); - - expect(result.status).toBe(PathStatus.COMPLETE); - }); - - test("returns NOT_FOUND for blocked path", async () => { - const game = await gameFromString(["WWLLWW"]); - const adapter = create(game); - const src = game.ref(0, 0); - const dst = game.ref(5, 0); - - const result = adapter.next(src, dst); - - expect(result.status).toBe(PathStatus.NOT_FOUND); - }); - - test("traverses 3-tile path in 4 calls", async () => { - // Expected: NEXT(1) -> NEXT(2) -> NEXT(3) -> COMPLETE(4) - const game = await gameFromString(["WWWW"]); - const adapter = create(game); - const src = game.ref(0, 0); - const dst = game.ref(3, 0); - - let current = src; - const steps: string[] = []; - - // 3 NEXT calls to reach destination - for (let i = 1; i <= 4; i++) { - const result = adapter.next(current, dst); - expect([PathStatus.NEXT, PathStatus.COMPLETE]).toContain(result.status); - - current = (result as { node: TileRef }).node; - steps.push(`${PathStatus[result.status]}(${current})`); - } - - expect(steps).toEqual(["NEXT(1)", "NEXT(2)", "NEXT(3)", "COMPLETE(3)"]); - }); - }); - - describe("Destination changes", () => { - test("reaches new destination when dest changes", async () => { - const game = await gameFromString(["WWWWWWWW"]); // 8 wide - const adapter = create(game); - const src = game.ref(0, 0); - const dst1 = game.ref(4, 0); - const dst2 = game.ref(7, 0); - - // First path exists - expect(adapter.findPath(src, dst1)).not.toBeNull(); - - // Can still find path to new destination - expect(adapter.findPath(dst1, dst2)).not.toBeNull(); - }); - - test("recomputes when destination changes mid-path", async () => { - const game = await gameFromString(["WWWWWWWWWWWWWWWWWWWW"]); // 20 wide - const adapter = create(game); - const src = game.ref(0, 0); - const dst1 = game.ref(10, 0); - const dst2 = game.ref(19, 0); - - // Start pathing to dst1, take one step - const result1 = adapter.next(src, dst1); - expect(result1.status).toBe(PathStatus.NEXT); - - // Change destination mid-path, continue from current position - let current = (result1 as { node: TileRef }).node; - let result = adapter.next(current, dst2); - for (let i = 0; i < 100 && result.status === PathStatus.NEXT; i++) { - current = (result as { node: TileRef }).node; - result = adapter.next(current, dst2); - } - - expect(result.status).toBe(PathStatus.COMPLETE); - expect(current).toBe(dst2); - }); - }); - - describe("Error handling", () => { - // MiniAStar logs console error when nulls passed, muted in test - - test("returns NOT_FOUND for null source", async () => { - const game = await gameFromString(["WWWW"]); - const adapter = create(game); - const dst = game.ref(0, 0); - - const consoleSpy = jest - .spyOn(console, "error") - .mockImplementation(() => {}); - const result = adapter.next(null as unknown as TileRef, dst); - expect(result.status).toBe(PathStatus.NOT_FOUND); - consoleSpy.mockRestore(); - }); - - test("returns NOT_FOUND for null destination", async () => { - const game = await gameFromString(["WWWW"]); - const adapter = create(game); - const src = game.ref(0, 0); - - const consoleSpy = jest - .spyOn(console, "error") - .mockImplementation(() => {}); - const result = adapter.next(src, null as unknown as TileRef); - expect(result.status).toBe(PathStatus.NOT_FOUND); - consoleSpy.mockRestore(); - }); - }); - - describe("dist parameter", () => { - test("returns COMPLETE when within dist", () => { - const adapter = create(worldGame); - const src = worldGame.ref(926, 283); - const dst = worldGame.ref(928, 283); // 2 tiles away - - const result = adapter.next(src, dst, 5); - - expect(result.status).toBe(PathStatus.COMPLETE); - }); - - test("returns NEXT when beyond dist", () => { - const adapter = create(worldGame); - const src = worldGame.ref(926, 283); - const dst = worldGame.ref(950, 257); - - // Adapter may need a few ticks to compute path - let result = adapter.next(src, dst, 5); - for (let i = 0; i < 100 && result.status === PathStatus.PENDING; i++) { - result = adapter.next(src, dst, 5); - } - - expect(result.status).toBe(PathStatus.NEXT); - }); - }); - - describe("World map routes", () => { - test("Spain to France (Mediterranean)", () => { - const adapter = create(worldGame); - const path = adapter.findPath( - worldGame.ref(926, 283), - worldGame.ref(950, 257), - ); - expect(path).not.toBeNull(); - }); - - test("Miami to Rio (Atlantic)", () => { - const adapter = create(worldGame); - const path = adapter.findPath( - worldGame.ref(488, 355), - worldGame.ref(680, 658), - ); - expect(path).not.toBeNull(); - expect(path!.length).toBeGreaterThan(100); - }); - - test("France to Poland (around Europe)", () => { - const adapter = create(worldGame); - const path = adapter.findPath( - worldGame.ref(950, 257), - worldGame.ref(1033, 175), - ); - expect(path).not.toBeNull(); - }); - - test("Miami to Spain (transatlantic)", () => { - const adapter = create(worldGame); - const path = adapter.findPath( - worldGame.ref(488, 355), - worldGame.ref(926, 283), - ); - expect(path).not.toBeNull(); - }); - - test("Rio to Poland (South Atlantic to Baltic)", () => { - const adapter = create(worldGame); - const path = adapter.findPath( - worldGame.ref(680, 658), - worldGame.ref(1033, 175), - ); - expect(path).not.toBeNull(); - }); - }); - - describe("Known bugs", () => { - test("path can cross 1-tile land barrier", async () => { - const game = await gameFromString(["WLLWLWWLLW"]); - const adapter = create(game); - const path = adapter.findPath(game.ref(0, 0), game.ref(9, 0)); - expect(path).not.toBeNull(); - }); - - test("path can cross diagonal land barrier", async () => { - const game = await gameFromString(["WL", "LW"]); - const adapter = create(game); - const path = adapter.findPath(game.ref(0, 0), game.ref(1, 1)); - expect(path).not.toBeNull(); - }); - }); -}); diff --git a/tests/core/pathfinding/PathFinderStepper.test.ts b/tests/core/pathfinding/PathFinderStepper.test.ts new file mode 100644 index 000000000..5d6ff0635 --- /dev/null +++ b/tests/core/pathfinding/PathFinderStepper.test.ts @@ -0,0 +1,178 @@ +import { PathFinderStepper } from "../../../src/core/pathfinding/PathFinderStepper"; +import { PathFinder, PathStatus } from "../../../src/core/pathfinding/types"; + +describe("PathFinderStepper", () => { + function createMockFinder( + pathMap: Map, + ): PathFinder { + return { + findPath(from: number | number[], to: number): number[] | null { + const fromTile = Array.isArray(from) ? from[0] : from; + const key = `${fromTile}->${to}`; + return pathMap.get(key) ?? null; + }, + }; + } + + describe("next", () => { + it("returns COMPLETE when at destination", () => { + const pathMap = new Map(); + const stepper = new PathFinderStepper(createMockFinder(pathMap)); + + const result = stepper.next(5, 5); + + expect(result.status).toBe(PathStatus.COMPLETE); + expect((result as { node: number }).node).toBe(5); + }); + + it("returns NEXT with path nodes sequentially", () => { + const pathMap = new Map([["1->4", [1, 2, 3, 4]]]); + const stepper = new PathFinderStepper(createMockFinder(pathMap)); + + // First step: 1 -> 4, returns 2 + const result1 = stepper.next(1, 4); + expect(result1.status).toBe(PathStatus.NEXT); + expect((result1 as { node: number }).node).toBe(2); + + // Second step: from 2, returns 3 + const result2 = stepper.next(2, 4); + expect(result2.status).toBe(PathStatus.NEXT); + expect((result2 as { node: number }).node).toBe(3); + + // Third step: from 3, returns 4 + const result3 = stepper.next(3, 4); + expect(result3.status).toBe(PathStatus.NEXT); + expect((result3 as { node: number }).node).toBe(4); + + // Fourth step: at destination + const result4 = stepper.next(4, 4); + expect(result4.status).toBe(PathStatus.COMPLETE); + }); + + it("returns NOT_FOUND when no path exists", () => { + const pathMap = new Map(); + const stepper = new PathFinderStepper(createMockFinder(pathMap)); + + const result = stepper.next(1, 99); + + expect(result.status).toBe(PathStatus.NOT_FOUND); + }); + + it("recomputes path when moved off-path", () => { + // Path from 1->5 goes through 2,3,4 + // Path from 10->5 goes through 9,8,7,6 + const pathMap = new Map([ + ["1->5", [1, 2, 3, 4, 5]], + ["10->5", [10, 9, 8, 7, 6, 5]], + ]); + const stepper = new PathFinderStepper(createMockFinder(pathMap)); + + // Start on path 1->5 + const result1 = stepper.next(1, 5); + expect(result1.status).toBe(PathStatus.NEXT); + expect((result1 as { node: number }).node).toBe(2); + + // Move off-path to tile 10 (not on original path) + // Should recompute using path from 10->5 + const result2 = stepper.next(10, 5); + expect(result2.status).toBe(PathStatus.NEXT); + expect((result2 as { node: number }).node).toBe(9); + }); + + it("recomputes path when destination changes", () => { + const pathMap = new Map([ + ["1->5", [1, 2, 3, 4, 5]], + ["2->9", [2, 6, 7, 8, 9]], + ]); + const stepper = new PathFinderStepper(createMockFinder(pathMap)); + + // Start on path 1->5 + const result1 = stepper.next(1, 5); + expect(result1.status).toBe(PathStatus.NEXT); + expect((result1 as { node: number }).node).toBe(2); + + // Change destination to 9 (from current position 2) + const result2 = stepper.next(2, 9); + expect(result2.status).toBe(PathStatus.NEXT); + expect((result2 as { node: number }).node).toBe(6); + }); + }); + + describe("invalidate", () => { + it("clears cached path so next recomputes", () => { + let callCount = 0; + const finder: PathFinder = { + findPath(from, to): number[] | null { + callCount++; + const fromTile = Array.isArray(from) ? from[0] : from; + return [fromTile, to]; + }, + }; + const stepper = new PathFinderStepper(finder); + + stepper.next(1, 5); + stepper.next(5, 5); + + // Second call follows path without recomputing + expect(callCount).toBe(1); + + stepper.invalidate(); + stepper.next(1, 5); + + // Recomputed path after invalidation + expect(callCount).toBe(2); + }); + }); + + describe("findPath", () => { + it("delegates to inner finder", () => { + const pathMap = new Map([["1->5", [1, 2, 3, 4, 5]]]); + const stepper = new PathFinderStepper(createMockFinder(pathMap)); + + const path = stepper.findPath(1, 5); + + expect(path).toEqual([1, 2, 3, 4, 5]); + }); + + it("supports multi-source", () => { + const finder: PathFinder = { + findPath(from, to): number[] | null { + const firstFrom = Array.isArray(from) ? from[0] : from; + return [firstFrom, to]; + }, + }; + const stepper = new PathFinderStepper(finder); + + const path = stepper.findPath([1, 2, 3], 5); + + expect(path).toEqual([1, 5]); + }); + }); + + describe("custom equals", () => { + it("uses custom equals function for position comparison", () => { + type Pos = { x: number; y: number }; + const posEquals = (a: Pos, b: Pos) => a.x === b.x && a.y === b.y; + + const finder: PathFinder = { + findPath(from, to): Pos[] | null { + const f = Array.isArray(from) ? from[0] : from; + return [f, { x: 2, y: 0 }, to]; + }, + }; + + const stepper = new PathFinderStepper(finder, { equals: posEquals }); + + const from1 = { x: 1, y: 0 }; + const to = { x: 3, y: 0 }; + + const result1 = stepper.next(from1, to); + expect(result1.status).toBe(PathStatus.NEXT); + + // Use equivalent but different object (a !== b), still on track + const result2 = stepper.next({ x: 2, y: 0 }, to); + expect(result2.status).toBe(PathStatus.NEXT); + expect((result2 as { node: Pos }).node).toEqual({ x: 3, y: 0 }); + }); + }); +}); diff --git a/tests/core/pathfinding/PathFinding.Air.test.ts b/tests/core/pathfinding/PathFinding.Air.test.ts new file mode 100644 index 000000000..0927ed530 --- /dev/null +++ b/tests/core/pathfinding/PathFinding.Air.test.ts @@ -0,0 +1,183 @@ +import { Game } from "../../../src/core/game/Game"; +import { TileRef } from "../../../src/core/game/GameMap"; +import { PathFinding } from "../../../src/core/pathfinding/PathFinder"; +import { SteppingPathFinder } from "../../../src/core/pathfinding/types"; +import { setup } from "../../util/Setup"; + +describe("PathFinding.Air", () => { + let game: Game; + + function createPathFinder(): SteppingPathFinder { + return PathFinding.Air(game); + } + + beforeAll(async () => { + game = await setup("ocean_and_land"); + }); + + describe("findPath", () => { + it("returns path between any two points (ignores terrain)", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + // Air pathfinder ignores terrain, so can go anywhere + // (2,2) → (14,14): manhattan = 24, path length = 25 + const from = map.ref(2, 2); + const to = map.ref(14, 14); + + const path = pathFinder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(25); + expect(path![0]).toBe(from); + expect(path![path!.length - 1]).toBe(to); + }); + + it("throws error for multiple start points", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + const from = [map.ref(2, 2), map.ref(4, 4)]; + const to = map.ref(14, 14); + + expect(() => pathFinder.findPath(from, to)).toThrow( + "does not support multiple start points", + ); + }); + + it("returns single-tile path when from equals to", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + const tile = map.ref(8, 8); + + const path = pathFinder.findPath(tile, tile); + + expect(path).not.toBeNull(); + expect(path![0]).toBe(tile); + }); + }); + + describe("path validity", () => { + it("all consecutive tiles in path are adjacent (Manhattan distance 1)", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + // (2,2) → (14,14): manhattan = 24, path length = 25 + const from = map.ref(2, 2); + const to = map.ref(14, 14); + + const path = pathFinder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(25); + + // Verify every consecutive pair is adjacent + for (let i = 1; i < path!.length; i++) { + const dist = map.manhattanDist(path![i - 1], path![i]); + expect(dist).toBe(1); + } + }); + + it("path ends at exact destination", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + const from = map.ref(5, 5); + const to = map.ref(10, 12); + + const path = pathFinder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path![path!.length - 1]).toBe(to); + }); + }); + + describe("path shapes", () => { + it("diagonal path has equal X and Y movement", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + // Equal X and Y offset: (0,0) → (10,10) + const from = map.ref(0, 0); + const to = map.ref(10, 10); + + const path = pathFinder.findPath(from, to); + expect(path).not.toBeNull(); + + let xMoves = 0; + let yMoves = 0; + for (let i = 1; i < path!.length; i++) { + const dx = map.x(path![i]) - map.x(path![i - 1]); + const dy = map.y(path![i]) - map.y(path![i - 1]); + if (dx !== 0) xMoves++; + if (dy !== 0) yMoves++; + } + + expect(xMoves).toBe(10); + expect(yMoves).toBe(10); + }); + + it("horizontal path has only X movement", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + // Pure horizontal: (0,5) → (15,5) + const from = map.ref(0, 5); + const to = map.ref(15, 5); + + const path = pathFinder.findPath(from, to); + expect(path).not.toBeNull(); + + let xMoves = 0; + let yMoves = 0; + for (let i = 1; i < path!.length; i++) { + const dx = map.x(path![i]) - map.x(path![i - 1]); + const dy = map.y(path![i]) - map.y(path![i - 1]); + if (dx !== 0) xMoves++; + if (dy !== 0) yMoves++; + } + + expect(xMoves).toBe(15); + expect(yMoves).toBe(0); + }); + + it("vertical path has only Y movement", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + // Pure vertical: (5,0) → (5,15) + const from = map.ref(5, 0); + const to = map.ref(5, 15); + + const path = pathFinder.findPath(from, to); + expect(path).not.toBeNull(); + + let xMoves = 0; + let yMoves = 0; + for (let i = 1; i < path!.length; i++) { + const dx = map.x(path![i]) - map.x(path![i - 1]); + const dy = map.y(path![i]) - map.y(path![i - 1]); + if (dx !== 0) xMoves++; + if (dy !== 0) yMoves++; + } + + expect(xMoves).toBe(0); + expect(yMoves).toBe(15); + }); + + it("adjacent tiles produce minimal path", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + const from = map.ref(5, 5); + const to = map.ref(6, 5); + + const path = pathFinder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(2); + expect(path![0]).toBe(from); + expect(path![1]).toBe(to); + }); + }); +}); diff --git a/tests/core/pathfinding/PathFinding.Water.test.ts b/tests/core/pathfinding/PathFinding.Water.test.ts new file mode 100644 index 000000000..0023ff789 --- /dev/null +++ b/tests/core/pathfinding/PathFinding.Water.test.ts @@ -0,0 +1,276 @@ +import { Game } from "../../../src/core/game/Game"; +import { TileRef } from "../../../src/core/game/GameMap"; +import { PathFinding } from "../../../src/core/pathfinding/PathFinder"; +import { + PathStatus, + SteppingPathFinder, +} from "../../../src/core/pathfinding/types"; +import { setup } from "../../util/Setup"; +import { createGame, L, W } from "./_fixtures"; + +describe("PathFinding.Water", () => { + let game: Game; + let worldGame: Game; + + function createPathFinder(g: Game = game): SteppingPathFinder { + return PathFinding.Water(g); + } + + beforeAll(async () => { + game = await setup("ocean_and_land"); + worldGame = await setup("world", { disableNavMesh: false }); + }); + + describe("findPath", () => { + it("finds path between adjacent water tiles", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + const from = map.ref(8, 0); + const to = map.ref(9, 0); + + expect(map.isWater(from)).toBe(true); + expect(map.isWater(to)).toBe(true); + + const path = pathFinder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(2); + expect(path![0]).toBe(from); + expect(path![1]).toBe(to); + }); + + it("returns null for land tiles", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + const landTile = map.ref(0, 0); + const waterTile = map.ref(8, 0); + + expect(map.isLand(landTile)).toBe(true); + expect(map.isShore(landTile)).toBe(false); + expect(map.isWater(waterTile)).toBe(true); + + const path = pathFinder.findPath(landTile, waterTile); + + expect(path).toBeNull(); + }); + + it("returns single-tile path when from equals to", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + const waterTile = map.ref(8, 0); + expect(map.isWater(waterTile)).toBe(true); + + const path = pathFinder.findPath(waterTile, waterTile); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(1); + expect(path![0]).toBe(waterTile); + }); + + it("supports multiple start tiles", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + const dest = map.ref(8, 0); + const source1 = map.ref(9, 0); + const source2 = map.ref(8, 1); + + expect(map.isWater(dest)).toBe(true); + expect(map.isWater(source1)).toBe(true); + expect(map.isWater(source2)).toBe(true); + + const from = [source1, source2]; + const path = pathFinder.findPath(from, dest); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(2); + expect(from).toContain(path![0]); + expect(path![1]).toBe(dest); + }); + }); + + describe("path validity", () => { + it("all consecutive tiles in path are connected", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + // Distant water tiles: (8,0) → (15,4), distance = 11 + const from = map.ref(8, 0); + const to = map.ref(15, 4); + + expect(map.isWater(from)).toBe(true); + expect(map.isWater(to)).toBe(true); + expect(map.manhattanDist(from, to)).toBe(11); + + const path = pathFinder.findPath(from, to); + + expect(path).not.toBeNull(); + + for (let i = 1; i < path!.length; i++) { + const dist = map.manhattanDist(path![i - 1], path![i]); + expect(dist).toEqual(1); + } + }); + }); + + describe("shore handling", () => { + it("path from shore to shore starts and ends on shore", () => { + const pathFinder = createPathFinder(); + const map = game.map(); + + // Shore tiles at (7,0) and (7,6), distance = 6 + // Both have water neighbors at (8,0) and (8,6) + const from = map.ref(7, 0); + const to = map.ref(7, 6); + + expect(map.isShore(from)).toBe(true); + expect(map.isShore(to)).toBe(true); + expect(map.manhattanDist(from, to)).toBe(6); + + const path = pathFinder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path![0]).toBe(from); + expect(path![path!.length - 1]).toBe(to); + }); + }); + + describe("determinism", () => { + it("same inputs produce identical paths", () => { + const pathFinder1 = createPathFinder(); + const pathFinder2 = createPathFinder(); + const map = game.map(); + + // Distant water tiles: (8,0) → (15,4) + const from = map.ref(8, 0); + const to = map.ref(15, 4); + + const path1 = pathFinder1.findPath(from, to); + const path2 = pathFinder2.findPath(from, to); + + expect(path1).not.toBeNull(); + expect(path2).not.toBeNull(); + expect(path1).toEqual(path2); + }); + }); + + describe("World map routes", () => { + it("Spain to France (Mediterranean)", () => { + const pathFinder = createPathFinder(worldGame); + const path = pathFinder.findPath( + worldGame.ref(926, 283), + worldGame.ref(950, 257), + ); + expect(path).not.toBeNull(); + }); + + it("Miami to Rio (Atlantic)", () => { + const pathFinder = createPathFinder(worldGame); + const path = pathFinder.findPath( + worldGame.ref(488, 355), + worldGame.ref(680, 658), + ); + expect(path).not.toBeNull(); + }); + + it("France to Poland (around Europe)", () => { + const pathFinder = createPathFinder(worldGame); + const path = pathFinder.findPath( + worldGame.ref(950, 257), + worldGame.ref(1033, 175), + ); + expect(path).not.toBeNull(); + }); + + it("Miami to Spain (transatlantic)", () => { + const pathFinder = createPathFinder(worldGame); + const path = pathFinder.findPath( + worldGame.ref(488, 355), + worldGame.ref(926, 283), + ); + expect(path).not.toBeNull(); + }); + + it("Rio to Poland (South Atlantic to Baltic)", () => { + const pathFinder = createPathFinder(worldGame); + const path = pathFinder.findPath( + worldGame.ref(680, 658), + worldGame.ref(1033, 175), + ); + expect(path).not.toBeNull(); + }); + }); + + describe("Error handling", () => { + it("returns NOT_FOUND for null source", () => { + const pathFinder = createPathFinder(); + + const consoleSpy = jest + .spyOn(console, "error") + .mockImplementation(() => {}); + + const result = pathFinder.next( + null as unknown as TileRef, + game.ref(8, 0), + ); + + expect(result.status).toBe(PathStatus.NOT_FOUND); + + consoleSpy.mockRestore(); + }); + + it("returns NOT_FOUND for null destination", () => { + const pathFinder = createPathFinder(); + + const consoleSpy = jest + .spyOn(console, "error") + .mockImplementation(() => {}); + + const result = pathFinder.next( + game.ref(8, 0), + null as unknown as TileRef, + ); + + expect(result.status).toBe(PathStatus.NOT_FOUND); + + consoleSpy.mockRestore(); + }); + }); + + describe("Known bugs", () => { + it("path can cross 1-tile land barrier", () => { + const syntheticGame = createGame({ + width: 10, + height: 1, + grid: [W, L, L, W, L, W, W, L, L, W], + }); + + const pathFinder = createPathFinder(syntheticGame); + const path = pathFinder.findPath( + syntheticGame.ref(0, 0), + syntheticGame.ref(9, 0), + ); + + expect(path).not.toBeNull(); + }); + + it("path can cross diagonal land barrier", () => { + const syntheticGame = createGame({ + width: 2, + height: 2, + grid: [W, L, L, W], + }); + + const pathFinder = createPathFinder(syntheticGame); + const path = pathFinder.findPath( + syntheticGame.ref(0, 0), + syntheticGame.ref(1, 1), + ); + + expect(path).not.toBeNull(); + }); + }); +}); diff --git a/tests/core/pathfinding/SpatialQuery.test.ts b/tests/core/pathfinding/SpatialQuery.test.ts new file mode 100644 index 000000000..7b28b823f --- /dev/null +++ b/tests/core/pathfinding/SpatialQuery.test.ts @@ -0,0 +1,235 @@ +import { SpawnExecution } from "../../../src/core/execution/SpawnExecution"; +import { + Game, + Player, + PlayerInfo, + PlayerType, +} from "../../../src/core/game/Game"; +import { TileRef } from "../../../src/core/game/GameMap"; +import { SpatialQuery } from "../../../src/core/pathfinding/spatial/SpatialQuery"; +import { createGame, L, W } from "./_fixtures"; + +// Spawns player and **expands territory** via getSpawnTiles (euclidean dist 4) +// Ref: src/core/execution/Util.ts +function addPlayer(game: Game, tile: TileRef): Player { + const info = new PlayerInfo( + undefined, + "test", + PlayerType.Human, + null, + "test_id", + ); + game.addPlayer(info); + game.addExecution(new SpawnExecution(info, tile)); + while (game.inSpawnPhase()) game.executeNextTick(); + return game.player(info.id); +} + +describe("SpatialQuery", () => { + describe("closestShore", () => { + it("finds shore tile owned by player", () => { + // prettier-ignore + const game = createGame({ + width: 5, height: 5, grid: [ + W, W, W, W, W, + W, L, L, L, W, + W, L, L, L, W, + W, L, L, L, W, + W, W, W, W, W, + ], + }); + + const spatial = new SpatialQuery(game); + const player = addPlayer(game, game.ref(2, 2)); + + // All land tiles owned by player because of spawn expansion + const result = spatial.closestShore(player, game.ref(2, 2)); + + expect(result).not.toBeNull(); + expect(game.isShore(result!)).toBe(true); + expect(game.ownerID(result!)).toBe(player.smallID()); + }); + + it("returns null when no shore within maxDist", () => { + // prettier-ignore + const game = createGame({ + width: 7, height: 7, grid: [ + W, W, W, W, W, W, W, + W, L, L, L, L, L, W, + W, L, L, L, L, L, W, + W, L, L, L, L, L, W, + W, L, L, L, L, L, W, + W, L, L, L, L, L, W, + W, W, W, W, W, W, W, + ], + }); + + const spatial = new SpatialQuery(game); + const player = addPlayer(game, game.ref(3, 3)); + + // maxDist=1 from center (3,3) - shore is 2 tiles away + const result = spatial.closestShore(player, game.ref(3, 3), 1); + + expect(result).toBeNull(); + }); + + it("finds shore on player's island (two separate islands)", () => { + // prettier-ignore + const game = createGame({ + width: 8, height: 4, grid: [ + L, L, W, W, W, W, L, L, + L, L, W, W, W, W, L, L, + L, L, W, W, W, W, L, L, + L, L, W, W, W, W, L, L, + ], + }); + + const spatial = new SpatialQuery(game); + const player = addPlayer(game, game.ref(0, 0)); + + const result = spatial.closestShore(player, game.ref(0, 2)); + + expect(result).not.toBeNull(); + expect(game.isShore(result!)).toBe(true); + expect(game.ownerID(result!)).toBe(player.smallID()); + expect(game.x(result!)).toBeLessThanOrEqual(2); + }); + + it("finds shore even if no land path exists (two separate islands)", () => { + // prettier-ignore + const game = createGame({ + width: 8, height: 4, grid: [ + L, L, W, W, W, W, L, L, + L, L, W, W, W, W, L, L, + L, L, W, W, W, W, L, L, + L, L, W, W, W, W, L, L, + ], + }); + + const spatial = new SpatialQuery(game); + const player = addPlayer(game, game.ref(0, 0)); + + const result = spatial.closestShore(player, game.ref(7, 2)); + + expect(result).not.toBeNull(); + expect(game.isShore(result!)).toBe(true); + expect(game.ownerID(result!)).toBe(player.smallID()); + expect(game.x(result!)).toBeLessThanOrEqual(2); + }); + + it("finds shore for terra nullius when land is unclaimed", () => { + // prettier-ignore + const game = createGame({ + width: 5, height: 5, grid: [ + W, W, W, W, W, + W, L, L, L, W, + W, L, L, L, W, + W, L, L, L, W, + W, W, W, W, W, + ], + }); + + const spatial = new SpatialQuery(game); + const terraNullius = game.terraNullius(); + + const result = spatial.closestShore(terraNullius, game.ref(2, 2)); + + expect(result).not.toBeNull(); + expect(game.isShore(result!)).toBe(true); + }); + }); + + describe("closestShoreByWater", () => { + it("returns null for terra nullius", () => { + // prettier-ignore + const game = createGame({ + width: 5, height: 5, grid: [ + W, W, W, W, W, + W, L, L, L, W, + W, L, L, L, W, + W, L, L, L, W, + W, W, W, W, W, + ], + }); + + const spatial = new SpatialQuery(game); + const terraNullius = game.terraNullius(); + + const result = spatial.closestShoreByWater(terraNullius, game.ref(0, 0)); + + expect(result).toBeNull(); + }); + + it("returns null when target is on land", () => { + // prettier-ignore + const game = createGame({ + width: 5, height: 5, grid: [ + W, W, W, W, W, + W, L, L, L, W, + W, L, L, L, W, + W, L, L, L, W, + W, W, W, W, W, + ], + }); + + const spatial = new SpatialQuery(game); + const player = addPlayer(game, game.ref(2, 2)); + + const result = spatial.closestShoreByWater(player, game.ref(2, 2)); + + expect(result).toBeNull(); + }); + + it("returns null when target is in disconnected water body", () => { + // prettier-ignore + const game = createGame({ + width: 14, height: 6, grid: [ + W, W, L, L, L, L, L, L, L, L, L, L, W, W, + W, W, L, L, L, L, L, L, L, L, L, L, W, W, + W, W, L, L, L, L, L, L, L, L, L, L, W, W, + W, W, L, L, L, L, L, L, L, L, L, L, W, W, + W, W, L, L, L, L, L, L, L, L, L, L, W, W, + W, W, L, L, L, L, L, L, L, L, L, L, W, W, + ], + }); + + const spatial = new SpatialQuery(game); + const player = addPlayer(game, game.ref(3, 2)); + const result = spatial.closestShoreByWater(player, game.ref(13, 2)); + + expect(result).toBeNull(); + }); + + it("finds shore via long water path around island", () => { + // prettier-ignore + const game = createGame({ + width: 18, height: 14, grid: [ + W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, + W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, + W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, + W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, + W, W, W, W, L, L, L, L, L, L, L, L, L, L, W, W, W, W, + W, W, W, W, L, L, L, L, L, L, L, L, L, L, W, W, W, W, + W, W, W, W, L, L, L, L, L, L, L, L, L, L, W, W, W, W, + W, W, W, W, L, L, L, L, L, L, L, L, L, L, W, W, W, W, + W, W, W, W, L, L, L, L, L, L, L, L, L, L, W, W, W, W, + W, W, W, W, L, L, L, L, L, L, L, L, L, L, W, W, W, W, + W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, + W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, + W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, + W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, W, L, + ], + }); + + const spatial = new SpatialQuery(game); + const player = addPlayer(game, game.ref(4, 4)); + + const target = game.ref(17, 13); + const result = spatial.closestShoreByWater(player, target); + + expect(result).not.toBeNull(); + expect(game.isShore(result!)).toBe(true); + expect(game.ownerID(result!)).toBe(player.smallID()); + }); + }); +}); diff --git a/tests/core/pathfinding/UniversalPathFinding.Parabola.test.ts b/tests/core/pathfinding/UniversalPathFinding.Parabola.test.ts new file mode 100644 index 000000000..94e167618 --- /dev/null +++ b/tests/core/pathfinding/UniversalPathFinding.Parabola.test.ts @@ -0,0 +1,319 @@ +import { GameMapImpl } from "../../../src/core/game/GameMap"; +import { UniversalPathFinding } from "../../../src/core/pathfinding/PathFinder"; +import { PathStatus } from "../../../src/core/pathfinding/types"; + +describe("UniversalPathFinding.Parabola", () => { + function createLargeMap() { + // Create a larger map for parabola tests (need space for arcs) + const W = 0x20; + const terrain = new Uint8Array(10000).fill(W); + return new GameMapImpl(100, 100, terrain, 0); + } + + describe("findPath", () => { + it("returns parabolic arc between two points", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map); + + const from = map.ref(10, 50); + const to = map.ref(90, 50); + + const path = finder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(39); + expect(path![0]).toBe(from); + expect(path![path!.length - 1]).toBe(to); + }); + + it("throws error for multiple start points", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map); + + const from = [map.ref(10, 50), map.ref(20, 50)]; + const to = map.ref(90, 50); + + expect(() => finder.findPath(from, to)).toThrow( + "does not support multiple start points", + ); + }); + + it("handles same start and end point", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map); + + const tile = map.ref(50, 50); + + const path = finder.findPath(tile, tile); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(26); + }); + + it("creates arc across map", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map); + + const from = map.ref(0, 50); + const to = map.ref(99, 50); + + const path = finder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(43); + expect(path![0]).toBe(from); + expect(path![path!.length - 1]).toBe(to); + }); + }); + + describe("next (stepping)", () => { + it("returns NEXT with node when not at destination", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map); + + const from = map.ref(10, 50); + const to = map.ref(90, 50); + + const result = finder.next(from, to); + + expect(result.status).toBe(PathStatus.NEXT); + expect("node" in result).toBe(true); + }); + + it("respects speed parameter (higher speed = further movement)", () => { + const map = createLargeMap(); + const finder1 = UniversalPathFinding.Parabola(map); + const finder2 = UniversalPathFinding.Parabola(map); + + const from = map.ref(10, 50); + const to = map.ref(90, 50); + + // Step with speed 1 + const result1 = finder1.next(from, to, 1); + + // Step with speed 5 + const result2 = finder2.next(from, to, 5); + + // Both should be NEXT (not at destination yet) + expect(result1.status).toBe(PathStatus.NEXT); + expect(result2.status).toBe(PathStatus.NEXT); + + const node1 = ( + result1 as { status: typeof PathStatus.NEXT; node: number } + ).node; + const node2 = ( + result2 as { status: typeof PathStatus.NEXT; node: number } + ).node; + + // Speed 5 should move strictly further than speed 1 + const dist1 = map.manhattanDist(from, node1); + const dist2 = map.manhattanDist(from, node2); + expect(dist2).toBeGreaterThan(dist1); + + expect(finder2.currentIndex()).toBeGreaterThan(finder1.currentIndex()); + }); + }); + + describe("options", () => { + it("increment option affects path density", () => { + const map = createLargeMap(); + const finder1 = UniversalPathFinding.Parabola(map, { increment: 1 }); + const finder2 = UniversalPathFinding.Parabola(map, { increment: 10 }); + + const from = map.ref(10, 50); + const to = map.ref(90, 50); + + const path1 = finder1.findPath(from, to); + const path2 = finder2.findPath(from, to); + + expect(path1).not.toBeNull(); + expect(path2).not.toBeNull(); + + expect(path1!.length).toBeGreaterThan(path2!.length); + }); + + it("distanceBasedHeight option affects arc height", () => { + const map = createLargeMap(); + const finder1 = UniversalPathFinding.Parabola(map, { + distanceBasedHeight: true, + }); + const finder2 = UniversalPathFinding.Parabola(map, { + distanceBasedHeight: false, + }); + + const from = map.ref(10, 50); + const to = map.ref(90, 50); + + const path1 = finder1.findPath(from, to); + const path2 = finder2.findPath(from, to); + + expect(path1).not.toBeNull(); + expect(path2).not.toBeNull(); + + // With distanceBasedHeight=true, path should have Y deviation + // With distanceBasedHeight=false, path should be more direct + const getMaxYDeviation = (path: number[]) => { + const midY = map.y(from); + return Math.max(...path.map((t) => Math.abs(map.y(t) - midY))); + }; + + const dev1 = getMaxYDeviation(path1!); + const dev2 = getMaxYDeviation(path2!); + expect(dev1).toBeGreaterThan(dev2); + }); + + it("directionUp option affects arc direction", () => { + const map = createLargeMap(); + const finderUp = UniversalPathFinding.Parabola(map, { + directionUp: true, + }); + const finderDown = UniversalPathFinding.Parabola(map, { + directionUp: false, + }); + + const from = map.ref(10, 50); + const to = map.ref(90, 50); + + const pathUp = finderUp.findPath(from, to); + const pathDown = finderDown.findPath(from, to); + + expect(pathUp).not.toBeNull(); + expect(pathDown).not.toBeNull(); + + // Get midpoint Y values + const midIdx = Math.floor(pathUp!.length / 2); + const midY_Up = map.y(pathUp![midIdx]); + const midY_Down = map.y(pathDown![midIdx]); + const startY = map.y(from); + + // directionUp=true means Y decreases (goes "up" on screen) + // directionUp=false means Y increases (goes "down" on screen) + expect(midY_Up).toBeLessThan(startY); + expect(midY_Down).toBeGreaterThan(startY); + }); + }); + + describe("currentIndex", () => { + it("returns 0 when no curve", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map); + + expect(finder.currentIndex()).toBe(0); + }); + + it("increments as path is stepped", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map); + + const from = map.ref(10, 50); + const to = map.ref(90, 50); + + let current = from; + let previousIndex = 0; + + for (let i = 0; i < 50; i++) { + const result = finder.next(current, to); + expect(result.status).toBe(PathStatus.NEXT); + + const index = finder.currentIndex(); + expect(index).toBeGreaterThanOrEqual(previousIndex); + previousIndex = index; + + current = (result as { status: typeof PathStatus.NEXT; node: number }) + .node; + } + }); + }); + + describe("short distances", () => { + it("creates valid arc for distance < 50 (PARABOLA_MIN_HEIGHT)", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map, { + distanceBasedHeight: true, + }); + + // Distance of 30 is less than PARABOLA_MIN_HEIGHT (50) + const from = map.ref(50, 50); + const to = map.ref(80, 50); + + const path = finder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(28); + expect(path![0]).toBe(from); + expect(path![path!.length - 1]).toBe(to); + }); + + it("creates valid path for adjacent tiles (distance=1)", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map); + + const from = map.ref(50, 50); + const to = map.ref(51, 50); + + const path = finder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(26); + expect(path![0]).toBe(from); + expect(path![path!.length - 1]).toBe(to); + }); + + it("creates valid path for very short distance (distance=5)", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map, { + distanceBasedHeight: true, + }); + + const from = map.ref(50, 50); + const to = map.ref(55, 50); + + const path = finder.findPath(from, to); + + expect(path).not.toBeNull(); + expect(path![0]).toBe(from); + expect(path![path!.length - 1]).toBe(to); + }); + }); + + describe("map boundary clipping", () => { + it("arc clipped at map top boundary (directionUp near y=0)", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map, { + directionUp: true, + distanceBasedHeight: true, + }); + + // Start near top of map + const from = map.ref(10, 5); + const to = map.ref(90, 5); + + const path = finder.findPath(from, to); + + expect(path).not.toBeNull(); + + for (const t of path!) { + expect(map.y(t)).toBeGreaterThanOrEqual(0); + } + }); + + it("arc clipped at map bottom boundary (directionDown near y=max)", () => { + const map = createLargeMap(); + const finder = UniversalPathFinding.Parabola(map, { + directionUp: false, + distanceBasedHeight: true, + }); + + const from = map.ref(10, 95); + const to = map.ref(90, 95); + + const path = finder.findPath(from, to); + + expect(path).not.toBeNull(); + + for (const t of path!) { + expect(map.y(t)).toBeLessThan(100); + } + }); + }); +}); diff --git a/tests/core/pathfinding/WaterComponents.test.ts b/tests/core/pathfinding/WaterComponents.test.ts new file mode 100644 index 000000000..77fb39946 --- /dev/null +++ b/tests/core/pathfinding/WaterComponents.test.ts @@ -0,0 +1,144 @@ +import { + ConnectedComponents, + LAND_MARKER, +} from "../../../src/core/pathfinding/algorithms/ConnectedComponents"; +import { createGameMap, createIslandMap, L, W } from "./_fixtures"; + +// prettier-ignore +const twoComponentsMapData = { + width: 7, height: 5, grid: [ + W, W, L, L, L, W, W, + W, W, L, L, L, W, W, + W, W, L, L, L, W, W, + W, W, L, L, L, W, W, + W, W, L, L, L, W, W, + ], +}; + +describe("ConnectedComponents", () => { + describe("getComponentId", () => { + it("returns 0 before initialization", () => { + const map = createGameMap(createIslandMap()); + const wc = new ConnectedComponents(map); + + // Water tile at (0,0) - should return 0 (not initialized) + const waterTile = map.ref(0, 0); + expect(wc.getComponentId(waterTile)).toBe(0); + }); + + it("returns same component ID for all water tiles in single connected area", () => { + const map = createGameMap(createIslandMap()); + const wc = new ConnectedComponents(map); + wc.initialize(); + + const water1 = map.ref(0, 0); + const water2 = map.ref(4, 0); + const water3 = map.ref(0, 4); + const water4 = map.ref(4, 4); + + expect(map.isWater(water1)).toBe(true); + expect(map.isWater(water2)).toBe(true); + expect(map.isWater(water3)).toBe(true); + expect(map.isWater(water4)).toBe(true); + + const id1 = wc.getComponentId(water1); + const id2 = wc.getComponentId(water2); + const id3 = wc.getComponentId(water3); + const id4 = wc.getComponentId(water4); + + expect(id1).toBe(1); + expect(id2).toBe(id1); + expect(id3).toBe(id1); + expect(id4).toBe(id1); + }); + + it("returns different component IDs for disconnected water areas", () => { + const map = createGameMap(twoComponentsMapData); + const wc = new ConnectedComponents(map); + wc.initialize(); + + const leftWater1 = map.ref(0, 0); + const leftWater2 = map.ref(1, 2); + const rightWater1 = map.ref(5, 0); + const rightWater2 = map.ref(6, 4); + + expect(map.isWater(leftWater1)).toBe(true); + expect(map.isWater(leftWater2)).toBe(true); + expect(map.isWater(rightWater1)).toBe(true); + expect(map.isWater(rightWater2)).toBe(true); + + const leftId1 = wc.getComponentId(leftWater1); + const leftId2 = wc.getComponentId(leftWater2); + const rightId1 = wc.getComponentId(rightWater1); + const rightId2 = wc.getComponentId(rightWater2); + + expect(leftId1).not.toBe(rightId1); + + expect(leftId1).toBe(leftId2); + expect(leftId1).toBeGreaterThan(0); + expect(leftId1).not.toBe(LAND_MARKER); + + expect(rightId1).toBe(rightId2); + expect(rightId1).toBeGreaterThan(0); + expect(rightId1).not.toBe(LAND_MARKER); + }); + + it("returns LAND_MARKER for land tiles", () => { + const map = createGameMap(twoComponentsMapData); + const wc = new ConnectedComponents(map); + wc.initialize(); + + const landTile1 = map.ref(2, 0); + const landTile2 = map.ref(3, 2); + const landTile3 = map.ref(4, 4); + + expect(map.isLand(landTile1)).toBe(true); + expect(map.isLand(landTile2)).toBe(true); + expect(map.isLand(landTile3)).toBe(true); + + expect(wc.getComponentId(landTile1)).toBe(LAND_MARKER); + expect(wc.getComponentId(landTile2)).toBe(LAND_MARKER); + expect(wc.getComponentId(landTile3)).toBe(LAND_MARKER); + }); + }); + + describe("determinism", () => { + it("produces same component IDs on repeated initialization", () => { + const map = createGameMap(twoComponentsMapData); + const wc1 = new ConnectedComponents(map); + const wc2 = new ConnectedComponents(map); + + wc1.initialize(); + wc2.initialize(); + + // Check all tiles have same component ID + for (let y = 0; y < 5; y++) { + for (let x = 0; x < 7; x++) { + const tile = map.ref(x, y); + expect(wc1.getComponentId(tile)).toBe(wc2.getComponentId(tile)); + } + } + }); + }); + + describe("direct terrain access optimization", () => { + it("produces same results with accessTerrainDirectly=false", () => { + const map = createGameMap(twoComponentsMapData); + const wcDirect = new ConnectedComponents(map, true); + const wcIndirect = new ConnectedComponents(map, false); + + wcDirect.initialize(); + wcIndirect.initialize(); + + // Check all tiles have same component ID + for (let y = 0; y < 5; y++) { + for (let x = 0; x < 7; x++) { + const tile = map.ref(x, y); + expect(wcDirect.getComponentId(tile)).toBe( + wcIndirect.getComponentId(tile), + ); + } + } + }); + }); +}); diff --git a/tests/core/pathfinding/_fixtures.ts b/tests/core/pathfinding/_fixtures.ts new file mode 100644 index 000000000..ae36dd05c --- /dev/null +++ b/tests/core/pathfinding/_fixtures.ts @@ -0,0 +1,179 @@ +// Minimal test maps for pathfinding unit tests + +import { + Difficulty, + Game, + GameMapType, + GameMode, + GameType, +} from "../../../src/core/game/Game"; +import { createGame as createGameImpl } from "../../../src/core/game/GameImpl"; +import { GameMapImpl } from "../../../src/core/game/GameMap"; +import { UserSettings } from "../../../src/core/game/UserSettings"; +import { PeaceTimerDuration } from "../../../src/core/Schemas"; +import { TestConfig } from "../../util/TestConfig"; +import { TestServerConfig } from "../../util/TestServerConfig"; + +export const W = "W"; // Water +export const L = "L"; // Land + +// Terrain encoding +const WATER_BIT = 0x20; +const LAND_BIT = 0x80; +const SHORELINE_BIT = 6; + +export type TestMapData = { + width: number; + height: number; + grid: string[]; +}; + +// Compute shoreline bit for tiles adjacent to opposite terrain +function computeShoreline( + terrain: Uint8Array, + width: number, + height: number, +): void { + for (let y = 0; y < height; y++) { + for (let x = 0; x < width; x++) { + const idx = y * width + x; + const isLand = (terrain[idx] & LAND_BIT) !== 0; + const neighbors = [ + [x - 1, y], + [x + 1, y], + [x, y - 1], + [x, y + 1], + ]; + + for (const [nx, ny] of neighbors) { + if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue; + const neighborIsLand = (terrain[ny * width + nx] & LAND_BIT) !== 0; + if (isLand !== neighborIsLand) { + terrain[idx] |= 1 << SHORELINE_BIT; + break; + } + } + } + } +} + +// 5x5 simple island +export function createIslandMap(): TestMapData { + // prettier-ignore + const grid = [ + W, W, W, W, W, + W, L, L, L, W, + W, L, L, L, W, + W, L, L, L, W, + W, W, W, W, W, + ]; + return { width: 5, height: 5, grid }; +} + +// Create Game from test map data (computes shoreline bits) +export function createGame(data: TestMapData): Game { + const { width, height, grid } = data; + + // Convert string grid to terrain bytes + const terrain = new Uint8Array(width * height); + let numLand = 0; + + for (let i = 0; i < grid.length; i++) { + if (grid[i] === L) { + terrain[i] = LAND_BIT; + numLand++; + } else { + terrain[i] = WATER_BIT; + } + } + + computeShoreline(terrain, width, height); + + const gameMap = new GameMapImpl(width, height, terrain, numLand); + + // Create miniMap (2x2→1, water if ANY water) + const miniWidth = Math.ceil(width / 2); + const miniHeight = Math.ceil(height / 2); + const miniTerrain = new Uint8Array(miniWidth * miniHeight); + let miniNumLand = 0; + + for (let my = 0; my < miniHeight; my++) { + for (let mx = 0; mx < miniWidth; mx++) { + const mIdx = my * miniWidth + mx; + let hasWater = false; + + for (let dy = 0; dy < 2; dy++) { + for (let dx = 0; dx < 2; dx++) { + const x = mx * 2 + dx; + const y = my * 2 + dy; + if (x < width && y < height && !(terrain[y * width + x] & LAND_BIT)) { + hasWater = true; + } + } + } + + if (hasWater) { + miniTerrain[mIdx] = WATER_BIT; + } else { + miniTerrain[mIdx] = LAND_BIT; + miniNumLand++; + } + } + } + + computeShoreline(miniTerrain, miniWidth, miniHeight); + + const miniGameMap = new GameMapImpl( + miniWidth, + miniHeight, + miniTerrain, + miniNumLand, + ); + + const serverConfig = new TestServerConfig(); + const gameConfig = { + gameMap: GameMapType.Asia, + gameMode: GameMode.FFA, + gameType: GameType.Singleplayer, + difficulty: Difficulty.Medium, + disableNPCs: false, + bots: 0, + infiniteGold: false, + infiniteTroops: false, + instantBuild: false, + disableNavMesh: false, + peaceTimerDurationMinutes: PeaceTimerDuration.None, + startingGold: 0 as const, + goldMultiplier: 1 as const, + chatEnabled: false, + }; + const config = new TestConfig( + serverConfig, + gameConfig, + new UserSettings(), + false, + ); + + return createGameImpl([], [], gameMap, miniGameMap, config); +} + +// Create GameMapImpl from test map data (for map-only tests) +export function createGameMap(data: TestMapData): GameMapImpl { + const { width, height, grid } = data; + + const terrain = new Uint8Array(width * height); + let numLand = 0; + + for (let i = 0; i < grid.length; i++) { + if (grid[i] === L) { + terrain[i] = LAND_BIT; + numLand++; + } else { + terrain[i] = WATER_BIT; + } + } + + computeShoreline(terrain, width, height); + + return new GameMapImpl(width, height, terrain, numLand); +} diff --git a/tests/core/pathfinding/transformers/ComponentCheckTransformer.test.ts b/tests/core/pathfinding/transformers/ComponentCheckTransformer.test.ts new file mode 100644 index 000000000..a3de9b233 --- /dev/null +++ b/tests/core/pathfinding/transformers/ComponentCheckTransformer.test.ts @@ -0,0 +1,168 @@ +import { ComponentCheckTransformer } from "../../../../src/core/pathfinding/transformers/ComponentCheckTransformer"; +import { PathFinder } from "../../../../src/core/pathfinding/types"; + +describe("ComponentCheckTransformer", () => { + // Mock PathFinder that records calls and returns a simple path + function createMockPathFinder(): PathFinder & { + calls: Array<{ from: number | number[]; to: number }>; + } { + const calls: Array<{ from: number | number[]; to: number }> = []; + + return { + calls, + findPath(from: number | number[], to: number): number[] | null { + calls.push({ from, to }); + const start = Array.isArray(from) ? from[0] : from; + return [start, to]; + }, + }; + } + + // Component function: even numbers → component 0, odd → component 1 + const evenOddComponent = (t: number) => t % 2; + + describe("findPath", () => { + it("delegates when source and destination in same component", () => { + const inner = createMockPathFinder(); + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + const result = transformer.findPath(2, 4); // both even → component 0 + + expect(result).toEqual([2, 4]); + expect(inner.calls).toHaveLength(1); + expect(inner.calls[0]).toEqual({ from: 2, to: 4 }); + }); + + it("returns null when source and destination in different components", () => { + const inner = createMockPathFinder(); + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + const result = transformer.findPath(2, 3); // even → odd + + expect(result).toBeNull(); + expect(inner.calls).toHaveLength(0); // inner not called + }); + + it("filters multiple sources to only valid ones", () => { + const inner = createMockPathFinder(); + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + // Sources: 1, 2, 3, 4 → odd, even, odd, even + // Destination: 4 → even + // Valid sources: 2, 4 + const result = transformer.findPath([1, 2, 3, 4], 4); + + expect(result).not.toBeNull(); + expect(inner.calls).toHaveLength(1); + expect(inner.calls[0].from).toEqual([2, 4]); // filtered to valid + expect(inner.calls[0].to).toBe(4); + }); + + it("returns null when no source in same component", () => { + const inner = createMockPathFinder(); + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + // All sources odd, destination even + const result = transformer.findPath([1, 3, 5], 4); + + expect(result).toBeNull(); + expect(inner.calls).toHaveLength(0); + }); + + it("unwraps single valid source from array", () => { + const inner = createMockPathFinder(); + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + // Only one source matches + const result = transformer.findPath([1, 2, 3], 4); + + expect(result).not.toBeNull(); + expect(inner.calls).toHaveLength(1); + expect(inner.calls[0].from).toBe(2); + }); + + it("handles single source (not array)", () => { + const inner = createMockPathFinder(); + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + const result = transformer.findPath(4, 6); + + expect(result).toEqual([4, 6]); + expect(inner.calls[0].from).toBe(4); + }); + + it("propagates null from inner pathfinder", () => { + const inner: PathFinder = { + findPath: () => null, + }; + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + const result = transformer.findPath(2, 4); + + expect(result).toBeNull(); + }); + + it("propagates path from inner pathfinder", () => { + const inner: PathFinder = { + findPath: () => [10, 20, 30, 40], + }; + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + const result = transformer.findPath(2, 4); + + expect(result).toEqual([10, 20, 30, 40]); + }); + }); + + describe("edge cases", () => { + it("handles empty source array", () => { + const inner = createMockPathFinder(); + const transformer = new ComponentCheckTransformer( + inner, + evenOddComponent, + ); + + const result = transformer.findPath([], 4); + + expect(result).toBeNull(); + expect(inner.calls).toHaveLength(0); + }); + + it("works with custom component function", () => { + const inner = createMockPathFinder(); + // Component by tens digit: 10-19 → 1, 20-29 → 2, etc. + const tensComponent = (t: number) => Math.floor(t / 10); + const transformer = new ComponentCheckTransformer(inner, tensComponent); + + // Same component + expect(transformer.findPath(15, 18)).not.toBeNull(); + + // Different component + expect(transformer.findPath(15, 25)).toBeNull(); + }); + }); +}); diff --git a/tests/core/pathfinding/transformers/MiniMapTransformer.test.ts b/tests/core/pathfinding/transformers/MiniMapTransformer.test.ts new file mode 100644 index 000000000..bc8b57c1f --- /dev/null +++ b/tests/core/pathfinding/transformers/MiniMapTransformer.test.ts @@ -0,0 +1,178 @@ +import { GameMapImpl } from "../../../../src/core/game/GameMap"; +import { MiniMapTransformer } from "../../../../src/core/pathfinding/transformers/MiniMapTransformer"; +import { PathFinder } from "../../../../src/core/pathfinding/types"; + +describe("MiniMapTransformer", () => { + // Create test maps: main map is 10x10, minimap is 5x5 (2x downscale) + function createTestMaps() { + const W = 0x20; // Water + const mainTerrain = new Uint8Array(100).fill(W); // 10x10 all water + const miniTerrain = new Uint8Array(25).fill(W); // 5x5 all water + + const map = new GameMapImpl(10, 10, mainTerrain, 0); + const miniMap = new GameMapImpl(5, 5, miniTerrain, 0); + + return { map, miniMap }; + } + + function createMockPathFinder(): PathFinder & { + calls: Array<{ from: number | number[]; to: number }>; + returnPath: number[] | null | undefined; + } { + const mock = { + calls: [] as Array<{ from: number | number[]; to: number }>, + returnPath: undefined as number[] | null | undefined, + findPath(from: number | number[], to: number): number[] | null { + mock.calls.push({ from, to }); + if (mock.returnPath !== undefined) return mock.returnPath; + const start = Array.isArray(from) ? from[0] : from; + return [start, to]; + }, + }; + return mock; + } + + describe("findPath", () => { + it("converts coordinates to minimap scale", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + const transformer = new MiniMapTransformer(inner, map, miniMap); + + const from = map.ref(4, 6); + const to = map.ref(8, 2); + + const miniFrom = miniMap.ref(2, 3); + const miniTo = miniMap.ref(4, 1); + inner.returnPath = [miniFrom, miniTo]; + + transformer.findPath(from, to); + + expect(inner.calls).toHaveLength(1); + expect(inner.calls[0].from).toBe(miniFrom); + expect(inner.calls[0].to).toBe(miniTo); + }); + + it("upscales minimap path back to full resolution", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + const transformer = new MiniMapTransformer(inner, map, miniMap); + + const from = map.ref(0, 0); + const to = map.ref(8, 0); + + // Minimap path: (0,0) → (4,0) - straight horizontal + inner.returnPath = [ + miniMap.ref(0, 0), + miniMap.ref(1, 0), + miniMap.ref(2, 0), + miniMap.ref(3, 0), + miniMap.ref(4, 0), + ]; + + const result = transformer.findPath(from, to); + + expect(result).not.toBeNull(); + expect(result![0]).toBe(from); + expect(result![result!.length - 1]).toBe(to); + }); + + it("returns null when inner returns null", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + inner.returnPath = null; + const transformer = new MiniMapTransformer(inner, map, miniMap); + + const result = transformer.findPath(map.ref(0, 0), map.ref(8, 8)); + + expect(result).toBeNull(); + }); + + it("returns null when inner returns empty path", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + inner.returnPath = []; + const transformer = new MiniMapTransformer(inner, map, miniMap); + + const result = transformer.findPath(map.ref(0, 0), map.ref(8, 8)); + + expect(result).toBeNull(); + }); + + it("handles multiple sources", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + const transformer = new MiniMapTransformer(inner, map, miniMap); + + const from1 = map.ref(0, 0); + const from2 = map.ref(2, 0); + const to = map.ref(8, 0); + + inner.returnPath = [miniMap.ref(0, 0), miniMap.ref(4, 0)]; + + const result = transformer.findPath([from1, from2], to); + + expect(inner.calls).toHaveLength(1); + expect(Array.isArray(inner.calls[0].from)).toBe(true); + expect(result).not.toBeNull(); + }); + + it("fixes path extremes to match original from/to", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + const transformer = new MiniMapTransformer(inner, map, miniMap); + + // From odd coords - won't exactly map to minimap + const from = map.ref(1, 1); + const to = map.ref(9, 9); + + inner.returnPath = [miniMap.ref(0, 0), miniMap.ref(4, 4)]; + + const result = transformer.findPath(from, to); + + expect(result).not.toBeNull(); + expect(result![0]).toBe(from); + expect(result![result!.length - 1]).toBe(to); + }); + }); + + describe("coordinate mapping", () => { + it("maps main coords (0,0) to mini coords (0,0)", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + const transformer = new MiniMapTransformer(inner, map, miniMap); + + inner.returnPath = [miniMap.ref(0, 0)]; + + transformer.findPath(map.ref(0, 0), map.ref(0, 0)); + + expect(inner.calls[0].from).toBe(miniMap.ref(0, 0)); + expect(inner.calls[0].to).toBe(miniMap.ref(0, 0)); + }); + + it("maps main coords (1,1) to mini coords (0,0) (floor division)", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + const transformer = new MiniMapTransformer(inner, map, miniMap); + + inner.returnPath = [miniMap.ref(0, 0)]; + + transformer.findPath(map.ref(1, 1), map.ref(1, 1)); + + expect(inner.calls[0].from).toBe(miniMap.ref(0, 0)); + expect(inner.calls[0].to).toBe(miniMap.ref(0, 0)); + }); + + it("maps main coords (2,2) to mini coords (1,1)", () => { + const { map, miniMap } = createTestMaps(); + const inner = createMockPathFinder(); + const transformer = new MiniMapTransformer(inner, map, miniMap); + + inner.returnPath = [miniMap.ref(1, 1)]; + + transformer.findPath(map.ref(2, 2), map.ref(2, 2)); + + expect(inner.calls[0].from).toBe(miniMap.ref(1, 1)); + expect(inner.calls[0].to).toBe(miniMap.ref(1, 1)); + }); + }); +}); diff --git a/tests/core/pathfinding/transformers/ShoreCoercingTransformer.test.ts b/tests/core/pathfinding/transformers/ShoreCoercingTransformer.test.ts new file mode 100644 index 000000000..88c08e758 --- /dev/null +++ b/tests/core/pathfinding/transformers/ShoreCoercingTransformer.test.ts @@ -0,0 +1,244 @@ +import { ShoreCoercingTransformer } from "../../../../src/core/pathfinding/transformers/ShoreCoercingTransformer"; +import { PathFinder } from "../../../../src/core/pathfinding/types"; +import { createGameMap, createIslandMap, L, W } from "../_fixtures"; + +describe("ShoreCoercingTransformer", () => { + // Mock PathFinder that records calls and returns configurable path + function createMockPathFinder(): PathFinder & { + calls: Array<{ from: number | number[]; to: number }>; + returnPath: number[] | null | undefined; + } { + const mock = { + calls: [] as Array<{ from: number | number[]; to: number }>, + returnPath: undefined as number[] | null | undefined, + findPath(from: number | number[], to: number): number[] | null { + mock.calls.push({ from, to }); + if (mock.returnPath !== undefined) return mock.returnPath; + const start = Array.isArray(from) ? from[0] : from; + return [start, to]; + }, + }; + return mock; + } + + describe("findPath", () => { + it("passes water tiles unchanged", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + const water1 = map.ref(0, 0); + const water2 = map.ref(4, 0); + inner.returnPath = [water1, water2]; + + const result = transformer.findPath(water1, water2); + + expect(result).toEqual([water1, water2]); + expect(inner.calls).toHaveLength(1); + expect(inner.calls[0].from).toBe(water1); + expect(inner.calls[0].to).toBe(water2); + }); + + it("coerces shore start to water and prepends original", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + const shore = map.ref(1, 1); + const water = map.ref(4, 4); + const shoreWaterNeighbor = map.ref(1, 0); + + const result = transformer.findPath(shore, water); + + expect(result).not.toBeNull(); + expect(result![0]).toBe(shore); + expect(result![1]).toBe(shoreWaterNeighbor); + }); + + it("coerces shore destination to water and appends original", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + const water = map.ref(0, 0); + const shore = map.ref(1, 1); + const shoreWaterNeighbor = map.ref(1, 0); + + const result = transformer.findPath(water, shore); + + expect(result).not.toBeNull(); + expect(result![0]).toBe(water); + expect(result![result!.length - 2]).toBe(shoreWaterNeighbor); + expect(result![result!.length - 1]).toBe(shore); + }); + + it("coerces both shore start and destination", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + const shore1 = map.ref(1, 1); + const shore1WaterNeighbor = map.ref(1, 0); + const shore2 = map.ref(3, 3); + const shore2WaterNeighbor = map.ref(3, 4); + + const result = transformer.findPath(shore1, shore2); + + expect(result).not.toBeNull(); + expect(result![0]).toBe(shore1); + expect(result![1]).toBe(shore1WaterNeighbor); + expect(result![result!.length - 2]).toBe(shore2WaterNeighbor); + expect(result![result!.length - 1]).toBe(shore2); + }); + + it("returns null when source has no water neighbor", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + // Center land tile (2,2) has no water neighbors + const land = map.ref(2, 2); + const water = map.ref(0, 0); + + const result = transformer.findPath(land, water); + + expect(result).toBeNull(); + expect(inner.calls).toHaveLength(0); + }); + + it("returns null when destination has no water neighbor", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + // Center land tile (2,2) has no water neighbors + const land = map.ref(2, 2); + const water = map.ref(0, 0); + + const result = transformer.findPath(water, land); + + expect(result).toBeNull(); + expect(inner.calls).toHaveLength(0); + }); + + it("returns null when inner pathfinder returns null", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + inner.returnPath = null; + const result = transformer.findPath(map.ref(0, 0), map.ref(4, 4)); + + expect(result).toBeNull(); + }); + + it("returns null when inner pathfinder returns empty path", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + inner.returnPath = []; + const result = transformer.findPath(map.ref(0, 0), map.ref(4, 4)); + + expect(result).toBeNull(); + }); + + it("handles multiple sources, filters invalid ones", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + const waterSrc = map.ref(0, 0); + const shoreSrc = map.ref(1, 1); + const landSrc = map.ref(2, 2); + const waterDest = map.ref(4, 4); + + inner.returnPath = [waterSrc, waterDest]; + + const result = transformer.findPath( + [waterSrc, shoreSrc, landSrc], + waterDest, + ); + + expect(result).not.toBeNull(); + expect(inner.calls).toHaveLength(1); + + const fromArg = inner.calls[0].from; + expect(Array.isArray(fromArg)).toBe(true); + expect((fromArg as number[]).length).toBe(2); + }); + + it("returns null when all sources are invalid", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + const land = map.ref(2, 2); + + const result = transformer.findPath([land], map.ref(0, 0)); + + expect(result).toBeNull(); + expect(inner.calls).toHaveLength(0); + }); + }); + + describe("determinism", () => { + it("shore with multiple water neighbors selects consistently", () => { + // prettier-ignore + const map = createGameMap({ + width: 5, height: 5, grid: [ + L, L, W, W, W, + L, L, W, W, W, + L, L, W, L, L, + W, W, W, L, L, + W, W, W, L, L, + ], + }); + + const shoreWithMultipleWater = map.ref(1, 2); + const expectedWaterNeighbor = map.ref(1, 3); + + const inner1 = createMockPathFinder(); + const inner2 = createMockPathFinder(); + const transformer1 = new ShoreCoercingTransformer(inner1, map); + const transformer2 = new ShoreCoercingTransformer(inner2, map); + + const waterDest = map.ref(2, 4); + + transformer1.findPath(shoreWithMultipleWater, waterDest); + transformer2.findPath(shoreWithMultipleWater, waterDest); + + // Both select the same water neighbor: (1,3) + expect(inner1.calls[0].from).toBe(expectedWaterNeighbor); + expect(inner2.calls[0].from).toBe(expectedWaterNeighbor); + }); + + it("corner shore with water neighbors works correctly", () => { + const mapData = createIslandMap(); + const map = createGameMap(mapData); + const inner = createMockPathFinder(); + const transformer = new ShoreCoercingTransformer(inner, map); + + const cornerShore = map.ref(1, 1); + const waterNeighbor = map.ref(1, 0); + const waterDest = map.ref(4, 4); + + inner.returnPath = [waterNeighbor, waterDest]; + + const result = transformer.findPath(cornerShore, waterDest); + + expect(result).not.toBeNull(); + expect(result).toEqual([cornerShore, waterNeighbor, waterDest]); + }); + }); +}); diff --git a/tests/pathfinding/benchmark/compare.ts b/tests/pathfinding/benchmark/compare.ts new file mode 100644 index 000000000..e39adb49d --- /dev/null +++ b/tests/pathfinding/benchmark/compare.ts @@ -0,0 +1,180 @@ +#!/usr/bin/env node + +/** + * Compare pathfinding adapters side-by-side + * + * Usage: + * npx tsx tests/pathfinding/benchmark/compare.ts + * npx tsx tests/pathfinding/benchmark/compare.ts --synthetic + * + * Examples: + * npx tsx tests/pathfinding/benchmark/compare.ts default hpa,a.baseline + * npx tsx tests/pathfinding/benchmark/compare.ts --synthetic giantworldmap hpa,hpa.cached,a.full + */ + +import { + type BenchmarkResult, + calculateStats, + getAdapter, + getScenario, + measureExecutionTime, + measurePathLength, +} from "../utils"; + +interface AdapterResults { + adapter: string; + initTime: number; + totalTime: number; + totalDistance: number; + successfulRoutes: number; + totalRoutes: number; +} + +const DEFAULT_ITERATIONS = 1; + +async function runBenchmark( + scenarioName: string, + adapterName: string, +): Promise { + const { game, routes, initTime } = await getScenario( + scenarioName, + adapterName, + ); + const adapter = getAdapter(game, adapterName); + + const results: BenchmarkResult[] = []; + + // Measure path lengths + for (const route of routes) { + const pathLength = measurePathLength(adapter, route); + results.push({ route: route.name, pathLength, executionTime: null }); + } + + // Measure execution times + for (const route of routes) { + const result = results.find((r) => r.route === route.name); + if (result && result.pathLength !== null) { + const execTime = measureExecutionTime(adapter, route, DEFAULT_ITERATIONS); + result.executionTime = execTime; + } + } + + const stats = calculateStats(results); + + return { + adapter: adapterName, + initTime, + totalTime: stats.totalTime, + totalDistance: stats.totalDistance, + successfulRoutes: stats.successfulRoutes, + totalRoutes: stats.totalRoutes, + }; +} + +const TABLE_HEADERS = [ + "Adapter", + "Init (ms)", + "Path (ms)", + "Distance", + "Routes", +]; + +const TABLE_WIDTHS = [20, 12, 12, 12, 10]; + +function printTableHeader(scenarioName: string) { + console.log(`\nResults: ${scenarioName}`); + console.log("=".repeat(70)); + console.log(TABLE_HEADERS.map((h, i) => h.padEnd(TABLE_WIDTHS[i])).join(" ")); + console.log("-".repeat(70)); +} + +function printTableRow(r: AdapterResults) { + const row = [ + r.adapter, + r.initTime.toFixed(2), + r.totalTime.toFixed(2), + r.totalDistance.toString(), + `${r.successfulRoutes}/${r.totalRoutes}`, + ]; + console.log(row.map((c, i) => c.padEnd(TABLE_WIDTHS[i])).join(" ")); +} + +function printTableFooter() { + console.log("-".repeat(70)); +} + +function printUsage() { + console.log(` +Usage: + npx tsx tests/pathfinding/benchmark/compare.ts + npx tsx tests/pathfinding/benchmark/compare.ts --synthetic + +Arguments: + Name of the scenario (default: "default") + Comma-separated list of adapters to compare (e.g., "hpa,a.baseline") + +Examples: + npx tsx tests/pathfinding/benchmark/compare.ts default hpa,a.baseline + npx tsx tests/pathfinding/benchmark/compare.ts --synthetic giantworldmap hpa,hpa.cached,a.full + +Available adapters: + a.baseline - A* on minimap (inlined) + a.generic - A* on minimap (adapter) + a.full - A* on full map + hpa - Hierarchical pathfinding (no cache) + hpa.cached - Hierarchical pathfinding (with cache) +`); +} + +async function main() { + const args = process.argv.slice(2); + + if (args.includes("--help") || args.includes("-h")) { + printUsage(); + process.exit(0); + } + + const isSynthetic = args.includes("--synthetic"); + const nonFlagArgs = args.filter((arg) => !arg.startsWith("--")); + + if (nonFlagArgs.length < 2) { + console.error("Error: requires and arguments"); + printUsage(); + process.exit(1); + } + + const scenarioArg = nonFlagArgs[0]; + const adaptersArg = nonFlagArgs[1]; + const adapters = adaptersArg.split(",").map((a) => a.trim()); + + if (adapters.length < 1) { + console.error("Error: at least one adapter required"); + process.exit(1); + } + + const scenarioName = isSynthetic ? `synthetic/${scenarioArg}` : scenarioArg; + + console.log( + `Comparing ${adapters.length} adapters on scenario: ${scenarioName}`, + ); + console.log(`Adapters: ${adapters.join(", ")}`); + console.log(""); + + printTableHeader(scenarioName); + + for (const adapter of adapters) { + try { + const result = await runBenchmark(scenarioName, adapter); + printTableRow(result); + } catch (error) { + console.log(`${adapter.padEnd(TABLE_WIDTHS[0])} FAILED: ${error}`); + } + } + + printTableFooter(); +} + +main().catch((error) => { + console.error("Fatal error:", error); + process.exit(1); +}); diff --git a/tests/pathfinding/playground/api/maps.ts b/tests/pathfinding/playground/api/maps.ts index 7d1776931..4bafc6fed 100644 --- a/tests/pathfinding/playground/api/maps.ts +++ b/tests/pathfinding/playground/api/maps.ts @@ -2,10 +2,13 @@ import { readdirSync, readFileSync } from "fs"; import { dirname, join } from "path"; import { fileURLToPath } from "url"; import { Game } from "../../../../src/core/game/Game.js"; -import { TileRef } from "../../../../src/core/game/GameMap.js"; -import { NavMesh } from "../../../../src/core/pathfinding/navmesh/NavMesh.js"; +import { AStarWaterHierarchical } from "../../../../src/core/pathfinding/algorithms/AStar.WaterHierarchical.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"]; + export interface MapInfo { name: string; displayName: string; @@ -13,7 +16,7 @@ export interface MapInfo { export interface MapCache { game: Game; - navMesh: NavMesh; + hpaStar: AStarWaterHierarchical; } const cache = new Map(); @@ -114,13 +117,20 @@ export async function loadMap(mapName: string): Promise { const mapsDir = getMapsDirectory(); // Use the existing setupFromPath utility to load the map - const game = await setupFromPath(mapsDir, mapName); + 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}`); + } - // Initialize NavMesh - const navMesh = new NavMesh(game, { cachePaths: config.cachePaths }); - navMesh.initialize(); + // Initialize AStarWaterHierarchical with minimap and graph + const hpaStar = new AStarWaterHierarchical(game.miniMap(), graph, { + cachePaths: config.cachePaths, + }); - const cacheEntry: MapCache = { game, navMesh }; + const cacheEntry: MapCache = { game, hpaStar }; // Store in cache cache.set(mapName, cacheEntry); @@ -132,7 +142,7 @@ export async function loadMap(mapName: string): Promise { * Get map metadata for client */ export async function getMapMetadata(mapName: string) { - const { game, navMesh } = await loadMap(mapName); + const { game, hpaStar } = await loadMap(mapName); // Extract map data const mapData: number[] = []; @@ -143,65 +153,48 @@ export async function getMapMetadata(mapName: string) { } } - // Extract static graph data from NavMesh + // Extract static graph data from GameMapHPAStar + // Access internal graph via type casting (test code only) + const graph = (hpaStar as any).graph; const miniMap = game.miniMap(); - const navMeshGraph = (navMesh as any).graph; - - // Convert gateways from Map to array - const gatewaysArray = Array.from(navMeshGraph.gateways.values()); - const allGateways = gatewaysArray.map((gw: any) => ({ - id: gw.id, - x: miniMap.x(gw.tile), - y: miniMap.y(gw.tile), - })); - // Create a lookup map from gateway ID to gateway for edge conversion - const gatewayById = new Map(gatewaysArray.map((gw: any) => [gw.id, gw])); - - // Convert edges from Map to flat array - // The edges Map has gateway IDs as keys, and arrays of edges as values - const allEdges: any[] = []; - for (const edgeArray of navMeshGraph.edges.values()) { - allEdges.push(...edgeArray); - } + // 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), + })); - // Deduplicate edges (they're bidirectional, so each edge appears twice) - const seenEdges = new Set(); - const edges = allEdges - .filter((edge: any) => { - const edgeKey = - edge.from < edge.to - ? `${edge.from}-${edge.to}` - : `${edge.to}-${edge.from}`; - if (seenEdges.has(edgeKey)) return false; - seenEdges.add(edgeKey); - return true; - }) - .map((edge: any) => { - const fromGateway = gatewayById.get(edge.from); - const toGateway = gatewayById.get(edge.to); - - return { - fromId: edge.from, - toId: edge.to, - from: fromGateway - ? [miniMap.x(fromGateway.tile) * 2, miniMap.y(fromGateway.tile) * 2] - : [0, 0], - to: toGateway - ? [miniMap.x(toGateway.tile) * 2, miniMap.y(toGateway.tile) * 2] - : [0, 0], - cost: edge.cost, - path: edge.path - ? edge.path.map((tile: TileRef) => [game.x(tile), game.y(tile)]) - : null, - }; + // Convert edges to client format + const 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; + + 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}: ${allGateways.length} gateways, ${edges.length} edges`, + `Map ${mapName}: ${allNodes.length} nodes, ${edges.length} edges`, ); - const sectorSize = navMeshGraph.sectorSize; + const clusterSize = graph.clusterSize; return { name: mapName, @@ -209,10 +202,11 @@ export async function getMapMetadata(mapName: string) { height: game.height(), mapData, graphDebug: { - allGateways, + allNodes, edges, - sectorSize, + clusterSize, }, + adapters: COMPARISON_ADAPTERS, }; } diff --git a/tests/pathfinding/playground/api/pathfinding.ts b/tests/pathfinding/playground/api/pathfinding.ts index 102e83310..9cc69aa53 100644 --- a/tests/pathfinding/playground/api/pathfinding.ts +++ b/tests/pathfinding/playground/api/pathfinding.ts @@ -1,39 +1,64 @@ import { TileRef } from "../../../../src/core/game/GameMap.js"; -import { MiniAStarAdapter } from "../../../../src/core/pathfinding/adapters/MiniAStarAdapter.js"; -import { loadMap } from "./maps.js"; - -interface PathfindingOptions { - includePfMini?: boolean; - includeNavMesh?: boolean; -} - -interface NavMeshResult { +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 { getAdapter } from "../../utils.js"; +import { COMPARISON_ADAPTERS, loadMap } from "./maps.js"; + +// Primary result with debug info +interface PrimaryResult { path: Array<[number, number]> | null; - initialPath: Array<[number, number]> | null; - gateways: Array<[number, number]> | null; - timings: any; length: number; time: number; + debug: { + nodePath: Array<[number, number]> | null; + initialPath: Array<[number, number]> | null; + timings: Record; + }; } -interface PfMiniResult { +// Comparison result (path + timing only) +interface ComparisonResult { + adapter: string; path: Array<[number, number]> | null; length: number; time: number; } -// Cache pathfinding adapters per map -const pfMiniCache = new Map(); +export interface PathfindResult { + primary: PrimaryResult; + comparisons: ComparisonResult[]; +} + +// Cache adapters per map +const adapterCache = new Map< + string, + Map> +>(); /** - * Get or create MiniAStar adapter for a map + * Get or create an adapter for a map */ -function getPfMiniAdapter(mapName: string, game: any): MiniAStarAdapter { - if (!pfMiniCache.has(mapName)) { - const adapter = new MiniAStarAdapter(game, { waterPath: true }); - pfMiniCache.set(mapName, adapter); +function getOrCreateAdapter( + mapName: string, + adapterName: string, + game: any, +): SteppingPathFinder { + if (!adapterCache.has(mapName)) { + adapterCache.set(mapName, new Map()); } - return pfMiniCache.get(mapName)!; + const mapAdapters = adapterCache.get(mapName)!; + + if (!mapAdapters.has(adapterName)) { + mapAdapters.set(adapterName, getAdapter(game, adapterName)); + } + return mapAdapters.get(adapterName)!; } /** @@ -48,78 +73,124 @@ function pathToCoords( } /** - * Compute pathfinding between two points + * Build the full transformer chain like PathFinding.Water() does */ -export async function computePath( - mapName: string, - from: [number, number], - to: [number, number], - options: PathfindingOptions = {}, -): Promise { - const { game, navMesh: navMeshAdapter } = await loadMap(mapName); +function buildWrappedPathFinder( + hpaStar: AStarWaterHierarchical, + game: any, + graph: any, +): PathFinder { + const miniMap = game.miniMap(); + const componentCheckFn = (t: TileRef) => graph.getComponentId(t); + + // 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); + + return withMiniMap; +} - // Convert coordinates to TileRefs - const fromRef = game.ref(from[0], from[1]); - const toRef = game.ref(to[0], to[1]); +/** + * Compute primary path using AStarWaterHierarchical with debug info + * Uses the same transformer chain as PathFinding.Water() + */ +function computePrimaryPath( + hpaStar: AStarWaterHierarchical, + game: any, + graph: any, + fromRef: TileRef, + toRef: TileRef, +): PrimaryResult { + const miniMap = game.miniMap(); - // Validate that both points are water tiles - if (!game.isWater(fromRef)) { - throw new Error(`Start point (${from[0]}, ${from[1]}) is not water`); - } - if (!game.isWater(toRef)) { - throw new Error(`End point (${to[0]}, ${to[1]}) is not water`); - } + // Build wrapped pathfinder with all transformers + const wrappedPf = buildWrappedPathFinder(hpaStar, game, graph); - // Compute NavMesh path - const navMeshPath = navMeshAdapter.findPath(fromRef, toRef, true); - const path = pathToCoords(navMeshPath, game); + // Enable debug mode to capture internal state + hpaStar.debugMode = true; - const miniMap = game.miniMap(); + const start = performance.now(); + const path = wrappedPf.findPath(fromRef, toRef); + const time = performance.now() - start; - // Extract debug info - let gateways: Array<[number, number]> | null = null; - let initialPath: Array<[number, number]> | null = null; - let timings: any = {}; - - if (navMeshAdapter.debugInfo) { - // Convert gatewayPath (TileRefs on miniMap) to full map coordinates - if (navMeshAdapter.debugInfo.gatewayPath) { - gateways = navMeshAdapter.debugInfo.gatewayPath.map((tile: TileRef) => { - const x = miniMap.x(tile) * 2; - const y = miniMap.y(tile) * 2; - return [x, y] as [number, number]; - }); - } + const debugInfo = hpaStar.debugInfo; - // Convert initial path - if (navMeshAdapter.debugInfo.initialPath) { - initialPath = navMeshAdapter.debugInfo.initialPath.map( - (tile: TileRef) => [game.x(tile), game.y(tile)] as [number, number], - ); - } + // 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 x = miniMap.x(tile) * 2; + const y = miniMap.y(tile) * 2; + return [x, y] as [number, number]; + }); + } - timings = navMeshAdapter.debugInfo.timings || {}; + // 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 x = miniMap.x(tile) * 2; + const y = miniMap.y(tile) * 2; + return [x, y] as [number, number]; + }); } return { - path, - initialPath, - gateways, - timings, + path: pathToCoords(path, game), + length: path ? path.length : 0, + time, + debug: { + nodePath, + initialPath, + timings: debugInfo?.timings ?? {}, + }, + }; +} + +/** + * Compute comparison path using adapter + */ +function computeComparisonPath( + adapter: SteppingPathFinder, + game: any, + fromRef: TileRef, + toRef: TileRef, + adapterName: string, +): ComparisonResult { + const start = performance.now(); + const path = adapter.findPath(fromRef, toRef); + const time = performance.now() - start; + + return { + adapter: adapterName, + path: pathToCoords(path, game), length: path ? path.length : 0, - time: timings.total ?? 0, + time, }; } /** - * Compute only PathFinder.Mini path + * Compute pathfinding between two points */ -export async function computePfMiniPath( +export async function computePath( mapName: string, from: [number, number], to: [number, number], -): Promise { - const { game } = await loadMap(mapName); + options: { adapters?: string[] } = {}, +): Promise { + const { game, hpaStar } = await loadMap(mapName); + const graph = game.miniWaterGraph(); // Convert coordinates to TileRefs const fromRef = game.ref(from[0], from[1]); @@ -133,25 +204,46 @@ export async function computePfMiniPath( throw new Error(`End point (${to[0]}, ${to[1]}) is not water`); } - // Compute PathFinder.Mini path - const pfMiniAdapter = getPfMiniAdapter(mapName, game); - const pfMiniStart = performance.now(); - const pfMiniPath = pfMiniAdapter.findPath(fromRef, toRef); - const pfMiniEnd = performance.now(); + // Compute primary path (HPA* with debug) + const primary = computePrimaryPath(hpaStar, game, graph, fromRef, toRef); - const path = pathToCoords(pfMiniPath, game); - const time = pfMiniEnd - pfMiniStart; + // Compute comparison paths + const selectedAdapters = options.adapters ?? COMPARISON_ADAPTERS; + const comparisons: ComparisonResult[] = []; - return { - path, - length: path ? path.length : 0, - time, - }; + for (const adapterName of selectedAdapters) { + if (!COMPARISON_ADAPTERS.includes(adapterName)) { + console.warn(`Unknown adapter: ${adapterName}, skipping`); + continue; + } + + try { + const adapter = getOrCreateAdapter(mapName, adapterName, game); + const result = computeComparisonPath( + adapter, + game, + fromRef, + toRef, + adapterName, + ); + comparisons.push(result); + } catch (error) { + console.error(`Error with adapter ${adapterName}:`, error); + comparisons.push({ + adapter: adapterName, + path: null, + length: 0, + time: 0, + }); + } + } + + return { primary, comparisons }; } /** * Clear pathfinding adapter caches */ export function clearAdapterCaches() { - pfMiniCache.clear(); + adapterCache.clear(); } diff --git a/tests/pathfinding/playground/public/client.js b/tests/pathfinding/playground/public/client.js index 48a222786..8c9d68d8e 100644 --- a/tests/pathfinding/playground/public/client.js +++ b/tests/pathfinding/playground/public/client.js @@ -6,19 +6,26 @@ const state = { mapHeight: 0, startPoint: null, endPoint: null, - navMeshPath: null, - navMeshResult: null, // Store full NavMesh result including timing - pfMiniPath: null, - pfMiniResult: null, // Store full PF.Mini result including timing - graphDebug: null, // Static graph data (gateways, edges, sectorSize) - loaded once per map - debugInfo: null, // Per-path debug data (timings, gatewayWaypoints, initialPath) + hpaPath: null, + hpaResult: null, // Store full HPA* result including timing + comparisons: [], // Array of comparison results + visibleComparisons: new Set(), // Which comparison paths are visible + adapters: [], // Available comparison adapters (loaded from backend) + graphDebug: null, // Static graph data (allNodes, edges, clusterSize) - loaded once per map + debugInfo: null, // Per-path debug data (timings, nodePath, initialPath) isMapLoading: false, // Loading state for map switching - isNavMeshLoading: false, // Separate loading state for NavMesh - isPfMiniLoading: false, // Separate loading state for PF.Mini - showPfMini: false, + isHpaLoading: false, // Separate loading state for HPA* activeRefreshButton: null, // Track which refresh button is spinning }; +// Colors for comparison paths +const COMPARISON_COLORS = { + hpa: "#ff8800", // orange + "a.baseline": "#ff00ff", // magenta + "a.generic": "#88ff00", // lime + "a.full": "#ffff00", // yellow +}; + // Canvas state let zoomLevel = 1.0; let panX = 0; @@ -32,7 +39,7 @@ let dragStartPanY = 0; let mapCanvas, overlayCanvas, interactiveCanvas; let mapCtx, overlayCtx, interactiveCtx; let mapRendered = false; -let hoveredGateway = null; +let hoveredNode = null; let hoveredPoint = null; // 'start', 'end', or null let draggingPoint = null; // 'start', 'end', or null let draggingPointPosition = null; // [x, y] canvas position while dragging @@ -147,21 +154,8 @@ function initializeControls() { } }); - // PF.Mini request button - document.getElementById("requestPfMini").addEventListener("click", () => { - if ( - state.startPoint && - state.endPoint && - !state.pfMiniPath && - !state.isPfMiniLoading - ) { - state.showPfMini = true; - requestPfMiniOnly(state.startPoint, state.endPoint); - } - }); - - // Refresh NavMesh button - document.getElementById("refreshNavMesh").addEventListener("click", (e) => { + // Refresh HPA* button + document.getElementById("refreshHpa").addEventListener("click", (e) => { if (state.startPoint && state.endPoint) { const btn = e.currentTarget; btn.classList.add("spinning"); @@ -170,22 +164,12 @@ function initializeControls() { } }); - // Refresh PF.Mini button - document.getElementById("refreshPfMini").addEventListener("click", (e) => { - if (state.startPoint && state.endPoint && state.pfMiniPath) { - const btn = e.currentTarget; - btn.classList.add("spinning"); - state.activeRefreshButton = btn; - requestPfMiniOnly(state.startPoint, state.endPoint); - } - }); - // Visualization toggles - all buttons [ "showInitialPath", - "showUsedGateways", + "showUsedNodes", "showColoredMap", - "showGateways", + "showNodes", "showSectorGrid", "showEdges", ].forEach((id) => { @@ -197,11 +181,11 @@ function initializeControls() { if (id === "showColoredMap") { renderMapBackground(2); } - // Static overlays (sectors, edges, all gateways) go on overlay canvas - if (["showGateways", "showSectorGrid", "showEdges"].includes(id)) { + // Static overlays (sectors, edges, all nodes) go on overlay canvas + if (["showNodes", "showSectorGrid", "showEdges"].includes(id)) { renderOverlay(2); } - // Dynamic elements (paths, highlighted gateways) go on interactive canvas + // Dynamic elements (paths, highlighted nodes) go on interactive canvas renderInteractive(); }); }); @@ -258,7 +242,8 @@ function schedulePathRecalc() { // Enough time has passed, request immediately lastPathRecalcTime = now; if (state.startPoint && state.endPoint) { - requestPathfinding(state.startPoint, state.endPoint); + // Skip comparisons during drag for snappy feel + requestPathfinding(state.startPoint, state.endPoint, true); } } // If not enough time has passed, skip this call (throttle) @@ -281,11 +266,6 @@ function initializeDragControls() { // Start dragging the point draggingPoint = pointAtMouse; wrapper.style.cursor = "move"; - - // Invalidate PF.Mini path since we're changing the route - state.pfMiniPath = null; - state.pfMiniResult = null; - updatePfMiniButton(); } else { // Start panning the map isDragging = true; @@ -355,57 +335,53 @@ function initializeDragControls() { wrapper.style.cursor = hoveredPoint ? "move" : "grab"; } - // Check for gateway hover (only if gateway visualization is enabled) - const showGateways = - document.getElementById("showGateways").dataset.active === "true"; - const showUsedGateways = - document.getElementById("showUsedGateways").dataset.active === "true"; + // Check for node hover (only if node visualization is enabled) + const showNodes = + document.getElementById("showNodes").dataset.active === "true"; + const showUsedNodes = + document.getElementById("showUsedNodes").dataset.active === "true"; if ( - (showGateways || showUsedGateways) && + (showNodes || showUsedNodes) && state.graphDebug && - state.graphDebug.allGateways + state.graphDebug.allNodes ) { - // Filter gateways based on what's visible - let gatewaysToCheck = state.graphDebug.allGateways; + // Filter nodes based on what's visible + let nodesToCheck = state.graphDebug.allNodes; if ( - showUsedGateways && - !showGateways && + showUsedNodes && + !showNodes && state.debugInfo && - state.debugInfo.gatewayWaypoints + state.debugInfo.nodePath ) { - // Only show tooltips for used gateways - // gatewayWaypoints are coordinates [x, y] matching the map format - const usedGatewayCoords = new Set( - state.debugInfo.gatewayWaypoints.map(([x, y]) => `${x},${y}`), + // Only show tooltips for used nodes + // nodePath are coordinates [x, y] matching the map format + const usedNodeCoords = new Set( + state.debugInfo.nodePath.map(([x, y]) => `${x},${y}`), ); - gatewaysToCheck = state.graphDebug.allGateways.filter((gw) => - usedGatewayCoords.has(`${gw.x * 2},${gw.y * 2}`), + nodesToCheck = state.graphDebug.allNodes.filter((node) => + usedNodeCoords.has(`${node.x * 2},${node.y * 2}`), ); } - const foundGateway = findGatewayAtPosition( - canvasX, - canvasY, - gatewaysToCheck, - ); + const foundNode = findNodeAtPosition(canvasX, canvasY, nodesToCheck); - if (foundGateway !== hoveredGateway) { - hoveredGateway = foundGateway; - if (hoveredGateway) { - showGatewayTooltip(hoveredGateway, e.clientX, e.clientY); + if (foundNode !== hoveredNode) { + hoveredNode = foundNode; + if (hoveredNode) { + showNodeTooltip(hoveredNode, e.clientX, e.clientY); } else { tooltip.classList.remove("visible"); } renderInteractive(); - } else if (hoveredGateway) { + } else if (hoveredNode) { tooltip.style.left = e.clientX + 15 + "px"; tooltip.style.top = e.clientY + 15 + "px"; } } else { - // No gateway visualization enabled, clear any existing tooltip - if (hoveredGateway) { - hoveredGateway = null; + // No node visualization enabled, clear any existing tooltip + if (hoveredNode) { + hoveredNode = null; tooltip.classList.remove("visible"); renderInteractive(); } @@ -451,8 +427,8 @@ function initializeDragControls() { tooltip.classList.remove("visible"); wrapper.style.cursor = "grab"; - const needsRender = hoveredGateway || hoveredPoint; - hoveredGateway = null; + const needsRender = hoveredNode || hoveredPoint; + hoveredNode = null; hoveredPoint = null; if (needsRender) { @@ -485,19 +461,12 @@ function initializeDragControls() { // Initialize timings panel to default state function initializeTimingsPanel() { // Set initial state to match "no path" state - updateTimingsPanel({ navMesh: null, pfMini: null }); - updatePfMiniButton(); + updateTimingsPanel({ primary: null, comparisons: [] }); } // Handle map clicks for point selection function handleMapClick(e) { - if ( - !state.currentMap || - state.isMapLoading || - state.isNavMeshLoading || - state.isPfMiniLoading - ) - return; + if (!state.currentMap || state.isMapLoading || state.isHpaLoading) return; const wrapper = document.getElementById("canvasWrapper"); const rect = wrapper.getBoundingClientRect(); @@ -555,15 +524,12 @@ function handleMapClick(e) { function clearPoints() { state.startPoint = null; state.endPoint = null; - state.navMeshPath = null; - state.navMeshResult = null; - state.pfMiniPath = null; - state.pfMiniResult = null; + state.hpaPath = null; + state.hpaResult = null; + state.comparisons = []; state.debugInfo = null; - state.showPfMini = false; updatePointDisplay(); hidePathInfo(); - updatePfMiniButton(); updateURLState(); // Remove points from URL renderInteractive(); } @@ -682,19 +648,17 @@ async function switchMap(mapName, restorePointsFromURL = false) { state.mapHeight = data.height; state.mapData = data.mapData; state.graphDebug = data.graphDebug; // Store static graph debug data + state.adapters = data.adapters || []; // Store available comparison adapters // Clear paths (but don't update URL yet if we're restoring from URL) state.startPoint = null; state.endPoint = null; - state.navMeshPath = null; - state.navMeshResult = null; - state.pfMiniPath = null; - state.pfMiniResult = null; + state.hpaPath = null; + state.hpaResult = null; + state.comparisons = []; state.debugInfo = null; - state.showPfMini = false; updatePointDisplay(); hidePathInfo(); - updatePfMiniButton(); // Size canvases mapCanvas.width = state.mapWidth * 2; @@ -779,20 +743,26 @@ function hideWelcomeScreen() { document.getElementById("welcomeScreen").classList.add("hidden"); } -// Request pathfinding computation (NavMesh only) -async function requestPathfinding(from, to) { +// Request pathfinding computation (HPA* primary + comparisons) +async function requestPathfinding(from, to, skipComparisons = false) { setStatus("Computing path...", true); - state.isNavMeshLoading = true; + state.isHpaLoading = true; try { + const body = { + map: state.currentMap, + from, + to, + }; + // Skip comparisons during drag for snappy feel + if (skipComparisons) { + body.adapters = []; + } + const response = await fetch("/api/pathfind", { method: "POST", headers: { "Content-Type": "application/json" }, - body: JSON.stringify({ - map: state.currentMap, - from, - to, - }), + body: JSON.stringify(body), }); if (!response.ok) { @@ -802,151 +772,70 @@ async function requestPathfinding(from, to) { const result = await response.json(); - // Update state - state.navMeshPath = result.path; - state.navMeshResult = result; // Store full result for later use - // Don't reset pfMiniPath - preserve it across NavMesh refreshes + // Update state with new API format + state.hpaPath = result.primary.path; + state.hpaResult = result.primary; + state.comparisons = result.comparisons; state.debugInfo = { - initialPath: result.initialPath, - gatewayWaypoints: result.gateways, - timings: result.timings, + initialPath: result.primary.debug.initialPath, + nodePath: result.primary.debug.nodePath, + timings: result.primary.debug.timings, }; - // Update UI - preserve existing PF.Mini if it exists - updatePathInfo({ navMesh: result, pfMini: state.pfMiniResult }); + // Update UI + updatePathInfo(result); renderInteractive(); setStatus("Path computed successfully"); } catch (error) { showError(`Pathfinding failed: ${error.message}`); } finally { - state.isNavMeshLoading = false; - // Stop refresh button spinning - if (state.activeRefreshButton) { - state.activeRefreshButton.classList.remove("spinning"); - state.activeRefreshButton = null; - } - } -} - -// Request PF.Mini computation only (without re-computing NavMesh) -async function requestPfMiniOnly(from, to) { - setStatus("Computing PF.Mini path...", true); - state.isPfMiniLoading = true; - updatePfMiniButton(); // Update button to show loading state - - try { - const response = await fetch("/api/pathfind-pfmini", { - method: "POST", - headers: { "Content-Type": "application/json" }, - body: JSON.stringify({ - map: state.currentMap, - from, - to, - }), - }); - - if (!response.ok) { - const error = await response.json(); - throw new Error(error.message || "Pathfinding failed"); - } - - const result = await response.json(); - - // Update only PF.Mini path (preserve existing NavMesh path and debug info) - state.pfMiniPath = result.path; - state.pfMiniResult = result; // Store full result - - // Update UI (preserve existing NavMesh result) - updatePathInfo({ navMesh: state.navMeshResult, pfMini: result }); - renderInteractive(); - - setStatus("PF.Mini path computed successfully"); - } catch (error) { - showError(`PF.Mini pathfinding failed: ${error.message}`); - } finally { - state.isPfMiniLoading = false; + state.isHpaLoading = false; // Stop refresh button spinning if (state.activeRefreshButton) { state.activeRefreshButton.classList.remove("spinning"); state.activeRefreshButton = null; } - // Update button state - updatePfMiniButton(); } } // Update point display function updatePointDisplay() { - updatePfMiniButton(); -} - -// Update PF.Mini button state -function updatePfMiniButton() { - const button = document.getElementById("requestPfMini"); - const requestSection = document.getElementById("pfMiniRequestSection"); - - if (state.pfMiniPath) { - // Hide button when PF.Mini is already computed - requestSection.style.display = "none"; - } else if (state.isPfMiniLoading && !state.activeRefreshButton) { - // Show loading spinner when computing PF.Mini (not a refresh) - requestSection.style.display = "block"; - button.disabled = true; - button.innerHTML = 'Computing... '; - } else if (state.startPoint && state.endPoint && state.navMeshPath) { - // Show and enable button when points are set and NavMesh path exists - requestSection.style.display = "block"; - button.disabled = false; - button.textContent = "Request PathFinder.Mini"; - } else { - // Show but disable button when points aren't set - requestSection.style.display = "block"; - button.disabled = true; - button.textContent = "Request PathFinder.Mini"; - } + // No-op now, kept for compatibility } // Update path info in UI function updatePathInfo(result) { - // Update PF.Mini legend visibility - if (result.pfMini) { - document.getElementById("pfMiniLegend").style.display = "flex"; - } else { - document.getElementById("pfMiniLegend").style.display = "none"; - } - // Update timings panel updateTimingsPanel(result); - - // Update PF.Mini button - updatePfMiniButton(); } // Update the dedicated timings panel function updateTimingsPanel(result) { - const navMesh = result.navMesh; + const primary = result.primary; + const timings = primary && primary.debug ? primary.debug.timings : {}; - // Show NavMesh time and path length (or 0.00 in light gray if no data) - const navMeshTimeEl = document.getElementById("navMeshTime"); - if (navMesh && navMesh.time > 0) { - navMeshTimeEl.textContent = `${navMesh.time.toFixed(2)}ms`; - navMeshTimeEl.classList.remove("faded"); + // 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 { - navMeshTimeEl.textContent = "0.00ms"; - navMeshTimeEl.classList.add("faded"); + hpaTimeEl.textContent = "0.00ms"; + hpaTimeEl.classList.add("faded"); } - const navMeshTilesEl = document.getElementById("navMeshTiles"); - if (navMesh && navMesh.length > 0) { - navMeshTilesEl.textContent = `- ${navMesh.length} tiles`; + const hpaTilesEl = document.getElementById("hpaTiles"); + if (primary && primary.length > 0) { + hpaTilesEl.textContent = `- ${primary.length} tiles`; } else { - navMeshTilesEl.textContent = ""; + hpaTilesEl.textContent = ""; } // Show timing breakdown - always visible with gray dashes when no data - const timings = navMesh && navMesh.timings ? navMesh.timings : {}; - // Early Exit const earlyExitEl = document.getElementById("timingEarlyExit"); const earlyExitValueEl = document.getElementById("timingEarlyExitValue"); @@ -959,30 +848,30 @@ function updateTimingsPanel(result) { earlyExitValueEl.style.color = "#666"; } - // Find Gateways - const findGatewaysEl = document.getElementById("timingFindGateways"); - const findGatewaysValueEl = document.getElementById( - "timingFindGatewaysValue", - ); - findGatewaysEl.style.display = "flex"; - if (timings.findGateways !== undefined) { - findGatewaysValueEl.textContent = `${timings.findGateways.toFixed(2)}ms`; - findGatewaysValueEl.style.color = "#f5f5f5"; + // Find Nodes + const findNodesEl = document.getElementById("timingFindNodes"); + const findNodesValueEl = document.getElementById("timingFindNodesValue"); + findNodesEl.style.display = "flex"; + if (timings.findNodes !== undefined) { + findNodesValueEl.textContent = `${timings.findNodes.toFixed(2)}ms`; + findNodesValueEl.style.color = "#f5f5f5"; } else { - findGatewaysValueEl.textContent = "—"; - findGatewaysValueEl.style.color = "#666"; + findNodesValueEl.textContent = "—"; + findNodesValueEl.style.color = "#666"; } - // Gateway Path - const gatewayPathEl = document.getElementById("timingGatewayPath"); - const gatewayPathValueEl = document.getElementById("timingGatewayPathValue"); - gatewayPathEl.style.display = "flex"; - if (timings.findGatewayPath !== undefined) { - gatewayPathValueEl.textContent = `${timings.findGatewayPath.toFixed(2)}ms`; - gatewayPathValueEl.style.color = "#f5f5f5"; + // Abstract Path + const abstractPathEl = document.getElementById("timingAbstractPath"); + const abstractPathValueEl = document.getElementById( + "timingAbstractPathValue", + ); + abstractPathEl.style.display = "flex"; + if (timings.findAbstractPath !== undefined) { + abstractPathValueEl.textContent = `${timings.findAbstractPath.toFixed(2)}ms`; + abstractPathValueEl.style.color = "#f5f5f5"; } else { - gatewayPathValueEl.textContent = "—"; - gatewayPathValueEl.style.color = "#666"; + abstractPathValueEl.textContent = "—"; + abstractPathValueEl.style.color = "#666"; } // Initial Path @@ -997,55 +886,90 @@ function updateTimingsPanel(result) { initialPathValueEl.style.color = "#666"; } - // Smooth Path - const smoothPathEl = document.getElementById("timingSmoothPath"); - const smoothPathValueEl = document.getElementById("timingSmoothPathValue"); - smoothPathEl.style.display = "flex"; - if (timings.buildSmoothPath !== undefined) { - smoothPathValueEl.textContent = `${timings.buildSmoothPath.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"); + + // Only show comparisons section if we have adapters loaded + if (!state.adapters || state.adapters.length === 0) { + comparisonsSection.style.display = "none"; + return; } + comparisonsSection.style.display = "block"; - // Show PF.Mini time and speedup if available - if (result.pfMini && result.pfMini.time > 0) { - const pfMiniTimeEl = document.getElementById("pfMiniTime"); - pfMiniTimeEl.textContent = `${result.pfMini.time.toFixed(2)}ms`; - pfMiniTimeEl.classList.remove("faded"); - - document.getElementById("pfMiniTiles").textContent = - `- ${result.pfMini.length} tiles`; - document.getElementById("pfMiniTimingSection").style.display = "block"; - - // Calculate and show speedup - if (navMesh && navMesh.time > 0) { - const speedup = result.pfMini.time / navMesh.time; - document.getElementById("speedupValue").textContent = - `${speedup.toFixed(1)}x`; - document.getElementById("speedupSection").style.display = "block"; - } else { - document.getElementById("speedupSection").style.display = "none"; + // Build lookup map for comparison data + const compMap = {}; + if (result.comparisons) { + for (const comp of result.comparisons) { + compMap[comp.adapter] = comp; } - } else if (result.pfMini) { - // PF.Mini exists but time is 0 - const pfMiniTimeEl = document.getElementById("pfMiniTime"); - pfMiniTimeEl.textContent = "—"; - pfMiniTimeEl.classList.add("faded"); - document.getElementById("pfMiniTiles").textContent = ""; - document.getElementById("pfMiniTimingSection").style.display = "block"; - document.getElementById("speedupSection").style.display = "none"; + } + + // Find fastest time overall (including HPA*) when we have data + const compTimes = result.comparisons + ? result.comparisons.map((c) => c.time).filter((t) => t > 0) + : []; + const fastestCompTime = + compTimes.length > 0 ? Math.min(...compTimes) : Infinity; + + // Update HPA* time color - green if fastest, red if slower than any comparison + const hpaIsFastest = hpaTime > 0 && hpaTime <= fastestCompTime; + const hpaSlower = hpaTime > 0 && fastestCompTime < hpaTime; + const fastestTime = Math.min(hpaTime || Infinity, fastestCompTime); + + if (hpaIsFastest) { + hpaTimeEl.style.color = "#00ff88"; + } else if (hpaSlower) { + hpaTimeEl.style.color = "#ff6666"; } else { - document.getElementById("pfMiniTimingSection").style.display = "none"; - document.getElementById("speedupSection").style.display = "none"; + hpaTimeEl.style.color = "#f5f5f5"; + } + + // Build comparison rows for all known adapters + let html = ""; + for (const adapter of state.adapters) { + const comp = compMap[adapter]; + const pathColor = COMPARISON_COLORS[adapter] || "#ffffff"; + const isActive = state.visibleComparisons.has(adapter); + + // Show actual values or placeholders + const hasData = comp && comp.time > 0; + const isFastest = hasData && comp.time === fastestTime; + const timeColor = isFastest ? "#00ff88" : hasData ? "#f5f5f5" : "#666"; + const tilesText = hasData ? comp.length : "—"; + const timeText = hasData ? `${comp.time.toFixed(2)}ms` : "—"; + + html += ` +
+ + ${adapter} + ${tilesText} + ${timeText} +
+ `; } + comparisonsContainer.innerHTML = html; + + // Add click handlers to toggle path visibility + comparisonsContainer.querySelectorAll(".comparison-row").forEach((row) => { + row.addEventListener("click", () => { + const adapter = row.dataset.adapter; + if (state.visibleComparisons.has(adapter)) { + state.visibleComparisons.delete(adapter); + row.classList.remove("active"); + } else { + state.visibleComparisons.add(adapter); + row.classList.add("active"); + } + renderInteractive(); + }); + }); } // Reset path info to show dashes function hidePathInfo() { // Don't hide the panel, just reset to show dashes - updateTimingsPanel({ navMesh: null, pfMini: null }); + updateTimingsPanel({ primary: null, comparisons: [] }); } // Set status message @@ -1132,7 +1056,7 @@ function renderMapBackground(scale) { mapCtx.putImageData(imageData, 0, 0); } -// Render static debug overlays (sectors, edges, all gateways) at map scale +// Render static debug overlays (clusters, edges, all nodes) at map scale function renderOverlay(scale) { overlayCtx.clearRect(0, 0, overlayCanvas.width, overlayCanvas.height); @@ -1142,19 +1066,19 @@ function renderOverlay(scale) { document.getElementById("showSectorGrid").dataset.active === "true"; const showEdges = document.getElementById("showEdges").dataset.active === "true"; - const showGateways = - document.getElementById("showGateways").dataset.active === "true"; + const showNodes = + document.getElementById("showNodes").dataset.active === "true"; - // Draw sector grid (sectorSize is in mini map coords, scale 2x for real map) - if (showSectorGrid && state.graphDebug.sectorSize) { - const sectorSize = state.graphDebug.sectorSize * 2; + // Draw cluster grid (clusterSize is in mini map coords, scale 2x for real map) + if (showSectorGrid && state.graphDebug.clusterSize) { + const clusterSize = state.graphDebug.clusterSize * 2; overlayCtx.strokeStyle = "#777777"; overlayCtx.lineWidth = scale * 0.5; overlayCtx.globalAlpha = 0.7; overlayCtx.setLineDash([5 * scale, 5 * scale]); // Vertical lines - for (let x = 0; x <= state.mapWidth; x += sectorSize) { + for (let x = 0; x <= state.mapWidth; x += clusterSize) { overlayCtx.beginPath(); overlayCtx.moveTo(x * scale, 0); overlayCtx.lineTo(x * scale, state.mapHeight * scale); @@ -1162,7 +1086,7 @@ function renderOverlay(scale) { } // Horizontal lines - for (let y = 0; y <= state.mapHeight; y += sectorSize) { + for (let y = 0; y <= state.mapHeight; y += clusterSize) { overlayCtx.beginPath(); overlayCtx.moveTo(0, y * scale); overlayCtx.lineTo(state.mapWidth * scale, y * scale); @@ -1192,17 +1116,17 @@ function renderOverlay(scale) { overlayCtx.globalAlpha = 1.0; } - // Draw all gateways - if (showGateways && state.graphDebug.allGateways) { + // Draw all nodes + if (showNodes && state.graphDebug.allNodes) { overlayCtx.fillStyle = "#aaaaaa"; - const gatewayRadius = scale * 1.5; + const nodeRadius = scale * 1.5; - for (const gw of state.graphDebug.allGateways) { + for (const node of state.graphDebug.allNodes) { overlayCtx.beginPath(); overlayCtx.arc( - (gw.x * 2 + 0.5) * scale, - (gw.y * 2 + 0.5) * scale, - gatewayRadius, + (node.x * 2 + 0.5) * scale, + (node.y * 2 + 0.5) * scale, + nodeRadius, 0, Math.PI * 2, ); @@ -1234,24 +1158,19 @@ function renderInteractive() { const markerSize = Math.max(4, 3 * zoomLevel); // Check what to show - const showUsedGateways = - document.getElementById("showUsedGateways").dataset.active === "true"; + const showUsedNodes = + document.getElementById("showUsedNodes").dataset.active === "true"; const showInitialPath = document.getElementById("showInitialPath").dataset.active === "true"; const showEdges = document.getElementById("showEdges").dataset.active === "true"; - const showGateways = - document.getElementById("showGateways").dataset.active === "true"; + const showNodes = + document.getElementById("showNodes").dataset.active === "true"; - // Draw highlighted edges for hovered gateway only - if ( - hoveredGateway && - showEdges && - state.graphDebug && - state.graphDebug.edges - ) { + // Draw highlighted edges for hovered node only + if (hoveredNode && showEdges && state.graphDebug && state.graphDebug.edges) { const connectedEdges = state.graphDebug.edges.filter( - (e) => e.fromId === hoveredGateway.id || e.toId === hoveredGateway.id, + (e) => e.fromId === hoveredNode.id || e.toId === hoveredNode.id, ); interactiveCtx.strokeStyle = "#00ffaa"; @@ -1270,31 +1189,30 @@ function renderInteractive() { interactiveCtx.globalAlpha = 1.0; } - // Draw highlighted gateways (hovered + connected) only + // Draw highlighted nodes (hovered + connected) only if ( - hoveredGateway && - showGateways && + hoveredNode && + showNodes && state.graphDebug && - state.graphDebug.allGateways + state.graphDebug.allNodes ) { - // Get connected gateways - let connectedGatewayIds = new Set(); + // Get connected nodes + let connectedNodeIds = new Set(); if (state.graphDebug.edges) { const connectedEdges = state.graphDebug.edges.filter( - (e) => e.fromId === hoveredGateway.id || e.toId === hoveredGateway.id, + (e) => e.fromId === hoveredNode.id || e.toId === hoveredNode.id, ); connectedEdges.forEach((edge) => { - if (edge.fromId !== hoveredGateway.id) - connectedGatewayIds.add(edge.fromId); - if (edge.toId !== hoveredGateway.id) connectedGatewayIds.add(edge.toId); + if (edge.fromId !== hoveredNode.id) connectedNodeIds.add(edge.fromId); + if (edge.toId !== hoveredNode.id) connectedNodeIds.add(edge.toId); }); } - // Draw connected gateways - for (const gwId of connectedGatewayIds) { - const gw = state.graphDebug.allGateways.find((g) => g.id === gwId); - if (gw) { - const screen = mapToScreen(gw.x * 2, gw.y * 2); + // Draw connected nodes + for (const nodeId of connectedNodeIds) { + const node = state.graphDebug.allNodes.find((n) => n.id === nodeId); + if (node) { + const screen = mapToScreen(node.x * 2, node.y * 2); interactiveCtx.fillStyle = "#00ff88"; interactiveCtx.strokeStyle = "#ffffff"; interactiveCtx.lineWidth = Math.max(1, zoomLevel * 0.3); @@ -1311,8 +1229,8 @@ function renderInteractive() { } } - // Draw hovered gateway on top - const screen = mapToScreen(hoveredGateway.x * 2, hoveredGateway.y * 2); + // Draw hovered node on top + const screen = mapToScreen(hoveredNode.x * 2, hoveredNode.y * 2); interactiveCtx.fillStyle = "#ffff00"; interactiveCtx.strokeStyle = "#ffffff"; interactiveCtx.lineWidth = Math.max(1, zoomLevel * 0.5); @@ -1353,36 +1271,43 @@ function renderInteractive() { interactiveCtx.stroke(); } - // Draw NavMesh path - if (state.navMeshPath && state.navMeshPath.length > 0) { - interactiveCtx.strokeStyle = "#00ffff"; - interactiveCtx.lineWidth = Math.max(1, zoomLevel); + // Draw comparison paths (before HPA* so primary is on top) + if (state.comparisons && state.visibleComparisons.size > 0) { interactiveCtx.lineCap = "round"; interactiveCtx.lineJoin = "round"; - interactiveCtx.beginPath(); - for (let i = 0; i < state.navMeshPath.length; i++) { - const [x, y] = state.navMeshPath[i]; - const screen = mapToScreen(x + 0.5, y + 0.5); - if (i === 0) { - interactiveCtx.moveTo(screen.x, screen.y); - } else { - interactiveCtx.lineTo(screen.x, screen.y); + for (const comp of state.comparisons) { + if (!state.visibleComparisons.has(comp.adapter)) continue; + if (!comp.path || comp.path.length === 0) continue; + + const color = COMPARISON_COLORS[comp.adapter] || "#ffffff"; + interactiveCtx.strokeStyle = color; + interactiveCtx.lineWidth = Math.max(1, zoomLevel); + interactiveCtx.beginPath(); + + for (let i = 0; i < comp.path.length; i++) { + const [x, y] = comp.path[i]; + const screen = mapToScreen(x + 0.5, y + 0.5); + if (i === 0) { + interactiveCtx.moveTo(screen.x, screen.y); + } else { + interactiveCtx.lineTo(screen.x, screen.y); + } } + interactiveCtx.stroke(); } - interactiveCtx.stroke(); } - // Draw PF.Mini path - if (state.pfMiniPath && state.pfMiniPath.length > 0) { - interactiveCtx.strokeStyle = "#ffaa00"; + // Draw HPA* path + if (state.hpaPath && state.hpaPath.length > 0) { + interactiveCtx.strokeStyle = "#00ffff"; interactiveCtx.lineWidth = Math.max(1, zoomLevel); interactiveCtx.lineCap = "round"; interactiveCtx.lineJoin = "round"; interactiveCtx.beginPath(); - for (let i = 0; i < state.pfMiniPath.length; i++) { - const [x, y] = state.pfMiniPath[i]; + for (let i = 0; i < state.hpaPath.length; i++) { + const [x, y] = state.hpaPath[i]; const screen = mapToScreen(x + 0.5, y + 0.5); if (i === 0) { interactiveCtx.moveTo(screen.x, screen.y); @@ -1393,16 +1318,16 @@ function renderInteractive() { interactiveCtx.stroke(); } - // Draw used gateways (highlighted) - if (showUsedGateways && state.debugInfo && state.debugInfo.gatewayWaypoints) { + // Draw used nodes (highlighted) + if (showUsedNodes && state.debugInfo && state.debugInfo.nodePath) { interactiveCtx.fillStyle = "#ffff00"; - const usedGatewayRadius = Math.max(3, zoomLevel * 2.5); + const usedNodeRadius = Math.max(3, zoomLevel * 2.5); - for (const [x, y] of state.debugInfo.gatewayWaypoints) { - // Gateways are coordinates [x, y] in the same format as path + for (const [x, y] of state.debugInfo.nodePath) { + // Nodes are coordinates [x, y] in the same format as path const screen = mapToScreen(x + 0.5, y + 0.5); interactiveCtx.beginPath(); - interactiveCtx.arc(screen.x, screen.y, usedGatewayRadius, 0, Math.PI * 2); + interactiveCtx.arc(screen.x, screen.y, usedNodeRadius, 0, Math.PI * 2); interactiveCtx.fill(); } } @@ -1472,41 +1397,40 @@ function renderInteractive() { } } -function findGatewayAtPosition(canvasX, canvasY, gatewaysToCheck = null) { - const gateways = - gatewaysToCheck || (state.graphDebug && state.graphDebug.allGateways); - if (!gateways) { +function findNodeAtPosition(canvasX, canvasY, nodesToCheck = null) { + const nodes = nodesToCheck || (state.graphDebug && state.graphDebug.allNodes); + if (!nodes) { return null; } const threshold = 10; - for (const gw of gateways) { - const gwX = gw.x * 2; - const gwY = gw.y * 2; - const dx = Math.abs(canvasX - gwX); - const dy = Math.abs(canvasY - gwY); + for (const node of nodes) { + const nodeX = node.x * 2; + const nodeY = node.y * 2; + const dx = Math.abs(canvasX - nodeX); + const dy = Math.abs(canvasY - nodeY); if (dx < threshold && dy < threshold) { - return gw; + return node; } } return null; } -// Show gateway tooltip -function showGatewayTooltip(gateway, mouseX, mouseY) { +// Show node tooltip +function showNodeTooltip(node, mouseX, mouseY) { const tooltip = document.getElementById("tooltip"); const connectedEdges = state.graphDebug.edges.filter( - (e) => e.fromId === gateway.id || e.toId === gateway.id, + (e) => e.fromId === node.id || e.toId === node.id, ); const selfLoops = connectedEdges.filter((e) => e.fromId === e.toId); - let html = `Gateway ${gateway.id}
`; - html += `Position: (${gateway.x * 2}, ${gateway.y * 2})
`; + let html = `Node ${node.id}
`; + html += `Position: (${node.x * 2}, ${node.y * 2})
`; html += `Edges: ${connectedEdges.length}`; if (selfLoops.length > 0) { @@ -1516,46 +1440,24 @@ function showGatewayTooltip(gateway, mouseX, mouseY) { if (connectedEdges.length > 0) { html += '
'; - const outgoing = connectedEdges.filter( - (e) => e.fromId === gateway.id && e.toId !== gateway.id, - ); - const incoming = connectedEdges.filter( - (e) => e.toId === gateway.id && e.fromId !== gateway.id, - ); - - if (outgoing.length > 0) { - html += `
Outgoing (${outgoing.length}):
`; - outgoing.slice(0, 5).forEach((edge) => { - const pathLen = edge.path ? edge.path.length : 0; - html += ` → GW ${edge.toId}: cost ${edge.cost.toFixed(1)}`; - if (pathLen > 0) html += ` (${pathLen} tiles)`; - html += "
"; - }); - if (outgoing.length > 5) { - html += ` ... and ${outgoing.length - 5} more
`; - } - } + // Edges are bidirectional now, just show connected nodes + const connected = connectedEdges.filter((e) => e.fromId !== e.toId); - if (incoming.length > 0) { - html += `
Incoming (${incoming.length}):
`; - incoming.slice(0, 5).forEach((edge) => { - const pathLen = edge.path ? edge.path.length : 0; - html += ` ← GW ${edge.fromId}: cost ${edge.cost.toFixed(1)}`; - if (pathLen > 0) html += ` (${pathLen} tiles)`; - html += "
"; + if (connected.length > 0) { + html += `
Connected (${connected.length}):
`; + connected.slice(0, 8).forEach((edge) => { + const otherId = edge.fromId === node.id ? edge.toId : edge.fromId; + html += ` ↔ Node ${otherId}: cost ${edge.cost.toFixed(1)}
`; }); - if (incoming.length > 5) { - html += ` ... and ${incoming.length - 5} more
`; + if (connected.length > 8) { + html += ` ... and ${connected.length - 8} more
`; } } if (selfLoops.length > 0) { html += `
Self-loops (${selfLoops.length}):
`; selfLoops.forEach((edge) => { - const pathLen = edge.path ? edge.path.length : 0; - html += ` ⟲ cost ${edge.cost.toFixed(1)}`; - if (pathLen > 0) html += ` (${pathLen} tiles)`; - html += "
"; + html += ` ⟲ cost ${edge.cost.toFixed(1)}
`; }); } diff --git a/tests/pathfinding/playground/public/index.html b/tests/pathfinding/playground/public/index.html index b3180dc45..6dbe07701 100644 --- a/tests/pathfinding/playground/public/index.html +++ b/tests/pathfinding/playground/public/index.html @@ -129,13 +129,13 @@

Pathfinding Playground

-
- - NavMesh + HPA*
- +
—
+ - - -
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+ "coordinates": [524, 474], + "flag": "co", + "name": "Colombia" + }, + { + "coordinates": [593, 473], + "flag": "ve", + "name": "Venezuela" + }, + { + "coordinates": [596, 705], + "flag": "ar", + "name": "Argentina" + }, + { + "coordinates": [637, 567], + "flag": "br", + "name": "Brazil" + }, + { + "coordinates": [1280, 975], + "flag": "aq", + "name": "Antarctica" + }, + { + "coordinates": [709, 57], + "flag": "gl", + "name": "Greenland" + }, + { + "coordinates": [831, 112], + "flag": "is", + "name": "Iceland" + }, + { + "coordinates": [925, 186], + "flag": "gb", + "name": "United Kingdom" + }, + { + "coordinates": [887, 183], + "flag": "ie", + "name": "Ireland" + }, + { + "coordinates": [908, 264], + "flag": "es", + "name": "Spain" + }, + { + "coordinates": [1004, 250], + "flag": "it", + "name": "Italy" + }, + { + "coordinates": [958, 220], + "flag": "fr", + "name": "France" + }, + { + "coordinates": [997, 205], + "flag": "de", + "name": "Germany" + }, + { + "coordinates": [1064, 101], + "flag": "se", + "name": "Sweden" + }, + { + "coordinates": [1046, 193], + "flag": "pl", + "name": "Poland" + }, + { + "coordinates": [1061, 188], + "flag": "by", + "name": "Belarus" + }, + { + "coordinates": [1073, 243], + "flag": "ro", + "name": "Romania" + }, + { + "coordinates": [1161, 274], + "flag": "tr", + "name": "Turkey" + }, + { + "coordinates": [969, 133], + "flag": "no", + "name": "Norway" + }, + { + "coordinates": [1062, 133], + "flag": "fi", + "name": "Finland" + }, + { + "coordinates": [1099, 211], + "flag": "ua", + "name": "Ukraine" + }, + { + "coordinates": [1344, 136], + "flag": "ru", + "name": "Russia" + }, + { + "coordinates": [1537, 186], + "flag": "mn", + "name": "Mongolia" + }, + { + "coordinates": [1524, 328], + "flag": "cn", + "name": "China" + }, + { + "coordinates": [1368, 373], + "flag": "in", + "name": "India" + }, + { + "coordinates": [1276, 239], + "flag": "kz", + "name": "Kazakhstan" + }, + { + "coordinates": [1238, 309], + "flag": "ir", + "name": "Islamic Republic Of Iran" + }, + { + "coordinates": [1178, 351], + "flag": "sa", + "name": "Saudi Arabia" + }, + { + "coordinates": [1679, 657], + "flag": "au", + "name": "Australia" + }, + { + "coordinates": [1890, 775], + "flag": "nz", + "name": "New Zealand" + }, + { + "coordinates": [918, 342], + "flag": "dz", + "name": "Algeria" + }, + { + "coordinates": [1030, 332], + "flag": "ly", + "name": "Libyan Arab Jamahiriya" + }, + { + "coordinates": [1092, 335], + "flag": "eg", + "name": "Egypt" + }, + { + "coordinates": [963, 410], + "flag": "ne", + "name": "Niger" + }, + { + "coordinates": [1112, 406], + "flag": "sd", + "name": "Sudan" + }, + { + "coordinates": [1074, 508], + "flag": "cd", + "name": "DR Congo" + }, + { + "coordinates": [1154, 443], + "flag": "et", + "name": "Ethiopia" + }, + { + "coordinates": [1075, 707], + "flag": "za", + "name": "South Africa" + }, + { + "coordinates": [1194, 627], + "flag": "mg", + "name": "Madagascar" + }, + { + "coordinates": [1052, 420], + "flag": "td", + "name": "Chad" + }, + { + "coordinates": [1030, 665], + "flag": "na", + "name": "Namibia" + }, + { + "coordinates": [1632, 465], + "flag": "ph", + "name": "Philippines" + }, + { + "coordinates": [1537, 426], + "flag": "th", + "name": "Thailand" + }, + { + "coordinates": [1610, 364], + "flag": "tw", + "name": "Taiwan" + }, + { + "coordinates": [1710, 290], + "flag": "jp", + "name": "Japan" + }, + { + "coordinates": [1869, 119], + "flag": "ru", + "name": "Siberia" + }, + { + "coordinates": [74, 117], + "flag": "polar_bears", + "name": "Polar Bears" + }, + { + "coordinates": [419, 975], + "flag": "aq", + "name": "West Antarctica" + }, + { + "coordinates": [542, 603], + "flag": "pe", + "name": "Peru" + }, + { + "coordinates": [1075, 615], + "flag": "zm", + "name": "Zambia" + }, + { + "coordinates": [1099, 165], + "flag": "lv", + "name": "Latvia" + }, + { + "coordinates": [1427, 336], + "flag": "bt", + "name": "Bhutan" + }, + { + "coordinates": [1511, 524], + "flag": "id", + "name": "Indonesia" + }, + { + "coordinates": [1809, 977], + "flag": "aq", + "name": "East Antarctica" + }, + { + "coordinates": [1255, 382], + "flag": "om", + "name": "Oman" + }, + { + "coordinates": [853, 373], + "flag": "ma", + "name": "Morocco" + }, + { + "coordinates": [656, 678], + "flag": "uy", + "name": "Uruguay" + } + ] +} diff --git a/src/client/Transport.ts b/src/client/Transport.ts index 333de32a1..2d6adc980 100644 --- a/src/client/Transport.ts +++ b/src/client/Transport.ts @@ -690,7 +690,7 @@ export class Transport { type: "donate_gold", clientID: this.lobbyConfig.clientID, recipient: event.recipient.id(), - gold: event.gold, + gold: event.gold !== null ? Number(event.gold) : null, }); } diff --git a/src/core/Schemas.ts b/src/core/Schemas.ts index e6496cdcf..82d0260c2 100644 --- a/src/core/Schemas.ts +++ b/src/core/Schemas.ts @@ -243,6 +243,7 @@ export const GameConfigSchema = z.object({ instantResearchHumanOnly: z.boolean().optional(), // If true, all players start with all techs researched researchAllTechs: z.boolean().optional(), + disableNavMesh: z.boolean().optional(), maxPlayers: z.number().optional(), disabledUnits: z.enum(UnitType).array().optional(), playerTeams: TeamCountConfigSchema.optional(), diff --git a/src/core/configuration/Config.ts b/src/core/configuration/Config.ts index 330d82d26..000cecd36 100644 --- a/src/core/configuration/Config.ts +++ b/src/core/configuration/Config.ts @@ -85,6 +85,7 @@ export interface Config { infiniteTroops(): boolean; instantBuild(): boolean; startingGold(): number; + disableNavMesh(): boolean; numSpawnPhaseTurns(): number; userSettings(): UserSettings; playerTeams(): TeamCountConfig; @@ -144,7 +145,8 @@ export interface Config { donateCooldown(): Tick; defaultDonationAmount(sender: Player): number; unitInfo(type: UnitType): UnitInfo; - tradeShipGold(dist: number): Gold; + tradeShipShortRangeDebuff(): number; + tradeShipGold(dist: number, numPorts?: number): Gold; tradeShipSpawnRate(numberOfPorts: number): number; // Trade rework: gravity-based demand and port-supplied ships tradeGravityK(): number; // Coefficient K in K * ip_i * ip_j / distance / world_industrial_production diff --git a/src/core/configuration/DefaultConfig.ts b/src/core/configuration/DefaultConfig.ts index 0310337f9..796876c9d 100644 --- a/src/core/configuration/DefaultConfig.ts +++ b/src/core/configuration/DefaultConfig.ts @@ -346,6 +346,9 @@ export class DefaultConfig implements Config { instantBuild(): boolean { return this._gameConfig.instantBuild; } + disableNavMesh(): boolean { + return this._gameConfig.disableNavMesh ?? false; + } infiniteGold(): boolean { return this._gameConfig.infiniteGold; } @@ -355,8 +358,18 @@ export class DefaultConfig implements Config { startingGold(): number { return this._gameConfig.startingGold ?? 0; } - tradeShipGold(dist: number): Gold { - return BigInt(Math.floor(10000 + 150 * Math.pow(dist, 1.1))); + tradeShipShortRangeDebuff(): number { + return 300; + } + tradeShipGold(dist: number, numPorts: number = 1): Gold { + // Sigmoid: concave start, sharp S-curve middle, linear end + const debuff = this.tradeShipShortRangeDebuff(); + const baseGold = + 100_000 / (1 + Math.exp(-0.03 * (dist - debuff))) + 100 * dist; + const numPortBonus = numPorts - 1; + // Hyperbolic decay, midpoint at 5 ports, 3x bonus max. + const bonus = 1 + 2 * (numPortBonus / (numPortBonus + 5)); + return BigInt(Math.floor(baseGold * bonus)); } tradeShipSpawnRate(numberOfPorts: number): number { return Math.round(10 * Math.pow(numberOfPorts, 0.37)); diff --git a/src/core/execution/ExecutionManager.ts b/src/core/execution/ExecutionManager.ts index 65599e929..9563fe982 100644 --- a/src/core/execution/ExecutionManager.ts +++ b/src/core/execution/ExecutionManager.ts @@ -141,7 +141,11 @@ export class Executor { intent.troops, ); case "donate_gold": - return new DonateGoldExecution(player, intent.recipient, intent.gold); + return new DonateGoldExecution( + player, + intent.recipient, + intent.gold !== null ? BigInt(intent.gold) : null, + ); case "troop_ratio": return new SetTargetTroopRatioExecution(player, intent.ratio); case "investment_rate": diff --git a/src/core/execution/SubmarineExecution.ts b/src/core/execution/SubmarineExecution.ts index 42e60fba8..070c20dd5 100644 --- a/src/core/execution/SubmarineExecution.ts +++ b/src/core/execution/SubmarineExecution.ts @@ -10,7 +10,7 @@ import { import { GameImpl } from "../game/GameImpl"; import { TileRef } from "../game/GameMap"; import { PathFindResultType } from "../pathfinding/AStar"; -import { PathFinder } from "../pathfinding/PathFinding"; +import { MiniPathFinder } from "../pathfinding/PathFinding"; import { PseudoRandom } from "../PseudoRandom"; import { ShellExecution } from "./ShellExecution"; @@ -19,7 +19,7 @@ export class SubmarineExecution implements Execution { private random: PseudoRandom; private submarine: Unit; private mg: GameImpl; - private pathfinder: PathFinder; + private pathfinder: MiniPathFinder; private lastShellAttack = 0; private alreadySentShell = new Set(); @@ -40,7 +40,7 @@ export class SubmarineExecution implements Execution { init(mg: Game, ticks: number): void { this.mg = mg as GameImpl; - this.pathfinder = PathFinder.Mini(mg, 10_000, true, 100); + this.pathfinder = new MiniPathFinder(mg, 10_000, true, 100); this.random = new PseudoRandom(mg.ticks()); if (isUnit(this.input)) { this.submarine = this.input; diff --git a/src/core/execution/TradeManagerExecution.ts b/src/core/execution/TradeManagerExecution.ts index 85fa12116..6b249ff8e 100644 --- a/src/core/execution/TradeManagerExecution.ts +++ b/src/core/execution/TradeManagerExecution.ts @@ -12,7 +12,7 @@ import { } from "../game/Game"; import { TileRef } from "../game/GameMap"; import { PathFindResultType } from "../pathfinding/AStar"; -import { PathFinder } from "../pathfinding/PathFinding"; +import { MiniPathFinder } from "../pathfinding/PathFinding"; import { PseudoRandom } from "../PseudoRandom"; import { roadEffectModifiers, tradeIncomeModifiers } from "../tech/TechEffects"; @@ -693,7 +693,7 @@ export class TradeManagerExecution implements Execution { export class AssignedTradeRouteExecution implements Execution { private mg!: Game; - private path!: PathFinder; + private path!: MiniPathFinder; private active = true; private phase: "toStart" | "toEnd" = "toStart"; private lastMoveTick = 0; @@ -708,7 +708,7 @@ export class AssignedTradeRouteExecution implements Execution { init(mg: Game, ticks: number): void { this.mg = mg; - this.path = PathFinder.Mini(mg, 30000, true, 100); + this.path = new MiniPathFinder(mg, 30000, true, 100); this.lastMoveTick = ticks; // Ensure ship is not in a stale 'returning' state from a prior turnaround this.ship.setReturning(false); diff --git a/src/core/execution/TradeShipExecution.ts b/src/core/execution/TradeShipExecution.ts new file mode 100644 index 000000000..f1230c6f4 --- /dev/null +++ b/src/core/execution/TradeShipExecution.ts @@ -0,0 +1,188 @@ +import { renderNumber } from "../../client/Utils"; +import { + Execution, + Game, + MessageType, + Player, + Unit, + UnitType, +} from "../game/Game"; +import { TileRef } from "../game/GameMap"; +import { PathFinder, PathFinders, PathStatus } from "../pathfinding/PathFinder"; +import { distSortUnit } from "../Util"; + +export class TradeShipExecution implements Execution { + private active = true; + private mg: Game; + private tradeShip: Unit | undefined; + private wasCaptured = false; + private pathFinder: PathFinder; + private tilesTraveled = 0; + + constructor( + private origOwner: Player, + private srcPort: Unit, + private _dstPort: Unit, + ) {} + + init(mg: Game, ticks: number): void { + this.mg = mg; + this.pathFinder = PathFinders.Water(mg); + } + + tick(ticks: number): void { + if (this.tradeShip === undefined) { + const spawn = this.origOwner.canBuild( + UnitType.TradeShip, + this.srcPort.tile(), + ); + if (spawn === false) { + console.warn(`cannot build trade ship`); + this.active = false; + return; + } + this.tradeShip = this.origOwner.buildUnit(UnitType.TradeShip, spawn, { + targetUnit: this._dstPort, + lastSetSafeFromPirates: ticks, + }); + this.mg.stats().boatSendTrade(this.origOwner, this._dstPort.owner()); + } + + if (!this.tradeShip.isActive()) { + this.active = false; + return; + } + + const tradeShipOwner = this.tradeShip.owner(); + const dstPortOwner = this._dstPort.owner(); + if (this.wasCaptured !== true && this.origOwner !== tradeShipOwner) { + // Store as variable in case ship is recaptured by previous owner + this.wasCaptured = true; + } + + // If a player captures another player's port while trading we should delete + // the ship. + if (dstPortOwner.id() === this.srcPort.owner().id()) { + this.tradeShip.delete(false); + this.active = false; + return; + } + + if ( + !this.wasCaptured && + (!this._dstPort.isActive() || !tradeShipOwner.canTrade(dstPortOwner)) + ) { + this.tradeShip.delete(false); + this.active = false; + return; + } + + if ( + this.wasCaptured && + (tradeShipOwner !== dstPortOwner || !this._dstPort.isActive()) + ) { + const ports = this.tradeShip + .owner() + .units(UnitType.Port) + .sort(distSortUnit(this.mg, this.tradeShip)); + if (ports.length === 0) { + this.tradeShip.delete(false); + this.active = false; + return; + } else { + this._dstPort = ports[0]; + this.tradeShip.setTargetUnit(this._dstPort); + } + } + + const curTile = this.tradeShip.tile(); + if (curTile === this.dstPort()) { + this.complete(); + return; + } + + const result = this.pathFinder.next(curTile, this._dstPort.tile()); + + switch (result.status) { + case PathStatus.PENDING: + // Fire unit event to rerender. + this.tradeShip.move(curTile); + break; + case PathStatus.NEXT: + // Update safeFromPirates status + if (this.mg.isWater(result.node) && this.mg.isShoreline(result.node)) { + this.tradeShip.setSafeFromPirates(); + } + this.tradeShip.move(result.node); + this.tilesTraveled++; + break; + case PathStatus.COMPLETE: + this.complete(); + break; + case PathStatus.NOT_FOUND: + console.warn("captured trade ship cannot find route"); + if (this.tradeShip.isActive()) { + this.tradeShip.delete(false); + } + this.active = false; + break; + } + } + + private complete() { + this.active = false; + this.tradeShip!.delete(false); + const gold = this.mg + .config() + .tradeShipGold( + this.tilesTraveled, + this.tradeShip!.owner().unitCount(UnitType.Port), + ); + + if (this.wasCaptured) { + this.tradeShip!.owner().addGold(gold, this._dstPort.tile()); + this.mg.displayMessage( + `Received ${renderNumber(gold)} gold from ship captured from ${this.origOwner.displayName()}`, + MessageType.CAPTURED_ENEMY_UNIT, + this.tradeShip!.owner().id(), + gold, + ); + // Record stats + this.mg + .stats() + .boatCapturedTrade(this.tradeShip!.owner(), this.origOwner, gold); + } else { + this.srcPort.owner().addGold(gold); + this._dstPort.owner().addGold(gold, this._dstPort.tile()); + this.mg.displayMessage( + `Received ${renderNumber(gold)} gold from trade with ${this.srcPort.owner().displayName()}`, + MessageType.RECEIVED_GOLD_FROM_TRADE, + this._dstPort.owner().id(), + gold, + ); + this.mg.displayMessage( + `Received ${renderNumber(gold)} gold from trade with ${this._dstPort.owner().displayName()}`, + MessageType.RECEIVED_GOLD_FROM_TRADE, + this.srcPort.owner().id(), + gold, + ); + // Record stats + this.mg + .stats() + .boatArriveTrade(this.srcPort.owner(), this._dstPort.owner(), gold); + } + return; + } + + isActive(): boolean { + return this.active; + } + + activeDuringSpawnPhase(): boolean { + return false; + } + + dstPort(): TileRef { + return this._dstPort.tile(); + } +} diff --git a/src/core/execution/TransportShipExecution.ts b/src/core/execution/TransportShipExecution.ts index 280ad2d81..3c6cc73f3 100644 --- a/src/core/execution/TransportShipExecution.ts +++ b/src/core/execution/TransportShipExecution.ts @@ -11,8 +11,7 @@ import { } from "../game/Game"; import { TileRef } from "../game/GameMap"; import { targetTransportTile } from "../game/TransportShipUtils"; -import { PathFindResultType } from "../pathfinding/AStar"; -import { PathFinder } from "../pathfinding/PathFinding"; +import { PathFinder, PathFinders, PathStatus } from "../pathfinding/PathFinder"; import { AttackExecution } from "./AttackExecution"; export class TransportShipExecution implements Execution { @@ -79,7 +78,7 @@ export class TransportShipExecution implements Execution { this.lastMove = ticks; this.mg = mg; - this.pathFinder = PathFinder.Mini(mg, 10_000, true, 100); + this.pathFinder = PathFinders.Water(mg); if ( this.attacker.unitCount(UnitType.TransportShip) >= @@ -188,9 +187,9 @@ export class TransportShipExecution implements Execution { this.dst = this.src!; // src is guaranteed to be set at this point } - const result = this.pathFinder.nextTile(this.boat.tile(), this.dst); - switch (result.type) { - case PathFindResultType.Completed: + const result = this.pathFinder.next(this.boat.tile(), this.dst); + switch (result.status) { + case PathStatus.COMPLETE: if (this.mg.owner(this.dst) === this.attacker) { this.attacker.addTroops(this.boat.troops()); this.boat.delete(false); @@ -224,12 +223,12 @@ export class TransportShipExecution implements Execution { .stats() .boatArriveTroops(this.attacker, this.target, this.boat.troops()); return; - case PathFindResultType.NextTile: + case PathStatus.NEXT: this.boat.move(result.node); break; - case PathFindResultType.Pending: + case PathStatus.PENDING: break; - case PathFindResultType.PathNotFound: + case PathStatus.NOT_FOUND: // TODO: add to poisoned port list console.warn(`path not found to dst`); this.attacker.addTroops(this.boat.troops()); diff --git a/src/core/execution/WarshipExecution.ts b/src/core/execution/WarshipExecution.ts index 7a6fb7d55..120a75e50 100644 --- a/src/core/execution/WarshipExecution.ts +++ b/src/core/execution/WarshipExecution.ts @@ -9,10 +9,10 @@ import { UnitType, UpgradeType, } from "../game/Game"; -import { GameImpl } from "../game/GameImpl"; import { TileRef } from "../game/GameMap"; import { PathFindResultType } from "../pathfinding/AStar"; -import { PathFinder } from "../pathfinding/PathFinding"; +import { PathFinder, PathFinders, PathStatus } from "../pathfinding/PathFinder"; +import { MiniPathFinder } from "../pathfinding/PathFinding"; import { PseudoRandom } from "../PseudoRandom"; import { SAMMissileExecution } from "./SAMMissileExecution"; import { ShellExecution } from "./ShellExecution"; @@ -21,7 +21,7 @@ export class WarshipExecution implements Execution { executionName = "WarshipExecution"; private random: PseudoRandom; private warship: Unit; - private mg: GameImpl; + private mg: Game; private pathfinder: PathFinder; private lastShellAttack = 0; private alreadySentShell = new Set(); @@ -40,8 +40,8 @@ export class WarshipExecution implements Execution { ) {} init(mg: Game, ticks: number): void { - this.mg = mg as GameImpl; - this.pathfinder = PathFinder.Mini(mg, 10_000, true, 100); + this.mg = mg; + this.pathfinder = PathFinders.Water(mg); this.random = new PseudoRandom(mg.ticks()); if (isUnit(this.input)) { this.warship = this.input; @@ -363,62 +363,24 @@ export class WarshipExecution implements Execution { for (let i = 0; i < 2; i++) { // target is trade ship so capture it. - const result = this.pathfinder.nextTile( + const result = this.pathfinder.next( this.warship.tile(), this.warship.targetUnit()!.tile(), 5, ); - switch (result.type) { - case PathFindResultType.Completed: { - const targetShip = this.warship.targetUnit()!; - const myOwner = this.warship.owner(); - const shipOwner = targetShip.owner(); - if (myOwner.isAtWarWith(shipOwner)) { - // Enemy trade ship -> capture - this.warship.owner().captureUnit(targetShip); - // Clear any trade route metadata on the captured ship - targetShip.setTradeRouteOwners(null, null); - // Send captured ship back to a home port of the new owner; cargo will be awarded on arrival - this.mg.addExecution( - new CapturedTradeShipReturnExecution(targetShip), - ); - this.warship.setTargetUnit(undefined); - this.warship.move(this.warship.tile()); - return; - } - // Neutral trade ship headed to/from my enemy -> turn around upon contact - const startOwner = targetShip.tradeRouteStartOwner(); - const endOwner = targetShip.tradeRouteEndOwner(); - const atWarWithAnyEndpoint = [startOwner, endOwner] - .filter((p): p is Player => !!p) - .some((p) => myOwner.isAtWarWith(p)); - const embargoAgainstAnyEndpoint = [startOwner, endOwner] - .filter((p): p is Player => !!p) - .some( - (p) => - myOwner.hasEmbargoAgainst(p) || p.hasEmbargoAgainst(myOwner), - ); - if ( - (atWarWithAnyEndpoint || embargoAgainstAnyEndpoint) && - !myOwner.isFriendly(shipOwner) - ) { - targetShip.setReturning(true); - this.warship.setTargetUnit(undefined); - this.warship.move(this.warship.tile()); - return; - } - // Otherwise, disengage + switch (result.status) { + case PathStatus.COMPLETE: + this.warship.owner().captureUnit(this.warship.targetUnit()!); this.warship.setTargetUnit(undefined); this.warship.move(this.warship.tile()); return; - } - case PathFindResultType.NextTile: + case PathStatus.NEXT: this.warship.move(result.node); break; - case PathFindResultType.Pending: + case PathStatus.PENDING: this.warship.touch(); break; - case PathFindResultType.PathNotFound: + case PathStatus.NOT_FOUND: console.log(`path not found to target`); break; } @@ -433,22 +395,22 @@ export class WarshipExecution implements Execution { } } - const result = this.pathfinder.nextTile( + const result = this.pathfinder.next( this.warship.tile(), this.warship.targetTile()!, ); - switch (result.type) { - case PathFindResultType.Completed: + switch (result.status) { + case PathStatus.COMPLETE: this.warship.setTargetTile(undefined); this.warship.move(result.node); break; - case PathFindResultType.NextTile: + case PathStatus.NEXT: this.warship.move(result.node); break; - case PathFindResultType.Pending: + case PathStatus.PENDING: this.warship.touch(); return; - case PathFindResultType.PathNotFound: + case PathStatus.NOT_FOUND: console.warn(`path not found to target tile`); this.warship.setTargetTile(undefined); break; @@ -612,7 +574,7 @@ export class WarshipExecution implements Execution { class CapturedTradeShipReturnExecution implements Execution { executionName = "CapturedTradeShipReturnExecution"; private mg!: Game; - private pathfinder!: PathFinder; + private pathfinder!: MiniPathFinder; private active = true; private lastMoveTick = 0; private destPort: Unit | null = null; @@ -621,7 +583,7 @@ class CapturedTradeShipReturnExecution implements Execution { init(mg: Game, ticks: number): void { this.mg = mg; - this.pathfinder = PathFinder.Mini(mg, 2500); + this.pathfinder = new MiniPathFinder(mg, 2500, true, 100); this.lastMoveTick = ticks; // Pick nearest active port owned by the ship's owner this.destPort = this.selectNearestPort(this.ship.owner()); diff --git a/src/core/game/Game.ts b/src/core/game/Game.ts index 317b771bd..01b11c95f 100644 --- a/src/core/game/Game.ts +++ b/src/core/game/Game.ts @@ -1,4 +1,5 @@ import { Config } from "../configuration/Config"; +import { NavMesh } from "../pathfinding/navmesh/NavMesh"; import { AllPlayersStats, ClientID } from "../Schemas"; import { Category } from "../tech/ResearchTree"; import { Cell, GameMap, MapPos, TerrainType, TileRef } from "./GameMap"; @@ -621,7 +622,7 @@ export interface Player { // Research: investment ratio (0..1) of per-tick income allocated to research (cost only) researchInvestmentRate(): number; setResearchInvestmentRate(rate: number): void; - addGold(toAdd: Gold): void; + addGold(toAdd: Gold, tile?: TileRef): void; removeGold(toRemove: Gold): Gold; addWorkers(toAdd: number): void; removeWorkers(toRemove: number): void; @@ -879,6 +880,9 @@ export interface Game extends GameMap { ): void; doomsdayExplosion(tile: TileRef, radius: number, owner: Player): void; conquer(newOwner: Player, tile: TileRef): void; + + addUpdate(update: GameUpdate): void; + navMesh(): NavMesh | null; } export interface PlayerActions { diff --git a/src/core/game/GameImpl.ts b/src/core/game/GameImpl.ts index 1f3d49227..20e810572 100644 --- a/src/core/game/GameImpl.ts +++ b/src/core/game/GameImpl.ts @@ -1,5 +1,6 @@ import { Config } from "../configuration/Config"; import { AttackExecution } from "../execution/AttackExecution"; +import { NavMesh } from "../pathfinding/navmesh/NavMesh"; import { AllPlayersStats, ClientID, Winner } from "../Schemas"; import { simpleHash } from "../Util"; import { AllianceImpl } from "./AllianceImpl"; @@ -90,6 +91,9 @@ export class GameImpl implements Game { private playerTeams: Team[]; private botTeam: Team = ColoredTeams.Bot; + private _isPaused: boolean = false; + private _navMesh: NavMesh | null = null; + constructor( private _humans: PlayerInfo[], private _nations: Nation[], @@ -118,6 +122,11 @@ export class GameImpl implements Game { this.populateTeams(); } this.addPlayers(); + + if (!_config.disableNavMesh()) { + this._navMesh = new NavMesh(this, { cachePaths: true }); + this._navMesh.initialize(); + } } private populateTeams() { @@ -1214,6 +1223,9 @@ export class GameImpl implements Game { public alliances(): AllianceImpl[] { return this.alliances_; } + navMesh(): NavMesh | null { + return this._navMesh; + } public hasRoadOnTile(tile: TileRef): boolean { return this.roadManager.hasRoadOnTile(tile); diff --git a/src/core/game/PlayerImpl.ts b/src/core/game/PlayerImpl.ts index dcb5b1586..56548a145 100644 --- a/src/core/game/PlayerImpl.ts +++ b/src/core/game/PlayerImpl.ts @@ -1191,7 +1191,7 @@ export class PlayerImpl implements Player { return this._gold; } - addGold(toAdd: Gold): void { + addGold(toAdd: Gold, _tile?: TileRef): void { this._gold += toAdd; } diff --git a/src/core/pathfinding/PathFinder.ts b/src/core/pathfinding/PathFinder.ts new file mode 100644 index 000000000..7422e836b --- /dev/null +++ b/src/core/pathfinding/PathFinder.ts @@ -0,0 +1,43 @@ +import { Game } from "../game/Game"; +import { TileRef } from "../game/GameMap"; +import { MiniAStarAdapter } from "./adapters/MiniAStarAdapter"; +import { NavMeshAdapter } from "./adapters/NavMeshAdapter"; + +export enum PathStatus { + NEXT, + PENDING, + COMPLETE, + NOT_FOUND, +} + +export type PathResult = + | { status: PathStatus.PENDING } + | { status: PathStatus.NEXT; node: TileRef } + | { status: PathStatus.COMPLETE; node: TileRef } + | { status: PathStatus.NOT_FOUND }; + +export interface PathFinder { + next(from: TileRef, to: TileRef, dist?: number): PathResult; + findPath(from: TileRef, to: TileRef): TileRef[] | null; +} + +export interface MiniAStarOptions { + waterPath?: boolean; + iterations?: number; + maxTries?: number; +} + +export class PathFinders { + static Water(game: Game): PathFinder { + if (!game.navMesh()) { + // Fall back to old water pathfinder if navmesh is not available + return PathFinders.WaterLegacy(game); + } + + return new NavMeshAdapter(game); + } + + static WaterLegacy(game: Game, options?: MiniAStarOptions): PathFinder { + return new MiniAStarAdapter(game, options); + } +} diff --git a/src/core/pathfinding/PathFinding.ts b/src/core/pathfinding/PathFinding.ts index 44c4f3f52..97e1422f8 100644 --- a/src/core/pathfinding/PathFinding.ts +++ b/src/core/pathfinding/PathFinding.ts @@ -158,7 +158,7 @@ export class StraightPathFinder { } } } -export class PathFinder { +export class MiniPathFinder { private curr: TileRef | null = null; private dst: TileRef | null = null; private path: TileRef[] | null = null; @@ -166,28 +166,23 @@ export class PathFinder { private aStar: AStar; private computeFinished = true; - private constructor( + constructor( private game: Game, - private newAStar: (curr: TileRef, dst: TileRef) => AStar, + private iterations: number, + private waterPath: boolean, + private maxTries: number, ) {} - public static Mini( - game: Game, - iterations: number, - waterPath: boolean = true, - maxTries: number = 20, - ) { - return new PathFinder(game, (curr: TileRef, dst: TileRef) => { - return new MiniAStar( - game.map(), - game.miniMap(), - curr, - dst, - iterations, - maxTries, - waterPath, - ); - }); + private createAStar(curr: TileRef, dst: TileRef): AStar { + return new MiniAStar( + this.game.map(), + this.game.miniMap(), + curr, + dst, + this.iterations, + this.maxTries, + this.waterPath, + ); } nextTile( @@ -214,7 +209,7 @@ export class PathFinder { this.dst = dst; this.path = null; this.path_idx = 0; - this.aStar = this.newAStar(curr, dst); + this.aStar = this.createAStar(curr, dst); this.computeFinished = false; return this.nextTile(curr, dst); } else { @@ -229,7 +224,7 @@ export class PathFinder { this.dst = dst; this.path = null; this.path_idx = 0; - this.aStar = this.newAStar(curr, dst); + this.aStar = this.createAStar(curr, dst); this.computeFinished = false; return this.nextTile(curr, dst); } diff --git a/src/core/pathfinding/adapters/MiniAStarAdapter.ts b/src/core/pathfinding/adapters/MiniAStarAdapter.ts new file mode 100644 index 000000000..b1c1841d6 --- /dev/null +++ b/src/core/pathfinding/adapters/MiniAStarAdapter.ts @@ -0,0 +1,66 @@ +import { Game } from "../../game/Game"; +import { TileRef } from "../../game/GameMap"; +import { PathFindResultType } from "../AStar"; +import { + MiniAStarOptions, + PathFinder, + PathResult, + PathStatus, +} from "../PathFinder"; +import { MiniPathFinder } from "../PathFinding"; + +const DEFAULT_ITERATIONS = 10_000; +const DEFAULT_MAX_TRIES = 100; + +export class MiniAStarAdapter implements PathFinder { + private miniPathFinder: MiniPathFinder; + + constructor(game: Game, options?: MiniAStarOptions) { + this.miniPathFinder = new MiniPathFinder( + game, + options?.iterations ?? DEFAULT_ITERATIONS, + options?.waterPath ?? true, + options?.maxTries ?? DEFAULT_MAX_TRIES, + ); + } + + next(from: TileRef, to: TileRef, dist?: number): PathResult { + const result = this.miniPathFinder.nextTile(from, to, dist); + + switch (result.type) { + case PathFindResultType.Pending: + return { status: PathStatus.PENDING }; + case PathFindResultType.NextTile: + return { status: PathStatus.NEXT, node: result.node }; + case PathFindResultType.Completed: + return { status: PathStatus.COMPLETE, node: result.node }; + case PathFindResultType.PathNotFound: + return { status: PathStatus.NOT_FOUND }; + } + } + + findPath(from: TileRef, to: TileRef): TileRef[] | null { + const path: TileRef[] = [from]; + let current = from; + const maxSteps = 100_000; + + for (let i = 0; i < maxSteps; i++) { + const result = this.next(current, to); + + if (result.status === PathStatus.COMPLETE) { + return path; + } + + if (result.status === PathStatus.NOT_FOUND) { + return null; + } + + if (result.status === PathStatus.NEXT) { + current = result.node; + path.push(current); + } + } + + return null; + } +} diff --git a/src/core/pathfinding/adapters/NavMeshAdapter.ts b/src/core/pathfinding/adapters/NavMeshAdapter.ts new file mode 100644 index 000000000..4e081eb4a --- /dev/null +++ b/src/core/pathfinding/adapters/NavMeshAdapter.ts @@ -0,0 +1,99 @@ +import { Game } from "../../game/Game"; +import { TileRef } from "../../game/GameMap"; +import { NavMesh } from "../navmesh/NavMesh"; +import { PathFinder, PathResult, PathStatus } from "../PathFinder"; + +export class NavMeshAdapter implements PathFinder { + private navMesh: NavMesh; + private pathIndex = 0; + private path: TileRef[] | null = null; + private lastTo: TileRef | null = null; + + constructor(private game: Game) { + const navMesh = game.navMesh(); + if (!navMesh) { + throw new Error("NavMeshAdapter requires game.navMesh() to be available"); + } + this.navMesh = navMesh; + } + + next(from: TileRef, to: TileRef, dist?: number): PathResult { + if (typeof from !== "number" || typeof to !== "number") { + return { status: PathStatus.NOT_FOUND }; + } + + if (!this.game.isValidRef(from) || !this.game.isValidRef(to)) { + return { status: PathStatus.NOT_FOUND }; + } + + if (from === to) { + return { status: PathStatus.COMPLETE, node: to }; + } + + if (dist !== undefined && dist > 0) { + const distance = this.game.manhattanDist(from, to); + + if (distance <= dist) { + return { status: PathStatus.COMPLETE, node: from }; + } + } + + if (this.lastTo !== to) { + this.path = null; + this.pathIndex = 0; + this.lastTo = to; + } + + if (this.path === null) { + this.cachePath(from, to); + + if (this.path === null) { + return { status: PathStatus.NOT_FOUND }; + } + } + + // Recompute if deviated from planned path + const expectedPos = this.path[this.pathIndex - 1]; + if (this.pathIndex > 0 && from !== expectedPos) { + this.cachePath(from, to); + + if (this.path === null) { + return { status: PathStatus.NOT_FOUND }; + } + } + + if (this.pathIndex >= this.path.length) { + return { status: PathStatus.COMPLETE, node: to }; + } + + const nextNode = this.path[this.pathIndex]; + this.pathIndex++; + + return { status: PathStatus.NEXT, node: nextNode }; + } + + findPath(from: TileRef, to: TileRef): TileRef[] | null { + return this.navMesh.findPath(from, to); + } + + private cachePath(from: TileRef, to: TileRef): boolean { + try { + this.path = this.navMesh.findPath(from, to); + } catch { + return false; + } + + if (this.path === null) { + return false; + } + + this.pathIndex = 0; + + // Path starts with 'from', skip to next tile + if (this.path.length > 0 && this.path[0] === from) { + this.pathIndex = 1; + } + + return true; + } +} diff --git a/src/core/pathfinding/navmesh/FastAStar.ts b/src/core/pathfinding/navmesh/FastAStar.ts new file mode 100644 index 000000000..770248e79 --- /dev/null +++ b/src/core/pathfinding/navmesh/FastAStar.ts @@ -0,0 +1,202 @@ +// A* optimized for performance for small to medium graphs. +// Works with node IDs represented as integers (0 to numNodes-1) + +export interface FastAStarAdapter { + getNeighbors(node: number): number[]; + getCost(from: number, to: number): number; + heuristic(node: number, goal: number): number; +} + +// Simple binary min-heap for open set using typed arrays +class MinHeap { + private heap: Int32Array; + private scores: Float32Array; + private size = 0; + + constructor(capacity: number, scores: Float32Array) { + this.heap = new Int32Array(capacity); + this.scores = scores; + } + + push(node: number): void { + let i = this.size++; + this.heap[i] = node; + + // Bubble up + while (i > 0) { + const parent = (i - 1) >> 1; + if (this.scores[this.heap[parent]] <= this.scores[this.heap[i]]) { + break; + } + + // Swap + const tmp = this.heap[parent]; + this.heap[parent] = this.heap[i]; + this.heap[i] = tmp; + i = parent; + } + } + + pop(): number { + const result = this.heap[0]; + this.heap[0] = this.heap[--this.size]; + + // Bubble down + let i = 0; + while (true) { + const left = (i << 1) + 1; + const right = left + 1; + let smallest = i; + + if ( + left < this.size && + this.scores[this.heap[left]] < this.scores[this.heap[smallest]] + ) { + smallest = left; + } + + if ( + right < this.size && + this.scores[this.heap[right]] < this.scores[this.heap[smallest]] + ) { + smallest = right; + } + + if (smallest === i) { + break; + } + + // Swap + const tmp = this.heap[smallest]; + this.heap[smallest] = this.heap[i]; + this.heap[i] = tmp; + i = smallest; + } + + return result; + } + + isEmpty(): boolean { + return this.size === 0; + } + + clear(): void { + this.size = 0; + } +} + +export class FastAStar { + private stamp = 1; + private readonly closedStamp: Uint32Array; // Tracks fully processed nodes + private readonly gScoreStamp: Uint32Array; // Tracks valid gScores + private readonly gScore: Float32Array; + private readonly fScore: Float32Array; + private readonly cameFrom: Int32Array; + private readonly openHeap: MinHeap; + + constructor(numNodes: number) { + this.closedStamp = new Uint32Array(numNodes); + this.gScoreStamp = new Uint32Array(numNodes); + this.gScore = new Float32Array(numNodes); + this.fScore = new Float32Array(numNodes); + this.cameFrom = new Int32Array(numNodes); + this.openHeap = new MinHeap(numNodes, this.fScore); + } + + private nextStamp(): number { + const stamp = this.stamp++; + + if (this.stamp === 0) { + // Overflow - reset (extremely rare) + this.closedStamp.fill(0); + this.gScoreStamp.fill(0); + this.stamp = 1; + } + + return stamp; + } + + search( + start: number, + goal: number, + adapter: FastAStarAdapter, + maxIterations: number = 100000, + ): number[] | null { + const stamp = this.nextStamp(); + + this.openHeap.clear(); + this.gScore[start] = 0; + this.gScoreStamp[start] = stamp; + this.fScore[start] = adapter.heuristic(start, goal); + this.cameFrom[start] = -1; + this.openHeap.push(start); + + let iterations = 0; + + while (!this.openHeap.isEmpty() && iterations < maxIterations) { + iterations++; + + const current = this.openHeap.pop(); + + // Skip if already processed (duplicate from heap) + if (this.closedStamp[current] === stamp) { + continue; + } + + // Mark as processed + this.closedStamp[current] = stamp; + + // Found goal + if (current === goal) { + return this.reconstructPath(start, goal); + } + + const neighbors = adapter.getNeighbors(current); + const currentGScore = this.gScore[current]; + + for (const neighbor of neighbors) { + // Skip already processed neighbors + if (this.closedStamp[neighbor] === stamp) { + continue; + } + + const tentativeGScore = + currentGScore + adapter.getCost(current, neighbor); + + // If we haven't visited this neighbor yet, or found a better path + const hasValidGScore = this.gScoreStamp[neighbor] === stamp; + if (!hasValidGScore || tentativeGScore < this.gScore[neighbor]) { + this.cameFrom[neighbor] = current; + this.gScore[neighbor] = tentativeGScore; + this.gScoreStamp[neighbor] = stamp; + this.fScore[neighbor] = + tentativeGScore + adapter.heuristic(neighbor, goal); + + // Add to heap (allow duplicates for better paths) + this.openHeap.push(neighbor); + } + } + } + + return null; + } + + private reconstructPath(start: number, goal: number): number[] { + const path: number[] = []; + let current = goal; + + while (current !== start) { + path.push(current); + current = this.cameFrom[current]; + + // Safety check + if (current === -1) { + return []; + } + } + + path.push(start); + path.reverse(); + return path; + } +} diff --git a/src/core/pathfinding/navmesh/FastAStarAdapter.ts b/src/core/pathfinding/navmesh/FastAStarAdapter.ts new file mode 100644 index 000000000..95b962233 --- /dev/null +++ b/src/core/pathfinding/navmesh/FastAStarAdapter.ts @@ -0,0 +1,120 @@ +import { GameMap, TileRef } from "../../game/GameMap"; +import { FastAStarAdapter } from "./FastAStar"; +import { GatewayGraph } from "./GatewayGraph"; + +export class GatewayGraphAdapter implements FastAStarAdapter { + constructor(private graph: GatewayGraph) {} + + getNeighbors(node: number): number[] { + const edges = this.graph.getEdges(node); + return edges.map((edge) => edge.to); + } + + getCost(from: number, to: number): number { + const edges = this.graph.getEdges(from); + const edge = edges.find((edge) => edge.to === to); + return edge?.cost ?? 1; + } + + heuristic(node: number, goal: number): number { + const nodeGw = this.graph.getGateway(node); + const goalGw = this.graph.getGateway(goal); + + if (!nodeGw || !goalGw) { + throw new Error( + `Invalid gateway ID in heuristic: node=${node} (${nodeGw ? "exists" : "missing"}), goal=${goal} (${goalGw ? "exists" : "missing"})`, + ); + } + + // Manhattan distance heuristic + const dx = Math.abs(nodeGw.x - goalGw.x); + const dy = Math.abs(nodeGw.y - goalGw.y); + return dx + dy; + } +} + +export class BoundedGameMapAdapter implements FastAStarAdapter { + private readonly minX: number; + private readonly minY: number; + private readonly width: number; + private readonly height: number; + private readonly startTile: TileRef; + private readonly goalTile: TileRef; + + readonly numNodes: number; + + constructor( + private map: GameMap, + startTile: TileRef, + goalTile: TileRef, + bounds: { minX: number; maxX: number; minY: number; maxY: number }, + ) { + this.startTile = startTile; + this.goalTile = goalTile; + + this.minX = bounds.minX; + this.minY = bounds.minY; + this.width = bounds.maxX - bounds.minX + 1; + this.height = bounds.maxY - bounds.minY + 1; + + this.numNodes = this.width * this.height; + } + + // Convert global TileRef to local node ID + tileToNode(tile: TileRef): number { + const x = this.map.x(tile) - this.minX; + const y = this.map.y(tile) - this.minY; + + // Allow start and goal tiles to be outside bounds (matching graph building behavior) + const isOutsideBounds = + x < 0 || x >= this.width || y < 0 || y >= this.height; + const isStartOrGoal = tile === this.startTile || tile === this.goalTile; + if (isOutsideBounds && !isStartOrGoal) { + return -1; // Outside bounds + } + + // Clamp coordinates for start/goal tiles that are outside bounds + const clampedX = Math.max(0, Math.min(this.width - 1, x)); + const clampedY = Math.max(0, Math.min(this.height - 1, y)); + + return clampedY * this.width + clampedX; + } + + // Convert local node ID to global TileRef + nodeToTile(node: number): TileRef { + const localX = node % this.width; + const localY = Math.floor(node / this.width); + return this.map.ref(localX + this.minX, localY + this.minY); + } + + getNeighbors(node: number): number[] { + const tile = this.nodeToTile(node); + const neighbors = this.map.neighbors(tile); + const result: number[] = []; + + for (const neighborTile of neighbors) { + if (!this.map.isWater(neighborTile)) continue; + + const neighborNode = this.tileToNode(neighborTile); + if (neighborNode !== -1) { + result.push(neighborNode); + } + } + + return result; + } + + getCost(_from: number, _to: number): number { + return 1; // Uniform cost for water tiles + } + + heuristic(node: number, goal: number): number { + const nodeTile = this.nodeToTile(node); + const goalTile = this.nodeToTile(goal); + + const dx = Math.abs(this.map.x(nodeTile) - this.map.x(goalTile)); + const dy = Math.abs(this.map.y(nodeTile) - this.map.y(goalTile)); + + return dx + dy; // Manhattan distance + } +} diff --git a/src/core/pathfinding/navmesh/FastBFS.ts b/src/core/pathfinding/navmesh/FastBFS.ts new file mode 100644 index 000000000..11ff34725 --- /dev/null +++ b/src/core/pathfinding/navmesh/FastBFS.ts @@ -0,0 +1,118 @@ +export interface FastBFSAdapter { + visitor(node: number, dist: number): T | null | undefined; + isValidNode(node: number): boolean; +} + +// Optimized BFS using stamp-based visited tracking and typed array queue +export class FastBFS { + private stamp = 1; + private readonly visitedStamp: Uint32Array; + private readonly queue: Int32Array; + private readonly dist: Uint16Array; + + constructor(numNodes: number) { + this.visitedStamp = new Uint32Array(numNodes); + this.queue = new Int32Array(numNodes); + this.dist = new Uint16Array(numNodes); + } + + search( + width: number, + height: number, + start: number, + maxDistance: number, + isValidNode: FastBFSAdapter["isValidNode"], + visitor: FastBFSAdapter["visitor"], + ): T | null { + const stamp = this.nextStamp(); + const lastRowStart = (height - 1) * width; + + let head = 0; + let tail = 0; + + this.visitedStamp[start] = stamp; + this.dist[start] = 0; + this.queue[tail++] = start; + + while (head < tail) { + const node = this.queue[head++]; + const currentDist = this.dist[node]; + + if (currentDist > maxDistance) { + continue; + } + + // Call visitor: + // - Returns T: Found target, return immediately + // - Returns null: Reject tile, don't explore neighbors + // - Returns undefined: Valid tile, explore neighbors + const result = visitor(node, currentDist); + + if (result !== null && result !== undefined) { + return result; + } + + // If visitor returned null, reject this tile and don't explore neighbors + if (result === null) { + continue; + } + + const nextDist = currentDist + 1; + const x = node % width; + + // North + if (node >= width) { + const n = node - width; + if (this.visitedStamp[n] !== stamp && isValidNode(n)) { + this.visitedStamp[n] = stamp; + this.dist[n] = nextDist; + this.queue[tail++] = n; + } + } + + // South + if (node < lastRowStart) { + const s = node + width; + if (this.visitedStamp[s] !== stamp && isValidNode(s)) { + this.visitedStamp[s] = stamp; + this.dist[s] = nextDist; + this.queue[tail++] = s; + } + } + + // West + if (x !== 0) { + const wv = node - 1; + if (this.visitedStamp[wv] !== stamp && isValidNode(wv)) { + this.visitedStamp[wv] = stamp; + this.dist[wv] = nextDist; + this.queue[tail++] = wv; + } + } + + // East + if (x !== width - 1) { + const ev = node + 1; + if (this.visitedStamp[ev] !== stamp && isValidNode(ev)) { + this.visitedStamp[ev] = stamp; + this.dist[ev] = nextDist; + this.queue[tail++] = ev; + } + } + } + + return null; + } + + private nextStamp(): number { + const stamp = this.stamp++; + + if (this.stamp === 0) { + // Overflow - reset (extremely rare) + this.visitedStamp.fill(0); + this.stamp = 1; + } + + return stamp; + } +} diff --git a/src/core/pathfinding/navmesh/GatewayGraph.ts b/src/core/pathfinding/navmesh/GatewayGraph.ts new file mode 100644 index 000000000..c08b60a99 --- /dev/null +++ b/src/core/pathfinding/navmesh/GatewayGraph.ts @@ -0,0 +1,587 @@ +import { Game } from "../../game/Game"; +import { GameMap, TileRef } from "../../game/GameMap"; +import { FastBFS } from "./FastBFS"; +import { WaterComponents } from "./WaterComponents"; + +export interface Gateway { + id: number; + x: number; + y: number; + tile: TileRef; + componentId: number; +} + +export interface Edge { + from: number; + to: number; + cost: number; + path?: TileRef[]; + sectorX: number; + sectorY: number; +} + +export interface Sector { + x: number; + y: number; + gateways: Gateway[]; + edges: Edge[]; +} + +export type BuildDebugInfo = { + sectors: number | null; + gateways: number | null; + edges: number | null; + actualBFSCalls: number | null; + potentialBFSCalls: number | null; + skippedByComponentFilter: number | null; + timings: { [key: string]: number }; +}; + +export class GatewayGraph { + constructor( + readonly sectors: ReadonlyMap, + readonly gateways: ReadonlyMap, + readonly edges: ReadonlyMap, + readonly sectorSize: number, + readonly sectorsX: number, + ) {} + + getSectorKey(sectorX: number, sectorY: number): number { + return sectorY * this.sectorsX + sectorX; + } + + getSector(sectorX: number, sectorY: number): Sector | undefined { + return this.sectors.get(this.getSectorKey(sectorX, sectorY)); + } + + getGateway(id: number): Gateway | undefined { + return this.gateways.get(id); + } + + getEdges(gatewayId: number): Edge[] { + return this.edges.get(gatewayId) ?? []; + } + + getNearbySectorGateways(sectorX: number, sectorY: number): Gateway[] { + const nearby: Gateway[] = []; + for (let dy = -1; dy <= 1; dy++) { + for (let dx = -1; dx <= 1; dx++) { + const sector = this.getSector(sectorX + dx, sectorY + dy); + if (sector) { + nearby.push(...sector.gateways); + } + } + } + return nearby; + } + + getAllGateways(): Gateway[] { + return Array.from(this.gateways.values()); + } +} + +export class GatewayGraphBuilder { + static readonly SECTOR_SIZE = 32; + + // Derived immutable state + private readonly miniMap: GameMap; + private readonly width: number; + private readonly height: number; + private readonly sectorsX: number; + private readonly sectorsY: number; + private readonly fastBFS: FastBFS; + private readonly waterComponents: WaterComponents; + + // Mutable build state + private sectors = new Map(); + private gateways = new Map(); + private tileToGateway = new Map(); + private edges = new Map(); + private nextGatewayId = 0; + + // Programatically accessible debug info + public debugInfo: BuildDebugInfo | null = null; + + constructor( + private readonly game: Game, + private readonly sectorSize: number, + ) { + this.miniMap = game.miniMap(); + this.width = this.miniMap.width(); + this.height = this.miniMap.height(); + this.sectorsX = Math.ceil(this.width / sectorSize); + this.sectorsY = Math.ceil(this.height / sectorSize); + this.fastBFS = new FastBFS(this.width * this.height); + this.waterComponents = new WaterComponents(this.miniMap); + } + + build(debug: boolean): GatewayGraph { + performance.mark("navsat:build:start"); + + if (debug) { + console.log( + `[DEBUG] Building gateway graph with sector size ${this.sectorSize} (${this.sectorsX}x${this.sectorsY} sectors)`, + ); + + this.debugInfo = { + sectors: null, + gateways: null, + edges: null, + actualBFSCalls: null, + potentialBFSCalls: null, + skippedByComponentFilter: null, + timings: {}, + }; + } + + // Initialize water components before building gateway graph + performance.mark("navsat:build:water-component:start"); + this.waterComponents.initialize(); + performance.mark("navsat:build:water-component:end"); + const measure = performance.measure( + "navsat:build:water-component", + "navsat:build:water-component:start", + "navsat:build:water-component:end", + ); + + if (debug) { + console.log( + `[DEBUG] Water Component Identification: ${measure.duration.toFixed(2)}ms`, + ); + } + + performance.mark("navsat:build:gateways:start"); + for (let sy = 0; sy < this.sectorsY; sy++) { + for (let sx = 0; sx < this.sectorsX; sx++) { + this.processSector(sx, sy); + } + } + performance.mark("navsat:build:gateways:end"); + const gatewaysMeasure = performance.measure( + "navsat:build:gateways", + "navsat:build:gateways:start", + "navsat:build:gateways:end", + ); + + if (debug) { + console.log( + `[DEBUG] Gateway identification: ${gatewaysMeasure.duration.toFixed(2)}ms`, + ); + + this.debugInfo!.edges = 0; + this.debugInfo!.potentialBFSCalls = 0; + this.debugInfo!.skippedByComponentFilter = 0; + } + + performance.mark("navsat:build:edges:start"); + for (const sector of this.sectors.values()) { + const gws = sector.gateways; + const numGateways = gws.length; + + if (debug) { + this.debugInfo!.potentialBFSCalls! += + (numGateways * (numGateways - 1)) / 2; + + for (let i = 0; i < gws.length; i++) { + for (let j = i + 1; j < gws.length; j++) { + if (gws[i].componentId !== gws[j].componentId) { + this.debugInfo!.skippedByComponentFilter!++; + } + } + } + } + + this.buildSectorConnections(sector); + + if (debug) { + // Divide by 2 because bidirectional + this.debugInfo!.edges! += sector.edges.length / 2; + } + } + + if (debug) { + this.debugInfo!.actualBFSCalls = + this.debugInfo!.potentialBFSCalls! - + this.debugInfo!.skippedByComponentFilter!; + } + + performance.mark("navsat:build:edges:end"); + const edgesMeasure = performance.measure( + "navsat:build:edges", + "navsat:build:edges:start", + "navsat:build:edges:end", + ); + + if (debug) { + console.log( + `[DEBUG] Edges 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}`, + ); + console.log( + `[DEBUG] Edges Found: ${this.debugInfo!.edges} (${((this.debugInfo!.edges! / this.debugInfo!.actualBFSCalls!) * 100).toFixed(1)}% success rate)`, + ); + } + + performance.mark("navsat:build:end"); + const totalMeasure = performance.measure( + "navsat:build:total", + "navsat:build:start", + "navsat:build:end", + ); + + if (debug) { + console.log( + `[DEBUG] Gateway graph built in ${totalMeasure.duration.toFixed(2)}ms`, + ); + console.log(`[DEBUG] Gateways: ${this.gateways.size}`); + console.log(`[DEBUG] Sectors: ${this.sectors.size}`); + } + + return new GatewayGraph( + this.sectors, + this.gateways, + this.edges, + this.sectorSize, + this.sectorsX, + ); + } + + private getSectorKey(sectorX: number, sectorY: number): number { + return sectorY * this.sectorsX + sectorX; + } + + private getOrCreateGateway(x: number, y: number): Gateway { + const tile = this.miniMap.ref(x, y); + + // O(1) lookup using tile reference + const existing = this.tileToGateway.get(tile); + if (existing) { + return existing; + } + + const gateway: Gateway = { + id: this.nextGatewayId++, + x: x, + y: y, + tile: tile, + componentId: this.waterComponents.getComponentId(tile), + }; + + this.gateways.set(gateway.id, gateway); + this.tileToGateway.set(tile, gateway); + return gateway; + } + + private addGatewayToSector(sector: Sector, gateway: Gateway): void { + // Check for duplicates: a gateway at a sector corner can be + // detected by both horizontal and vertical edge scans + for (const existingGw of sector.gateways) { + if (existingGw.x === gateway.x && existingGw.y === gateway.y) { + return; + } + } + + // Gateway doesn't exist in sector yet, add it + sector.gateways.push(gateway); + } + + private processSector(sx: number, sy: number): void { + const sectorKey = this.getSectorKey(sx, sy); + let sector = this.sectors.get(sectorKey); + + if (!sector) { + sector = { x: sx, y: sy, gateways: [], edges: [] }; + this.sectors.set(sectorKey, sector); + } + + const baseX = sx * this.sectorSize; + const baseY = sy * this.sectorSize; + + if (sx < this.sectorsX - 1) { + const edgeX = Math.min(baseX + this.sectorSize - 1, this.width - 1); + const newGateways = this.findGatewaysOnVerticalEdge(edgeX, baseY); + + for (const gateway of newGateways) { + this.addGatewayToSector(sector, gateway); + + const rightSectorKey = this.getSectorKey(sx + 1, sy); + let rightSector = this.sectors.get(rightSectorKey); + + if (!rightSector) { + rightSector = { x: sx + 1, y: sy, gateways: [], edges: [] }; + this.sectors.set(rightSectorKey, rightSector); + } + + this.addGatewayToSector(rightSector, gateway); + } + } + + if (sy < this.sectorsY - 1) { + const edgeY = Math.min(baseY + this.sectorSize - 1, this.height - 1); + const newGateways = this.findGatewaysOnHorizontalEdge(edgeY, baseX); + + for (const gateway of newGateways) { + this.addGatewayToSector(sector, gateway); + + const bottomSectorKey = this.getSectorKey(sx, sy + 1); + let bottomSector = this.sectors.get(bottomSectorKey); + + if (!bottomSector) { + bottomSector = { x: sx, y: sy + 1, gateways: [], edges: [] }; + this.sectors.set(bottomSectorKey, bottomSector); + } + + this.addGatewayToSector(bottomSector, gateway); + } + } + } + + private findGatewaysOnVerticalEdge(x: number, baseY: number): Gateway[] { + const gateways: Gateway[] = []; + const maxY = Math.min(baseY + this.sectorSize, this.height); + + let gatewayStart = -1; + + const tryAddGateway = (y: number) => { + if (gatewayStart === -1) return; + + const gatewayLength = y - gatewayStart; + const midY = gatewayStart + Math.floor(gatewayLength / 2); + + gatewayStart = -1; + + const gateway = this.getOrCreateGateway(x, midY); + gateways.push(gateway); + }; + + for (let y = baseY; y < maxY; y++) { + const tile = this.miniMap.ref(x, y); + const nextTile = + x + 1 < this.miniMap.width() ? this.miniMap.ref(x + 1, y) : -1; + const isGateway = + this.miniMap.isWater(tile) && + nextTile !== -1 && + this.miniMap.isWater(nextTile); + + if (isGateway) { + if (gatewayStart === -1) { + gatewayStart = y; + } + } else { + tryAddGateway(y); + } + } + + tryAddGateway(maxY); + + return gateways; + } + + private findGatewaysOnHorizontalEdge(y: number, baseX: number): Gateway[] { + const gateways: Gateway[] = []; + const maxX = Math.min(baseX + this.sectorSize, this.width); + + let gatewayStart = -1; + + const tryAddGateway = (x: number) => { + if (gatewayStart === -1) return; + + const gatewayLength = x - gatewayStart; + const midX = gatewayStart + Math.floor(gatewayLength / 2); + + gatewayStart = -1; + + const gateway = this.getOrCreateGateway(midX, y); + gateways.push(gateway); + }; + + for (let x = baseX; x < maxX; x++) { + const tile = this.miniMap.ref(x, y); + const nextTile = + y + 1 < this.miniMap.height() ? this.miniMap.ref(x, y + 1) : -1; + const isGateway = + this.miniMap.isWater(tile) && + nextTile !== -1 && + this.miniMap.isWater(nextTile); + + if (isGateway) { + if (gatewayStart === -1) { + gatewayStart = x; + } + } else { + tryAddGateway(x); + } + } + + tryAddGateway(maxX); + + return gateways; + } + + private buildSectorConnections(sector: Sector): void { + const gateways = sector.gateways; + + // Calculate bounding box once for this sector + const sectorMinX = sector.x * this.sectorSize; + const sectorMinY = sector.y * this.sectorSize; + const sectorMaxX = Math.min( + this.width - 1, + sectorMinX + this.sectorSize - 1, + ); + const sectorMaxY = Math.min( + this.height - 1, + sectorMinY + this.sectorSize - 1, + ); + + for (let i = 0; i < gateways.length; i++) { + const fromGateway = gateways[i]; + + // Build list of target gateways (only those we haven't processed yet) + const targetGateways: Gateway[] = []; + for (let j = i + 1; j < gateways.length; j++) { + // Skip if gateways are in different water components + if (gateways[i].componentId !== gateways[j].componentId) { + continue; + } + + targetGateways.push(gateways[j]); + } + + if (targetGateways.length === 0) { + continue; + } + + // Single BFS to find all reachable target gateways + const reachableGateways = this.findAllReachableGatewaysInBounds( + fromGateway.tile, + targetGateways, + sectorMinX, + sectorMaxX, + sectorMinY, + sectorMaxY, + ); + + // Create edges for all reachable gateways + for (const [targetId, cost] of reachableGateways.entries()) { + if (!this.edges.has(fromGateway.id)) { + this.edges.set(fromGateway.id, []); + } + + if (!this.edges.has(targetId)) { + this.edges.set(targetId, []); + } + + // Check for existing edges - gateways may live in 2 sectors, keep only cheaper connection + const existingEdgeFromI = this.edges + .get(fromGateway.id)! + .find((e) => e.to === targetId); + const existingEdgeFromJ = this.edges + .get(targetId)! + .find((e) => e.to === fromGateway.id); + + // If edge doesn't exist or new cost is cheaper, update it + if (!existingEdgeFromI || cost < existingEdgeFromI.cost) { + const edge1: Edge = { + from: fromGateway.id, + to: targetId, + cost: cost, + sectorX: sector.x, + sectorY: sector.y, + }; + + const edge2: Edge = { + from: targetId, + to: fromGateway.id, + cost: cost, + sectorX: sector.x, + sectorY: sector.y, + }; + + // Add to sector edges for tracking + sector.edges.push(edge1, edge2); + + if (existingEdgeFromI) { + const idx1 = this.edges + .get(fromGateway.id)! + .indexOf(existingEdgeFromI); + this.edges.get(fromGateway.id)![idx1] = edge1; + + const idx2 = this.edges.get(targetId)!.indexOf(existingEdgeFromJ!); + this.edges.get(targetId)![idx2] = edge2; + } else { + this.edges.get(fromGateway.id)!.push(edge1); + this.edges.get(targetId)!.push(edge2); + } + } + } + } + } + + private findAllReachableGatewaysInBounds( + from: TileRef, + targetGateways: Gateway[], + minX: number, + maxX: number, + minY: number, + maxY: number, + ): Map { + const fromX = this.miniMap.x(from); + const fromY = this.miniMap.y(from); + + // Create a map of tile positions to gateway IDs for fast lookup + const tileToGateway = new Map(); + let maxManhattanDist = 0; + + for (const gateway of targetGateways) { + tileToGateway.set(gateway.tile, gateway.id); + const dx = Math.abs(gateway.x - fromX); + const dy = Math.abs(gateway.y - fromY); + maxManhattanDist = Math.max(maxManhattanDist, dx + dy); + } + + const maxDistance = maxManhattanDist * 4; // Allow path deviation + const reachable = new Map(); + let foundCount = 0; + + this.fastBFS.search( + this.miniMap.width(), + this.miniMap.height(), + from, + maxDistance, + (tile: number) => this.miniMap.isWater(tile), + (tile: number, dist: number) => { + const x = this.miniMap.x(tile); + const y = this.miniMap.y(tile); + + // Reject if outside of bounding box + const isStartOrEnd = tile === from || tileToGateway.has(tile); + if (!isStartOrEnd && (x < minX || x > maxX || y < minY || y > maxY)) { + return null; + } + + // Check if this tile is one of our target gateways + const gatewayId = tileToGateway.get(tile); + + if (gatewayId !== undefined) { + reachable.set(gatewayId, dist); + foundCount++; + + // Early exit if we've found all target gateways + if (foundCount === targetGateways.length) { + return dist; // Return to stop BFS + } + } + }, + ); + + return reachable; + } +} diff --git a/src/core/pathfinding/navmesh/NavMesh.ts b/src/core/pathfinding/navmesh/NavMesh.ts new file mode 100644 index 000000000..574dbfccc --- /dev/null +++ b/src/core/pathfinding/navmesh/NavMesh.ts @@ -0,0 +1,819 @@ +import { Game } from "../../game/Game"; +import { TileRef } from "../../game/GameMap"; +import { FastAStar } from "./FastAStar"; +import { BoundedGameMapAdapter, GatewayGraphAdapter } from "./FastAStarAdapter"; +import { FastBFS } from "./FastBFS"; +import { Gateway, GatewayGraph, GatewayGraphBuilder } from "./GatewayGraph"; + +type PathDebugInfo = { + gatewayPath: TileRef[] | null; + initialPath: TileRef[] | null; + smoothPath: TileRef[] | null; + graph: { + sectorSize: number; + gateways: Array<{ id: number; tile: TileRef }>; + edges: Array<{ + fromId: number; + toId: number; + from: TileRef; + to: TileRef; + cost: number; + path: TileRef[] | null; + }>; + }; + timings: { [key: string]: number }; +}; + +export class NavMesh { + private graph!: GatewayGraph; + private initialized = false; + private fastBFS!: FastBFS; + private gatewayAStar!: FastAStar; + private localAStar!: FastAStar; + private localAStarMultiSector!: FastAStar; + + public debugInfo: PathDebugInfo | null = null; + + constructor( + private game: Game, + private options: { + cachePaths?: boolean; + } = {}, + ) {} + + initialize(debug: boolean = false) { + const gatewayGraphBuilder = new GatewayGraphBuilder( + this.game, + GatewayGraphBuilder.SECTOR_SIZE, + ); + this.graph = gatewayGraphBuilder.build(debug); + + const miniMap = this.game.miniMap(); + this.fastBFS = new FastBFS(miniMap.width() * miniMap.height()); + + const gatewayCount = this.graph.getAllGateways().length; + this.gatewayAStar = new FastAStar(gatewayCount); + + // Fixed-size FastAStar for sector-bounded local pathfinding + // Single sector: 32×32 = 1,024 nodes + const sectorSize = GatewayGraphBuilder.SECTOR_SIZE; + const maxLocalNodes = sectorSize * sectorSize; // 1,024 nodes + this.localAStar = new FastAStar(maxLocalNodes); + + // Multi-sector FastAStar for cross-sector pathfinding (same gateway, different sectors) + // 3×3 sectors: 96×96 = 9,216 nodes + const multiSectorSize = sectorSize * 3; + const maxMultiSectorNodes = multiSectorSize * multiSectorSize; + this.localAStarMultiSector = new FastAStar(maxMultiSectorNodes); + + this.initialized = true; + } + + findPath( + from: TileRef, + to: TileRef, + debug: boolean = false, + ): TileRef[] | null { + if (!this.initialized) { + throw new Error( + "NavMesh not initialized. Call initialize() before using findPath().", + ); + } + + if (debug) { + // Collect all edges with their paths for visualization + const allEdges: Array<{ + fromId: number; + toId: number; + from: TileRef; + to: TileRef; + cost: number; + path: TileRef[] | null; + }> = []; + + for (const [fromId, edges] of this.graph.edges.entries()) { + const fromGw = this.graph.getGateway(fromId); + if (!fromGw) continue; + + for (const edge of edges) { + const toGw = this.graph.getGateway(edge.to); + if (!toGw) continue; + + // Only add each edge once (not both directions) + // Include self-loops (fromId === edge.to) for debugging + if (fromId <= edge.to) { + allEdges.push({ + fromId: fromId, + toId: edge.to, + from: fromGw.tile, + to: toGw.tile, + cost: edge.cost, + path: edge.path ?? null, + }); + } + } + } + + this.debugInfo = { + gatewayPath: null, + initialPath: null, + smoothPath: null, + graph: { + sectorSize: this.graph.sectorSize, + gateways: this.graph + .getAllGateways() + .map((gw) => ({ id: gw.id, tile: gw.tile })), + edges: allEdges, + }, + timings: { + total: 0, + }, + }; + } + + const dist = this.game.manhattanDist(from, to); + + // Early exit for very short distances that fit within multi-sector range + if (dist <= this.graph.sectorSize) { + performance.mark("navsat:findPath:earlyExitLocalPath:start"); + const map = this.game.map(); + const startMiniX = Math.floor(map.x(from) / 2); + const startMiniY = Math.floor(map.y(from) / 2); + const sectorX = Math.floor(startMiniX / this.graph.sectorSize); + const sectorY = Math.floor(startMiniY / this.graph.sectorSize); + const localPath = this.findLocalPath( + from, + to, + sectorX, + sectorY, + 2000, + true, + ); + performance.mark("navsat:findPath:earlyExitLocalPath:end"); + const measure = performance.measure( + "navsat:findPath:earlyExitLocalPath", + "navsat:findPath:earlyExitLocalPath:start", + "navsat:findPath:earlyExitLocalPath:end", + ); + + if (debug) { + this.debugInfo!.timings.earlyExitLocalPath = measure.duration; + this.debugInfo!.timings.total += measure.duration; + } + + 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 gateway graph`, + ); + } + } + + performance.mark("navsat:findPath:findGateways:start"); + const startGateway = this.findNearestGateway(from); + const endGateway = this.findNearestGateway(to); + performance.mark("navsat:findPath:findGateways:end"); + const findGatewaysMeasure = performance.measure( + "navsat:findPath:findGateways", + "navsat:findPath:findGateways:start", + "navsat:findPath:findGateways:end", + ); + + if (debug) { + this.debugInfo!.timings.findGateways = findGatewaysMeasure.duration; + this.debugInfo!.timings.total += findGatewaysMeasure.duration; + } + + if (!startGateway) { + if (debug) { + console.log( + `[DEBUG] Cannot find start gateway for (${this.game.x(from)}, ${this.game.y(from)})`, + ); + } + + return null; + } + + if (!endGateway) { + if (debug) { + console.log( + `[DEBUG] Cannot find end gateway for (${this.game.x(to)}, ${this.game.y(to)})`, + ); + } + + return null; + } + + if (startGateway.id === endGateway.id) { + if (debug) { + console.log( + `[DEBUG] Start and end gateways are the same (ID=${startGateway.id}), finding local path with multi-sector search`, + ); + } + + performance.mark("navsat:findPath:sameGatewayLocalPath:start"); + const sectorX = Math.floor(startGateway.x / this.graph.sectorSize); + const sectorY = Math.floor(startGateway.y / this.graph.sectorSize); + const path = this.findLocalPath(from, to, sectorX, sectorY, 10000, true); + performance.mark("navsat:findPath:sameGatewayLocalPath:end"); + const sameGatewayMeasure = performance.measure( + "navsat:findPath:sameGatewayLocalPath", + "navsat:findPath:sameGatewayLocalPath:start", + "navsat:findPath:sameGatewayLocalPath:end", + ); + + if (debug) { + this.debugInfo!.timings.sameGatewayLocalPath = + sameGatewayMeasure.duration; + this.debugInfo!.timings.total += sameGatewayMeasure.duration; + } + + return path; + } + + performance.mark("navsat:findPath:findGatewayPath:start"); + const gatewayPath = this.findGatewayPath(startGateway.id, endGateway.id); + performance.mark("navsat:findPath:findGatewayPath:end"); + const findGatewayPathMeasure = performance.measure( + "navsat:findPath:findGatewayPath", + "navsat:findPath:findGatewayPath:start", + "navsat:findPath:findGatewayPath:end", + ); + + if (debug) { + this.debugInfo!.timings.findGatewayPath = findGatewayPathMeasure.duration; + this.debugInfo!.timings.total += findGatewayPathMeasure.duration; + + this.debugInfo!.gatewayPath = gatewayPath + ? gatewayPath + .map((gwId) => { + const gw = this.graph.getGateway(gwId); + return gw ? gw.tile : -1; + }) + .filter((tile) => tile !== -1) + : null; + } + + if (!gatewayPath) { + if (debug) { + console.log( + `[DEBUG] No gateway path between gateways ${startGateway.id} and ${endGateway.id}`, + ); + } + + return null; + } + + if (debug) { + console.log( + `[DEBUG] Gateway path found: ${gatewayPath.length} waypoints`, + ); + } + + const initialPath: TileRef[] = []; + const map = this.game.map(); + const miniMap = this.game.miniMap(); + + performance.mark("navsat:findPath:buildInitialPath:start"); + + // 1. Find path from start to first gateway + const firstGateway = this.graph.getGateway(gatewayPath[0])!; + const firstGatewayTile = map.ref( + miniMap.x(firstGateway.tile) * 2, + miniMap.y(firstGateway.tile) * 2, + ); + + // Use start position's sector with multi-sector search (gateway may be on border) + const startMiniX = Math.floor(map.x(from) / 2); + const startMiniY = Math.floor(map.y(from) / 2); + const startSectorX = Math.floor(startMiniX / this.graph.sectorSize); + const startSectorY = Math.floor(startMiniY / this.graph.sectorSize); + const startSegment = this.findLocalPath( + from, + firstGatewayTile, + startSectorX, + startSectorY, + ); + + if (!startSegment) { + return null; + } + + initialPath.push(...startSegment); + + // 2. Build path through gateways + for (let i = 0; i < gatewayPath.length - 1; i++) { + const fromGwId = gatewayPath[i]; + const toGwId = gatewayPath[i + 1]; + + const edges = this.graph.getEdges(fromGwId); + const edge = edges.find((edge) => edge.to === toGwId); + + if (!edge) { + return null; + } + + if (edge.path) { + // Use cached path if available + initialPath.push(...edge.path.slice(1)); + continue; + } + + const fromGw = this.graph.getGateway(fromGwId)!; + const toGw = this.graph.getGateway(toGwId)!; + const fromTile = map.ref( + miniMap.x(fromGw.tile) * 2, + miniMap.y(fromGw.tile) * 2, + ); + const toTile = map.ref( + miniMap.x(toGw.tile) * 2, + miniMap.y(toGw.tile) * 2, + ); + + const segmentPath = this.findLocalPath( + fromTile, + toTile, + edge.sectorX, + edge.sectorY, + ); + + if (!segmentPath) { + return null; + } + + // Skip first tile to avoid duplication + initialPath.push(...segmentPath.slice(1)); + + if (this.options.cachePaths) { + // Cache the path for future reuse on both directional edges + edge.path = segmentPath; + + // Also cache the reversed path on the opposite direction edge + const reverseEdges = this.graph.getEdges(toGwId); + const reverseEdge = reverseEdges.find((e) => e.to === fromGwId); + if (reverseEdge) { + reverseEdge.path = segmentPath.slice().reverse(); + } + } + } + + // 3. Find path from last gateway to end + const lastGateway = this.graph.getGateway( + gatewayPath[gatewayPath.length - 1], + )!; + const lastGatewayTile = map.ref( + miniMap.x(lastGateway.tile) * 2, + miniMap.y(lastGateway.tile) * 2, + ); + + // Use end position's sector with multi-sector search (gateway may be on border) + const endMiniX = Math.floor(map.x(to) / 2); + const endMiniY = Math.floor(map.y(to) / 2); + const endSectorX = Math.floor(endMiniX / this.graph.sectorSize); + const endSectorY = Math.floor(endMiniY / this.graph.sectorSize); + const endSegment = this.findLocalPath( + lastGatewayTile, + to, + endSectorX, + endSectorY, + ); + + if (!endSegment) { + return null; + } + + // Skip first tile to avoid duplication + initialPath.push(...endSegment.slice(1)); + + performance.mark("navsat:findPath:buildInitialPath:end"); + const buildInitialPathMeasure = performance.measure( + "navsat:findPath:buildInitialPath", + "navsat:findPath:buildInitialPath:start", + "navsat: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`); + } + + performance.mark("navsat:findPath:smoothPath:start"); + const smoothedPath = this.smoothPath(initialPath); + performance.mark("navsat:findPath:smoothPath:end"); + const smoothPathMeasure = performance.measure( + "navsat:findPath:smoothPath", + "navsat:findPath:smoothPath:start", + "navsat:findPath:smoothPath:end", + ); + + if (debug) { + this.debugInfo!.timings.buildSmoothPath = smoothPathMeasure.duration; + this.debugInfo!.timings.total += smoothPathMeasure.duration; + this.debugInfo!.smoothPath = smoothedPath; + console.log( + `[DEBUG] Smoothed path: ${initialPath.length} → ${smoothedPath.length} tiles`, + ); + } + + return smoothedPath; + } + + private findNearestGateway(tile: TileRef): Gateway | null { + const map = this.game.map(); + const x = map.x(tile); + const y = map.y(tile); + + // Convert to miniMap coordinates + const miniMap = this.game.miniMap(); + const miniX = Math.floor(x / 2); + const miniY = Math.floor(y / 2); + const miniFrom = miniMap.ref(miniX, miniY); + + // Check gateways in the tile's own sector (using miniMap coordinates) + const sectorX = Math.floor(miniX / this.graph.sectorSize); + const sectorY = Math.floor(miniY / this.graph.sectorSize); + + // Calculate single sector bounds + const sectorSize = this.graph.sectorSize; + const minX = sectorX * sectorSize; + const minY = sectorY * sectorSize; + const maxX = Math.min(miniMap.width() - 1, minX + sectorSize - 1); + const maxY = Math.min(miniMap.height() - 1, minY + sectorSize - 1); + + // Get gateways from the tile's own sector only (includes border gateways) + const sector = this.graph.getSector(sectorX, sectorY); + + if (!sector) { + return null; + } + + const candidateGateways = sector.gateways; + if (candidateGateways.length === 0) { + return null; + } + + // Use BFS to find the nearest reachable gateway (by water path distance) + // Search space is bounded by sector bounds, so maxDistance can be large + const maxDistance = sectorSize * sectorSize; + + return this.fastBFS.search( + miniMap.width(), + miniMap.height(), + miniFrom, + maxDistance, + (tile: TileRef) => miniMap.isWater(tile), + (tile: TileRef, _dist: number) => { + const tileX = miniMap.x(tile); + const tileY = miniMap.y(tile); + + // Check if any candidate gateway is at this position first + for (const gateway of candidateGateways) { + if (gateway.x === tileX && gateway.y === tileY) { + return gateway; + } + } + + // Reject non-gateway tiles outside the sector bounds + if (tileX < minX || tileX > maxX || tileY < minY || tileY > maxY) { + return null; + } + }, + ); + } + + private findGatewayPath( + fromGatewayId: number, + toGatewayId: number, + ): number[] | null { + const adapter = new GatewayGraphAdapter(this.graph); + return this.gatewayAStar.search( + fromGatewayId, + toGatewayId, + adapter, + 100000, + ); + } + + private findLocalPath( + from: TileRef, + to: TileRef, + sectorX: number, + sectorY: number, + maxIterations: number = 10000, + multiSector: boolean = false, + ): TileRef[] | null { + const map = this.game.map(); + const miniMap = this.game.miniMap(); + + // Convert full map coordinates to miniMap coordinates + const miniFrom = miniMap.ref( + Math.floor(map.x(from) / 2), + Math.floor(map.y(from) / 2), + ); + + const miniTo = miniMap.ref( + Math.floor(map.x(to) / 2), + Math.floor(map.y(to) / 2), + ); + + // Calculate sector bounds + const sectorSize = this.graph.sectorSize; + + let minX: number; + let minY: number; + let maxX: number; + let maxY: number; + + if (multiSector) { + // 3×3 sectors centered on the starting sector + minX = Math.max(0, (sectorX - 1) * sectorSize); + minY = Math.max(0, (sectorY - 1) * sectorSize); + maxX = Math.min(miniMap.width() - 1, (sectorX + 2) * sectorSize - 1); + maxY = Math.min(miniMap.height() - 1, (sectorY + 2) * sectorSize - 1); + } else { + // Single sector + minX = sectorX * sectorSize; + minY = sectorY * sectorSize; + maxX = Math.min(miniMap.width() - 1, minX + sectorSize - 1); + maxY = Math.min(miniMap.height() - 1, minY + sectorSize - 1); + } + + const adapter = new BoundedGameMapAdapter(miniMap, miniFrom, miniTo, { + minX, + maxX, + minY, + maxY, + }); + + // Convert to local node IDs + const startNode = adapter.tileToNode(miniFrom); + const goalNode = adapter.tileToNode(miniTo); + + if (startNode === -1 || goalNode === -1) { + return null; // Start or goal outside bounds + } + + // Choose the appropriate FastAStar buffer based on search area + const selectedAStar = multiSector + ? this.localAStarMultiSector + : this.localAStar; + + // Run FastAStar on bounded region + const path = selectedAStar.search( + startNode, + goalNode, + adapter, + maxIterations, + ); + + if (!path) { + return null; + } + + // Convert path from local node IDs back to miniMap TileRefs + const miniPath = path.map((node: number) => adapter.nodeToTile(node)); + + // Upscale from miniMap to full map (same logic as MiniAStar) + const result = this.upscalePathToFullMap(miniPath, from, to); + + return result; + } + + private upscalePathToFullMap( + miniPath: TileRef[], + from: TileRef, + to: TileRef, + ): TileRef[] { + const map = this.game.map(); + const miniMap = this.game.miniMap(); + + // Convert miniMap path to cells + const miniCells = miniPath.map((tile) => ({ + x: miniMap.x(tile), + y: miniMap.y(tile), + })); + + // FIRST: Scale all points (2x) + const scaledPath = miniCells.map((point) => ({ + x: point.x * 2, + y: point.y * 2, + })); + + // SECOND: Interpolate between scaled points + const smoothPath: Array<{ x: number; y: number }> = []; + for (let i = 0; i < scaledPath.length - 1; i++) { + const current = scaledPath[i]; + const next = scaledPath[i + 1]; + + // Add the current point + smoothPath.push(current); + + // Calculate dx/dy from SCALED coordinates + const dx = next.x - current.x; + const dy = next.y - current.y; + const distance = Math.max(Math.abs(dx), Math.abs(dy)); + const steps = distance; + + // Add intermediate points + for (let step = 1; step < steps; step++) { + smoothPath.push({ + x: Math.round(current.x + (dx * step) / steps), + y: Math.round(current.y + (dy * step) / steps), + }); + } + } + + // Add last point + if (scaledPath.length > 0) { + smoothPath.push(scaledPath[scaledPath.length - 1]); + } + + const scaledCells = smoothPath; + + // Fix extremes to ensure exact start/end + const fromCell = { x: map.x(from), y: map.y(from) }; + const toCell = { x: map.x(to), y: map.y(to) }; + + // Ensure start is correct + const startIdx = scaledCells.findIndex( + (c) => c.x === fromCell.x && c.y === fromCell.y, + ); + if (startIdx === -1) { + scaledCells.unshift(fromCell); + } else if (startIdx !== 0) { + scaledCells.splice(0, startIdx); + } + + // Ensure end is correct + const endIdx = scaledCells.findIndex( + (c) => c.x === toCell.x && c.y === toCell.y, + ); + if (endIdx === -1) { + scaledCells.push(toCell); + } else if (endIdx !== scaledCells.length - 1) { + scaledCells.splice(endIdx + 1); + } + + // Convert back to TileRefs + return scaledCells.map((cell) => map.ref(cell.x, cell.y)); + } + + private tracePath(from: TileRef, to: TileRef): TileRef[] | null { + const x0 = this.game.x(from); + const y0 = this.game.y(from); + const x1 = this.game.x(to); + const y1 = this.game.y(to); + + const tiles: TileRef[] = []; + + // Bresenham's line algorithm - trace and collect all tiles + 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; + + // Safety limit to prevent excessive memory allocation + const maxTiles = 100000; + let iterations = 0; + + while (true) { + if (iterations++ > maxTiles) { + return null; // Path too long + } + const tile = this.game.ref(x, y); + if (!this.game.isWater(tile)) { + return null; // Path blocked + } + + tiles.push(tile); + + if (x === x1 && y === y1) { + break; + } + + const e2 = 2 * err; + const shouldMoveX = e2 > -dy; + const shouldMoveY = e2 < dx; + + if (shouldMoveX && shouldMoveY) { + // Diagonal move - need to expand into two 4-directional moves + // Try moving X first, then Y + x += sx; + err -= dy; + + const intermediateTile = this.game.ref(x, y); + if (!this.game.isWater(intermediateTile)) { + // X first doesn't work, try Y first instead + x -= sx; // undo + err += dy; // undo + + y += sy; + err += dx; + + const altTile = this.game.ref(x, y); + if (!this.game.isWater(altTile)) { + return null; // Neither direction works + } + tiles.push(altTile); + + // Now move X + x += sx; + err -= dy; + } else { + tiles.push(intermediateTile); + + // Now move Y + y += sy; + err += dx; + } + } else { + // Single-axis move + if (shouldMoveX) { + x += sx; + err -= dy; + } + + if (shouldMoveY) { + y += sy; + err += dx; + } + } + } + + return tiles; + } + + private smoothPath(path: TileRef[]): TileRef[] { + if (path.length <= 2) { + return path; + } + + const smoothed: TileRef[] = []; + let current = 0; + + while (current < path.length - 1) { + // Look as far ahead as possible while maintaining line of sight + 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; + } + } + + // Also try the final tile if we haven't already + 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; + } + } + + // Add the traced path (or just current tile if no improvement) + if (bestTrace !== null && farthest > current + 1) { + // Add all tiles from the trace except the last one (to avoid duplication) + smoothed.push(...bestTrace.slice(0, -1)); + } else { + // No LOS improvement, just add current tile + smoothed.push(path[current]); + } + + current = farthest; + } + + // Add the final tile + smoothed.push(path[path.length - 1]); + + return smoothed; + } +} diff --git a/src/core/pathfinding/navmesh/WaterComponents.ts b/src/core/pathfinding/navmesh/WaterComponents.ts new file mode 100644 index 000000000..e58cdf96f --- /dev/null +++ b/src/core/pathfinding/navmesh/WaterComponents.ts @@ -0,0 +1,200 @@ +import { GameMap, TileRef } from "../../game/GameMap"; + +const LAND_MARKER = 0xff; // Must fit in Uint8Array + +/** + * Manages water component identification using flood-fill. + * Pre-allocates buffers and provides explicit initialization. + */ +export class WaterComponents { + private readonly width: number; + private readonly height: number; + private readonly numTiles: number; + private readonly lastRowStart: number; + private readonly queue: Int32Array; + private componentIds: Uint8Array | Uint16Array | null = null; + + constructor( + private readonly map: GameMap, + private readonly accessTerrainDirectly: boolean = true, + ) { + this.width = map.width(); + this.height = map.height(); + this.numTiles = this.width * this.height; + this.lastRowStart = (this.height - 1) * this.width; + this.queue = new Int32Array(this.numTiles); + } + + initialize(): void { + let ids: Uint8Array | Uint16Array = this.createPrefilledIds(); + + let nextId = 0; + + // Scan all tiles and flood-fill each unvisited water component + for (let start = 0; start < this.numTiles; start++) { + const value = ids[start]; + + // Skip if already visited (land=0xFF or water component >0) + if (value === LAND_MARKER || value > 0) { + continue; + } + + nextId++; + + // Dynamically upgrade to Uint16Array when we hit component 254 + if (nextId === 254 && ids instanceof Uint8Array) { + ids = this.upgradeToUint16Array(ids); + } + + this.floodFillComponent(ids, start, nextId); + } + + this.componentIds = ids; + } + + /** + * Create and prefill a Uint8Array with land markers. + * Uses direct terrain access for performance. + */ + private createPrefilledIds(): Uint8Array { + const ids = new Uint8Array(this.numTiles); + + if (this.accessTerrainDirectly) { + this.premarkLandTilesDirect(ids); + } else { + this.premarkLandTiles(ids); + } + + return ids; + } + + /** + * Pre-mark all land tiles in the ids array. + * Land tiles are marked with 0xFF, water tiles remain 0. + */ + private premarkLandTiles(ids: Uint8Array): void { + for (let i = 0; i < this.numTiles; i++) { + ids[i] = this.map.isWater(i) ? 0 : LAND_MARKER; + } + } + + /** + * Pre-mark all land tiles in the ids array. + * Land tiles are marked with 0xFF, water tiles remain 0. + * + * This implementation accesses the terrain data **directly** without GameMap abstraction. + * In tests it is 30% to 50% faster than using isWater() method calls. + * As of 2026-01-05 it reduces avg. time for GWM from 15ms to 10ms. + */ + private premarkLandTilesDirect(ids: Uint8Array): void { + const terrain = (this.map as any).terrain as Uint8Array; + + // Write 4 bytes at once using Uint32Array view for better performance + const numChunks = Math.floor(this.numTiles / 4); + const terrain32 = new Uint32Array( + terrain.buffer, + terrain.byteOffset, + numChunks, + ); + const ids32 = new Uint32Array(ids.buffer, ids.byteOffset, numChunks); + + for (let i = 0; i < numChunks; i++) { + const chunk = terrain32[i]; + + // Extract bit 7 from each byte, negate, and combine into single 32-bit write + // bit 7 = 0 (water) → -(0) = 0x00 + // bit 7 = 1 (land) → -(1) = 0xFF (truncated to 8 bits) + const b0 = -((chunk >> 7) & 1) & 0xff; + const b1 = -((chunk >> 15) & 1) & 0xff; + const b2 = -((chunk >> 23) & 1) & 0xff; + const b3 = -((chunk >> 31) & 1); // Upper byte, no mask needed + + ids32[i] = b0 | (b1 << 8) | (b2 << 16) | (b3 << 24); + } + + // Handle remaining tiles (when numTiles not divisible by 4) + for (let i = numChunks * 4; i < this.numTiles; i++) { + ids[i] = -(terrain[i] >> 7); + } + } + + /** + * Upgrade from Uint8Array to Uint16Array when we exceed 254 components. + * Direct copy works because both use 0xFF for land marker. + */ + private upgradeToUint16Array(ids: Uint8Array): Uint16Array { + const newIds = new Uint16Array(this.numTiles); + for (let i = 0; i < this.numTiles; i++) { + newIds[i] = ids[i]; + } + return newIds; + } + + /** + * Flood-fill a single connected water component using scan-line algorithm. + * Processes horizontal spans of tiles for better memory locality and cache performance. + * + * Note: Land tiles are pre-marked, so ids[x] === 0 guarantees water tile. + */ + private floodFillComponent( + ids: Uint8Array | Uint16Array, + start: number, + componentId: number, + ): void { + let head = 0; + let tail = 0; + this.queue[tail++] = start; + + while (head < tail) { + const seed = this.queue[head++]!; + + // Skip if already processed + if (ids[seed] !== 0) continue; + + // Scan left to find the start of this horizontal water span + // No isWaterFast check needed - ids[x] === 0 guarantees water + let left = seed; + const rowStart = seed - (seed % this.width); + while (left > rowStart && ids[left - 1] === 0) { + left--; + } + + // Scan right to find the end of this horizontal water span + let right = seed; + const rowEnd = rowStart + this.width - 1; + while (right < rowEnd && ids[right + 1] === 0) { + right++; + } + + // Fill the entire horizontal span and check above/below for new spans + for (let x = left; x <= right; x++) { + ids[x] = componentId; + + // Check tile above (if not in first row) + if (x >= this.width) { + const above = x - this.width; + if (ids[above] === 0) { + this.queue[tail++] = above; + } + } + + // Check tile below (if not in last row) + if (x < this.lastRowStart) { + const below = x + this.width; + if (ids[below] === 0) { + this.queue[tail++] = below; + } + } + } + } + } + + /** + * Get the component ID for a tile. + * Returns 0 for land tiles or if not initialized. + */ + getComponentId(tile: TileRef): number { + if (!this.componentIds) return 0; + return this.componentIds[tile] ?? 0; + } +} diff --git a/tests/core/executions/TradeShipExecution.test.ts b/tests/core/executions/TradeShipExecution.test.ts new file mode 100644 index 000000000..2ea187a51 --- /dev/null +++ b/tests/core/executions/TradeShipExecution.test.ts @@ -0,0 +1,125 @@ +import { TradeShipExecution } from "../../../src/core/execution/TradeShipExecution"; +import { Game, Player, Unit } from "../../../src/core/game/Game"; +import { PathStatus } from "../../../src/core/pathfinding/PathFinder"; +import { setup } from "../../util/Setup"; + +describe("TradeShipExecution", () => { + let game: Game; + let origOwner: Player; + let dstOwner: Player; + let pirate: Player; + let srcPort: Unit; + let piratePort: Unit; + let tradeShip: Unit; + let dstPort: Unit; + let tradeShipExecution: TradeShipExecution; + + beforeEach(async () => { + // Mock Game, Player, Unit, and required methods + + game = await setup("ocean_and_land", { + infiniteGold: true, + instantBuild: true, + }); + game.displayMessage = jest.fn(); + origOwner = { + canBuild: jest.fn(() => true), + buildUnit: jest.fn((type, spawn, opts) => tradeShip), + displayName: jest.fn(() => "Origin"), + addGold: jest.fn(), + units: jest.fn(() => [dstPort]), + unitCount: jest.fn(() => 1), + id: jest.fn(() => 1), + clientID: jest.fn(() => 1), + canTrade: jest.fn(() => true), + } as any; + + dstOwner = { + id: jest.fn(() => 2), + addGold: jest.fn(), + displayName: jest.fn(() => "Destination"), + units: jest.fn(() => [dstPort]), + unitCount: jest.fn(() => 1), + clientID: jest.fn(() => 2), + canTrade: jest.fn(() => true), + } as any; + + pirate = { + id: jest.fn(() => 3), + addGold: jest.fn(), + displayName: jest.fn(() => "Destination"), + units: jest.fn(() => [piratePort]), + unitCount: jest.fn(() => 1), + canTrade: jest.fn(() => true), + } as any; + + piratePort = { + tile: jest.fn(() => 40011), + owner: jest.fn(() => pirate), + isActive: jest.fn(() => true), + } as any; + + srcPort = { + tile: jest.fn(() => 20011), + owner: jest.fn(() => origOwner), + isActive: jest.fn(() => true), + } as any; + + dstPort = { + tile: jest.fn(() => 30015), // 15x15 + owner: jest.fn(() => dstOwner), + isActive: jest.fn(() => true), + } as any; + + tradeShip = { + isActive: jest.fn(() => true), + owner: jest.fn(() => origOwner), + move: jest.fn(), + setTargetUnit: jest.fn(), + setSafeFromPirates: jest.fn(), + delete: jest.fn(), + tile: jest.fn(() => 2001), + } as any; + + tradeShipExecution = new TradeShipExecution(origOwner, srcPort, dstPort); + tradeShipExecution.init(game, 0); + tradeShipExecution["pathFinder"] = { + next: jest.fn(() => ({ status: PathStatus.NEXT, node: 2001 })), + } as any; + tradeShipExecution["tradeShip"] = tradeShip; + }); + + it("should initialize and tick without errors", () => { + tradeShipExecution.tick(1); + expect(tradeShipExecution.isActive()).toBe(true); + }); + + it("should deactivate if tradeShip is not active", () => { + tradeShip.isActive = jest.fn(() => false); + tradeShipExecution.tick(1); + expect(tradeShipExecution.isActive()).toBe(false); + }); + + it("should delete ship if port owner changes to current owner", () => { + dstPort.owner = jest.fn(() => origOwner); + tradeShipExecution.tick(1); + expect(tradeShip.delete).toHaveBeenCalledWith(false); + expect(tradeShipExecution.isActive()).toBe(false); + }); + + it("should pick another port if ship is captured", () => { + tradeShip.owner = jest.fn(() => pirate); + tradeShipExecution.tick(1); + expect(tradeShip.setTargetUnit).toHaveBeenCalledWith(piratePort); + }); + + it("should complete trade and award gold", () => { + tradeShipExecution["pathFinder"] = { + next: jest.fn(() => ({ status: PathStatus.COMPLETE, node: 2001 })), + } as any; + tradeShipExecution.tick(1); + expect(tradeShip.delete).toHaveBeenCalledWith(false); + expect(tradeShipExecution.isActive()).toBe(false); + expect(game.displayMessage).toHaveBeenCalled(); + }); +}); diff --git a/tests/core/pathfinding/PathFinder.test.ts b/tests/core/pathfinding/PathFinder.test.ts new file mode 100644 index 000000000..2c13486f8 --- /dev/null +++ b/tests/core/pathfinding/PathFinder.test.ts @@ -0,0 +1,332 @@ +import { Game } from "../../../src/core/game/Game"; +import { TileRef } from "../../../src/core/game/GameMap"; +import { MiniAStarAdapter } from "../../../src/core/pathfinding/adapters/MiniAStarAdapter"; +import { NavMeshAdapter } from "../../../src/core/pathfinding/adapters/NavMeshAdapter"; +import { + PathFinder, + PathStatus, +} from "../../../src/core/pathfinding/PathFinder"; +import { setup } from "../../util/Setup"; +import { gameFromString } from "./utils"; + +type AdapterFactory = { + name: string; + create: (game: Game) => PathFinder; +}; + +const adapters: AdapterFactory[] = [ + { + name: "MiniAStarAdapter", + create: (game) => new MiniAStarAdapter(game, { waterPath: true }), + }, + { + name: "NavMeshAdapter", + create: (game) => new NavMeshAdapter(game), + }, +]; + +// Shared world game instance +let worldGame: Game; + +beforeAll(async () => { + worldGame = await setup("world", { disableNavMesh: false }); +}); + +describe.each(adapters)("$name", ({ create }) => { + describe("findPath()", () => { + test("finds path between adjacent tiles", async () => { + const game = await gameFromString(["WWWW"]); + const adapter = create(game); + const src = game.ref(0, 0); + const dst = game.ref(1, 0); + + const path = adapter.findPath(src, dst); + + expect(path).not.toBeNull(); + expect(path![0]).toBe(src); + expect(path![path!.length - 1]).toBe(dst); + }); + + test("finds path across multiple tiles", async () => { + const game = await gameFromString(["WWWWWW", "WWWWWW", "WWWWWW"]); + const adapter = create(game); + const src = game.ref(0, 0); + const dst = game.ref(5, 2); + + const path = adapter.findPath(src, dst); + + expect(path).not.toBeNull(); + expect(path![0]).toBe(src); + expect(path![path!.length - 1]).toBe(dst); + }); + + test("returns single-element path for same tile", async () => { + // Old quirk of MiniAStar, we return dst tile twice + // Should probably be fixed to return [] instead + + const game = await gameFromString(["WW"]); + const adapter = create(game); + const tile = game.ref(0, 0); + + const path = adapter.findPath(tile, tile); + + expect(path).not.toBeNull(); + expect(path!.length).toBe(1); + expect(path![0]).toBe(tile); + }); + + test("returns null for blocked path", async () => { + const game = await gameFromString(["WWLLWW"]); + const adapter = create(game); + const src = game.ref(0, 0); + const dst = game.ref(5, 0); + + const path = adapter.findPath(src, dst); + + expect(path).toBeNull(); + }); + + test("returns null for water to land", () => { + const adapter = create(worldGame); + const src = worldGame.ref(926, 283); // water + const dst = worldGame.ref(950, 230); // land + + const path = adapter.findPath(src, dst); + + expect(path).toBeNull(); + }); + + test("traverses 3-tile path in 3 tiles", async () => { + // Expected: [1, 2, 3] + const game = await gameFromString(["WWWW"]); + const adapter = create(game); + const src = game.ref(0, 0); + const dst = game.ref(3, 0); + + const path = adapter.findPath(src, dst); + + expect(path).not.toBeNull(); + expect(path).toEqual([ + game.ref(0, 0), + game.ref(1, 0), + game.ref(2, 0), + game.ref(3, 0), + ]); + }); + }); + + describe("next() state machine", () => { + test("returns NEXT on first call", async () => { + const game = await gameFromString(["WWWW"]); + const adapter = create(game); + const src = game.ref(0, 0); + const dst = game.ref(3, 0); + + const result = adapter.next(src, dst); + + expect(result.status).toBe(PathStatus.NEXT); + }); + + test("returns COMPLETE when at destination", async () => { + const game = await gameFromString(["WW"]); + const adapter = create(game); + const tile = game.ref(0, 0); + + const result = adapter.next(tile, tile); + + expect(result.status).toBe(PathStatus.COMPLETE); + }); + + test("returns NOT_FOUND for blocked path", async () => { + const game = await gameFromString(["WWLLWW"]); + const adapter = create(game); + const src = game.ref(0, 0); + const dst = game.ref(5, 0); + + const result = adapter.next(src, dst); + + expect(result.status).toBe(PathStatus.NOT_FOUND); + }); + + test("traverses 3-tile path in 4 calls", async () => { + // Expected: NEXT(1) -> NEXT(2) -> NEXT(3) -> COMPLETE(4) + const game = await gameFromString(["WWWW"]); + const adapter = create(game); + const src = game.ref(0, 0); + const dst = game.ref(3, 0); + + let current = src; + const steps: string[] = []; + + // 3 NEXT calls to reach destination + for (let i = 1; i <= 4; i++) { + const result = adapter.next(current, dst); + expect([PathStatus.NEXT, PathStatus.COMPLETE]).toContain(result.status); + + current = (result as { node: TileRef }).node; + steps.push(`${PathStatus[result.status]}(${current})`); + } + + expect(steps).toEqual(["NEXT(1)", "NEXT(2)", "NEXT(3)", "COMPLETE(3)"]); + }); + }); + + describe("Destination changes", () => { + test("reaches new destination when dest changes", async () => { + const game = await gameFromString(["WWWWWWWW"]); // 8 wide + const adapter = create(game); + const src = game.ref(0, 0); + const dst1 = game.ref(4, 0); + const dst2 = game.ref(7, 0); + + // First path exists + expect(adapter.findPath(src, dst1)).not.toBeNull(); + + // Can still find path to new destination + expect(adapter.findPath(dst1, dst2)).not.toBeNull(); + }); + + test("recomputes when destination changes mid-path", async () => { + const game = await gameFromString(["WWWWWWWWWWWWWWWWWWWW"]); // 20 wide + const adapter = create(game); + const src = game.ref(0, 0); + const dst1 = game.ref(10, 0); + const dst2 = game.ref(19, 0); + + // Start pathing to dst1, take one step + const result1 = adapter.next(src, dst1); + expect(result1.status).toBe(PathStatus.NEXT); + + // Change destination mid-path, continue from current position + let current = (result1 as { node: TileRef }).node; + let result = adapter.next(current, dst2); + for (let i = 0; i < 100 && result.status === PathStatus.NEXT; i++) { + current = (result as { node: TileRef }).node; + result = adapter.next(current, dst2); + } + + expect(result.status).toBe(PathStatus.COMPLETE); + expect(current).toBe(dst2); + }); + }); + + describe("Error handling", () => { + // MiniAStar logs console error when nulls passed, muted in test + + test("returns NOT_FOUND for null source", async () => { + const game = await gameFromString(["WWWW"]); + const adapter = create(game); + const dst = game.ref(0, 0); + + const consoleSpy = jest + .spyOn(console, "error") + .mockImplementation(() => {}); + const result = adapter.next(null as unknown as TileRef, dst); + expect(result.status).toBe(PathStatus.NOT_FOUND); + consoleSpy.mockRestore(); + }); + + test("returns NOT_FOUND for null destination", async () => { + const game = await gameFromString(["WWWW"]); + const adapter = create(game); + const src = game.ref(0, 0); + + const consoleSpy = jest + .spyOn(console, "error") + .mockImplementation(() => {}); + const result = adapter.next(src, null as unknown as TileRef); + expect(result.status).toBe(PathStatus.NOT_FOUND); + consoleSpy.mockRestore(); + }); + }); + + describe("dist parameter", () => { + test("returns COMPLETE when within dist", () => { + const adapter = create(worldGame); + const src = worldGame.ref(926, 283); + const dst = worldGame.ref(928, 283); // 2 tiles away + + const result = adapter.next(src, dst, 5); + + expect(result.status).toBe(PathStatus.COMPLETE); + }); + + test("returns NEXT when beyond dist", () => { + const adapter = create(worldGame); + const src = worldGame.ref(926, 283); + const dst = worldGame.ref(950, 257); + + // Adapter may need a few ticks to compute path + let result = adapter.next(src, dst, 5); + for (let i = 0; i < 100 && result.status === PathStatus.PENDING; i++) { + result = adapter.next(src, dst, 5); + } + + expect(result.status).toBe(PathStatus.NEXT); + }); + }); + + describe("World map routes", () => { + test("Spain to France (Mediterranean)", () => { + const adapter = create(worldGame); + const path = adapter.findPath( + worldGame.ref(926, 283), + worldGame.ref(950, 257), + ); + expect(path).not.toBeNull(); + }); + + test("Miami to Rio (Atlantic)", () => { + const adapter = create(worldGame); + const path = adapter.findPath( + worldGame.ref(488, 355), + worldGame.ref(680, 658), + ); + expect(path).not.toBeNull(); + expect(path!.length).toBeGreaterThan(100); + }); + + test("France to Poland (around Europe)", () => { + const adapter = create(worldGame); + const path = adapter.findPath( + worldGame.ref(950, 257), + worldGame.ref(1033, 175), + ); + expect(path).not.toBeNull(); + }); + + test("Miami to Spain (transatlantic)", () => { + const adapter = create(worldGame); + const path = adapter.findPath( + worldGame.ref(488, 355), + worldGame.ref(926, 283), + ); + expect(path).not.toBeNull(); + }); + + test("Rio to Poland (South Atlantic to Baltic)", () => { + const adapter = create(worldGame); + const path = adapter.findPath( + worldGame.ref(680, 658), + worldGame.ref(1033, 175), + ); + expect(path).not.toBeNull(); + }); + }); + + describe("Known bugs", () => { + test("path can cross 1-tile land barrier", async () => { + const game = await gameFromString(["WLLWLWWLLW"]); + const adapter = create(game); + const path = adapter.findPath(game.ref(0, 0), game.ref(9, 0)); + expect(path).not.toBeNull(); + }); + + test("path can cross diagonal land barrier", async () => { + const game = await gameFromString(["WL", "LW"]); + const adapter = create(game); + const path = adapter.findPath(game.ref(0, 0), game.ref(1, 1)); + expect(path).not.toBeNull(); + }); + }); +}); diff --git a/tests/core/pathfinding/utils.ts b/tests/core/pathfinding/utils.ts new file mode 100644 index 000000000..c7fbd1741 --- /dev/null +++ b/tests/core/pathfinding/utils.ts @@ -0,0 +1,135 @@ +import { + Difficulty, + Game, + GameMapType, + GameMode, + GameType, +} from "../../../src/core/game/Game"; +import { createGame } from "../../../src/core/game/GameImpl"; +import { GameMapImpl } from "../../../src/core/game/GameMap"; +import { UserSettings } from "../../../src/core/game/UserSettings"; +import { PeaceTimerDuration } from "../../../src/core/Schemas"; +import { TestConfig } from "../../util/TestConfig"; +import { TestServerConfig } from "../../util/TestServerConfig"; + +const LAND_BIT = 7; +const OCEAN_BIT = 5; + +/** + * Creates a Game from inline map strings. + * Each char = 1 tile: W=water (ocean), L=land + * miniMap automatically generated (2x2→1, water if ANY tile water) + * + * Example: + * const game = await gameFromString([ + * 'WWWWW', + * 'WLLLW', + * 'WWWWW' + * ]); + */ +export async function gameFromString(mapRows: string[]): Promise { + const height = mapRows.length; + const width = mapRows[0].length; + + for (const row of mapRows) { + if (row.length !== width) { + throw new Error( + `All rows must have same width. Expected ${width}, got ${row.length}`, + ); + } + } + + const terrainData = new Uint8Array(width * height); + let numLandTiles = 0; + + for (let y = 0; y < height; y++) { + for (let x = 0; x < width; x++) { + const idx = y * width + x; + const char = mapRows[y][x]; + + if (char === "L") { + terrainData[idx] = 1 << LAND_BIT; // Set land bit + numLandTiles++; + } else if (char === "W") { + terrainData[idx] = 1 << OCEAN_BIT; // Set ocean bit (water) + } else { + throw new Error( + `Unknown char '${char}' at (${x},${y}). Use W=water, L=land`, + ); + } + } + } + + const gameMap = new GameMapImpl(width, height, terrainData, numLandTiles); + + // Create miniMap (2x2→1, water if ANY tile water) + const miniWidth = Math.ceil(width / 2); + const miniHeight = Math.ceil(height / 2); + const miniTerrainData = new Uint8Array(miniWidth * miniHeight); + let miniNumLandTiles = 0; + + for (let miniY = 0; miniY < miniHeight; miniY++) { + for (let miniX = 0; miniX < miniWidth; miniX++) { + const miniIdx = miniY * miniWidth + miniX; + + // Check 2x2 chunk: if ANY tile is water, miniMap tile is water + let water = false; + + for (let dy = 0; dy < 2; dy++) { + for (let dx = 0; dx < 2; dx++) { + const x = miniX * 2 + dx; + const y = miniY * 2 + dy; + + if (x < width && y < height) { + const idx = y * width + x; + if (!(terrainData[idx] & (1 << LAND_BIT))) { + water = true; + } + } + } + } + + // Water if ANY tile is water + if (water) { + miniTerrainData[miniIdx] = 1 << OCEAN_BIT; // ocean + } else { + miniTerrainData[miniIdx] = 1 << LAND_BIT; // land + miniNumLandTiles++; + } + } + } + + const miniGameMap = new GameMapImpl( + miniWidth, + miniHeight, + miniTerrainData, + miniNumLandTiles, + ); + + // Create game config + const serverConfig = new TestServerConfig(); + const gameConfig = { + gameMap: GameMapType.Asia, + gameMode: GameMode.FFA, + gameType: GameType.Singleplayer, + difficulty: Difficulty.Medium, + disableNPCs: false, + bots: 0, + infiniteGold: false, + infiniteTroops: false, + instantBuild: false, + disableNavMesh: false, + peaceTimerDurationMinutes: PeaceTimerDuration.None, + startingGold: 0 as const, + goldMultiplier: 1 as const, + chatEnabled: false, + }; + const config = new TestConfig( + serverConfig, + gameConfig, + new UserSettings(), + false, + ); + + return createGame([], [], gameMap, miniGameMap, config); +} diff --git a/tests/pathfinding/README.md b/tests/pathfinding/README.md new file mode 100644 index 000000000..b0587aa00 --- /dev/null +++ b/tests/pathfinding/README.md @@ -0,0 +1,152 @@ +# Pathfinding Tests + +This directory contains benchmarking tools, scenario generators, and an interactive playground for testing and optimizing pathfinding algorithms in OpenFrontIO. + +## TLDR + +```bash +npx tsx tests/pathfinding/benchmark/run.ts --synthetic --all +npx tsx tests/pathfinding/playground/server.ts +``` + +## Directory Structure + +``` +tests/pathfinding/ +├── benchmark.ts # Benchmarking tool +├── scenarios/ # Scenarios for benchmarks +│ ├── default.ts # Hand-picked scenario +│ └── synthetic/ # Auto-generated synthetic scenarios +└── playground/ # Interactive web-based visualization +``` + +## Available algorithms + +- **NavSat** - **future** implementation - NavigationSatellite (HPA\*) +- **PF.Mini** - **current** implementation - PathFinder.Mini (A\*) + +## Benchmarking + +### Running a Single Scenario + +```bash +# Run default scenario with default adapter (NavSat) +npx tsx tests/pathfinding/benchmark/run.ts + +# Run specific scenario +npx tsx tests/pathfinding/benchmark/run.ts default + +# Run with specific adapter +npx tsx tests/pathfinding/benchmark/run.ts default legacy +``` + +### Running Synthetic Scenarios + +Synthetic scenarios are auto-generated from maps with random port selections and routes. + +```bash +# Run single synthetic scenario +npx tsx tests/pathfinding/benchmark/run.ts --synthetic iceland + +# Run single synthetic scenario with specific adapter +npx tsx tests/pathfinding/benchmark/run.ts --synthetic iceland legacy + +# Run ALL synthetic scenarios (comprehensive benchmark) +npx tsx tests/pathfinding/benchmark/run.ts --synthetic --all + +# Run all with specific adapter +npx tsx tests/pathfinding/benchmark/run.ts --synthetic --all legacy +``` + +### Benchmark Metrics + +The benchmark measures three key metrics: + +1. **Initialization Time** - How long it takes to preprocess the map +2. **Path Distance** - Total distance across all routes (quality metric) +3. **Pathfinding Time** - How long it takes to compute paths (performance metric) + +### Example Output + +``` +================================================================================ +METRIC 1: INITIALIZATION TIME +================================================================================ + +Initialization time: 45.32ms + +================================================================================ +METRIC 2: PATH DISTANCE +================================================================================ + +Route Path Length +Miami → Boston 346 tiles +Miami → Houston 212 tiles +... + +Total distance: 52432 tiles +Routes completed: 22 / 22 + +================================================================================ +METRIC 3: PATHFINDING TIME +================================================================================ + +Route Time +Miami → Boston 2.45ms +Miami → Houston 1.82ms +... + +Total time: 156.34ms +Average time: 7.11ms +Routes benchmarked: 22 / 22 + +================================================================================ +SUMMARY +================================================================================ + +Adapter: default +Scenario: default + +Scores: + Initialization: 45.32ms + Pathfinding: 156.34ms + Distance: 52432 tiles +``` + +## Generating Scenarios + +### Generate Synthetic Scenarios + +Synthetic scenarios are generated by: + +1. Finding all water shoreline tiles on a map +2. Randomly selecting 200 ports +3. Creating 1000 routes connecting nearby ports + +```bash +# Generate scenario for a single map +npx tsx tests/pathfinding/benchmark/generate.ts iceland + +# Generate scenarios for all maps +npx tsx tests/pathfinding/benchmark/generate.ts --all + +# Force overwrite existing scenarios +npx tsx tests/pathfinding/benchmark/generate.ts iceland --force +npx tsx tests/pathfinding/benchmark/generate.ts --all --force +``` + +## Interactive Playground + +The playground provides a web-based UI for visualizing pathfinding results, comparing algorithms, and debugging. + +### Starting the Playground + +```bash +# Start with path caching enabled (default) +npx tsx tests/pathfinding/playground/server.ts + +# Start without path caching (to measure uncached performance) +npx tsx tests/pathfinding/playground/server.ts --no-cache +``` + +Then open http://localhost:5555 in your browser. diff --git a/tests/pathfinding/benchmark/generate.ts b/tests/pathfinding/benchmark/generate.ts new file mode 100644 index 000000000..97d452504 --- /dev/null +++ b/tests/pathfinding/benchmark/generate.ts @@ -0,0 +1,310 @@ +#!/usr/bin/env node + +/** + * Generate synthetic benchmark scenarios for pathfinding tests + * + * Usage: + * npx tsx tests/pathfinding/benchmark/generate.ts [--force] + * npx tsx tests/pathfinding/benchmark/generate.ts --all [--force] + * + * Examples: + * npx tsx tests/pathfinding/benchmark/generate.ts iceland + * npx tsx tests/pathfinding/benchmark/generate.ts giantworldmap --force + * npx tsx tests/pathfinding/benchmark/generate.ts --all + */ + +import { existsSync, mkdirSync, readdirSync, writeFileSync } from "fs"; +import { dirname, join } from "path"; +import { fileURLToPath } from "url"; +import { setupFromPath } from "../utils"; + +const currentFile = fileURLToPath(import.meta.url); +const pathfindingDir = dirname(currentFile); +const projectRoot = join(pathfindingDir, "../../.."); +const mapsDirectory = join(projectRoot, "resources/maps"); +const scenariosDir = join(pathfindingDir, "scenarios", "synthetic"); + +const NUM_PORTS = 200; +const NUM_ROUTES = 1000; +const ROUTES_PER_PORT = 5; + +interface GenerationOptions { + force: boolean; + silent: boolean; +} + +async function generateScenarioForMap( + mapName: string, + options: GenerationOptions, +): Promise<"created" | "skipped" | "error"> { + const outputPath = join(scenariosDir, `${mapName}.ts`); + + // Check if file exists and --force not provided + if (existsSync(outputPath) && !options.force) { + if (!options.silent) { + console.log( + `⚠️ ${mapName}: File already exists (use --force to overwrite)`, + ); + } + + return "skipped"; + } + + try { + const game = await setupFromPath(mapsDirectory, mapName); + const map = game.map(); + + // Find all water shoreline tiles + const shorelinePorts: Array<[number, number]> = []; + + map.forEachTile((tile) => { + if (map.isOcean(tile) && map.isShoreline(tile)) { + shorelinePorts.push([map.x(tile), map.y(tile)]); + } + }); + + if (shorelinePorts.length < 10) { + console.log( + `❌ ${mapName}: Not enough water shoreline tiles (minimum 10 required)`, + ); + return "error"; + } + + // Select random ports + const numPortsToSelect = Math.min(NUM_PORTS, shorelinePorts.length); + const selectedPorts: Array<[number, number]> = []; + const shuffled = shorelinePorts.sort(() => Math.random() - 0.5); + for (let i = 0; i < numPortsToSelect; i++) { + selectedPorts.push(shuffled[i]); + } + + // Build ports array + const ports: Port[] = selectedPorts.map((coord, index) => ({ + name: `Port${String(index + 1).padStart(3, "0")}`, + coords: coord, + })); + + // Build routes array + const routes: Route[] = []; + + // Generate routes: each port connects to next N ports + for (let i = 0; i < selectedPorts.length; i++) { + for ( + let j = 1; + j <= ROUTES_PER_PORT && i + j < selectedPorts.length; + j++ + ) { + routes.push({ + from: `Port${String(i + 1).padStart(3, "0")}`, + to: `Port${String(i + j + 1).padStart(3, "0")}`, + }); + } + } + + // Add extra routes to reach target (or as many as possible) + const targetRoutes = Math.min(NUM_ROUTES, routes.length + 200); + const additionalRoutesNeeded = targetRoutes - routes.length; + if (additionalRoutesNeeded > 0) { + let added = 0; + for ( + let i = 0; + i < selectedPorts.length && added < additionalRoutesNeeded; + i++ + ) { + for ( + let j = ROUTES_PER_PORT + 1; + j <= ROUTES_PER_PORT + 3 && + i + j < selectedPorts.length && + added < additionalRoutesNeeded; + j++ + ) { + routes.push({ + from: `Port${String(i + 1).padStart(3, "0")}`, + to: `Port${String(i + j + 1).padStart(3, "0")}`, + }); + added++; + } + } + } + + // Generate content from template + const content = generateScenarioContent({ + mapName, + ports, + routes, + }); + + const routeCount = routes.length; + + // Ensure directory exists + mkdirSync(scenariosDir, { recursive: true }); + + // Write to file + writeFileSync(outputPath, content); + + console.log( + `✅ ${mapName} generated with ${numPortsToSelect} ports and ${routeCount} routes`, + ); + + return "created"; + } catch (error) { + console.error(`❌ ${mapName}:`, error); + return "error"; + } +} + +function printUsage() { + console.log(` +Usage: + npx tsx tests/pathfinding/benchmark/generate.ts [--force] + npx tsx tests/pathfinding/benchmark/generate.ts --all [--force] + +Arguments: + Name of the map to generate scenario for (e.g., iceland, giantworldmap) + --all Generate scenarios for all available maps + --force Overwrite existing scenario files + +Examples: + npx tsx tests/pathfinding/benchmark/generate.ts iceland + npx tsx tests/pathfinding/benchmark/generate.ts giantworldmap --force + npx tsx tests/pathfinding/benchmark/generate.ts --all + +Available maps: + Run 'ls resources/maps' to see all available maps +`); +} + +// Parse command-line arguments +async function main() { + const args = process.argv.slice(2); + + if (args.length === 0 || args.includes("--help") || args.includes("-h")) { + printUsage(); + process.exit(0); + } + + const options: GenerationOptions = { + force: args.includes("--force"), + silent: args.includes("--all"), + }; + + const nonFlagArgs = args.filter((arg) => !arg.startsWith("--")); + + if (args.includes("--all")) { + // Generate for all maps + const maps = readdirSync(mapsDirectory, { withFileTypes: true }) + .filter((dirent) => dirent.isDirectory()) + .map((dirent) => dirent.name) + .sort(); + + console.log(`Generating synthetic scenarios for ${maps.length} maps...`); + console.log(`Config: ${NUM_PORTS} ports, ${NUM_ROUTES} routes`); + console.log(`Force overwrite: ${options.force}`); + console.log(``); + + let createdCount = 0; + let skippedCount = 0; + let errorCount = 0; + + for (const mapName of maps) { + const result = await generateScenarioForMap(mapName, options); + + if (result === "created") { + createdCount++; + } else if (result === "skipped") { + skippedCount++; + } else if (result === "error") { + errorCount++; + } + } + + if (createdCount + errorCount > 0) { + console.log(``); + } + + console.log( + `Created: ${createdCount}, Skipped: ${skippedCount}, Errors: ${errorCount}`, + ); + } else if (nonFlagArgs.length === 1) { + // Generate for single map + const mapName = nonFlagArgs[0]; + const mapPath = join(mapsDirectory, mapName); + + if (!existsSync(mapPath)) { + console.error(`Map not found: ${mapName}`); + process.exit(1); + } + + console.log(`Generating synthetic scenario for ${mapName}...`); + console.log(`Config: ${NUM_PORTS} ports, ${NUM_ROUTES} routes`); + console.log(`Force overwrite: ${options.force}`); + console.log(``); + + const result = await generateScenarioForMap(mapName, options); + + if (result === "created") { + console.log(``); + console.log(`Scenario generated successfully!`); + console.log( + `You can now run: npx tsx tests/pathfinding/benchmark/run.ts --synthetic ${mapName}`, + ); + } else { + process.exit(1); + } + } else { + console.error(`Invalid arguments.`); + printUsage(); + process.exit(1); + } +} + +// Run main function +main().catch((error) => { + console.error(`Fatal error:`, error); + process.exit(1); +}); + +/** + * Template for generating synthetic benchmark scenarios + */ + +interface Port { + name: string; + coords: [number, number]; +} + +interface Route { + from: string; + to: string; +} + +interface TemplateParams { + mapName: string; + ports: Port[]; + routes: Route[]; +} + +function generateScenarioContent(params: TemplateParams): string { + const { mapName, ports, routes } = params; + + let content = ``; + + // Simplified format - just data, no setup function + content += `export const MAP_NAME = "${mapName}";\n\n`; + + // Generate PORTS object + content += `export const PORTS: { [k: string]: [number, number] } = {\n`; + ports.forEach((port) => { + content += ` ${port.name}: [${port.coords[0]}, ${port.coords[1]}],\n`; + }); + content += `};\n\n`; + + // Generate ROUTES array + content += `export const ROUTES: Array<[keyof typeof PORTS, keyof typeof PORTS]> = [\n`; + routes.forEach((route) => { + content += ` ["${route.from}", "${route.to}"],\n`; + }); + content += `];\n`; + + return content; +} diff --git a/tests/pathfinding/benchmark/run.ts b/tests/pathfinding/benchmark/run.ts new file mode 100644 index 000000000..ceaa47035 --- /dev/null +++ b/tests/pathfinding/benchmark/run.ts @@ -0,0 +1,287 @@ +#!/usr/bin/env node + +/** + * Benchmark pathfinding adapters on various scenarios + * + * Usage: + * npx tsx tests/pathfinding/benchmark/run.ts [ []] + * npx tsx tests/pathfinding/benchmark/run.ts --synthetic [] + * npx tsx tests/pathfinding/benchmark/run.ts --synthetic --all [] + * + * Examples: + * npx tsx tests/pathfinding/benchmark/run.ts + * npx tsx tests/pathfinding/benchmark/run.ts default legacy + * npx tsx tests/pathfinding/benchmark/run.ts --synthetic --all + * npx tsx tests/pathfinding/benchmark/run.ts --synthetic iceland legacy + */ + +import { readdirSync } from "fs"; +import { dirname, join } from "path"; +import { fileURLToPath } from "url"; +import { + type BenchmarkResult, + calculateStats, + getAdapter, + getScenario, + measureExecutionTime, + measurePathLength, + printHeader, + printRow, +} from "../utils"; + +const currentFile = fileURLToPath(import.meta.url); +const pathfindingDir = dirname(currentFile); +const syntheticScenariosDir = join(pathfindingDir, "scenarios", "synthetic"); + +interface RunOptions { + silent?: boolean; + iterations?: number; +} + +const DEFAULT_ADAPTER = "hpa"; +const DEFAULT_SCENARIO = "default"; +const DEFAULT_ITERATIONS = 10; + +async function runScenario( + adapterName: string, + scenarioName: string, + options: RunOptions = {}, +) { + const { game, routes, initTime } = await getScenario( + scenarioName, + adapterName, + ); + const adapter = getAdapter(game, adapterName); + const { silent = false } = options; + + if (!silent) { + console.log(`Date: ${new Date().toISOString()}`); + console.log(`Benchmarking: ${adapterName}`); + console.log(`Scenario: ${scenarioName}`); + console.log(`Routes: ${routes.length}`); + console.log(``); + } + + // ============================================================================= + + if (!silent) { + printHeader("METRIC 1: INITIALIZATION TIME"); + } + + const initializationTime = initTime; + + if (!silent) { + console.log(`Initialization time: ${initializationTime.toFixed(2)}ms`); + console.log(``); + } + + // ============================================================================= + + if (!silent) { + printHeader("METRIC 2: PATH DISTANCE"); + printRow(["Route", "Path Length"], [40, 12]); + } + + const results: BenchmarkResult[] = []; + + for (const route of routes) { + const pathLength = measurePathLength(adapter, route); + results.push({ route: route.name, pathLength, executionTime: null }); + if (!silent) { + printRow( + [route.name, pathLength !== null ? `${pathLength} tiles` : "FAILED"], + [40, 12], + ); + } + } + + const { totalDistance, successfulRoutes, totalRoutes } = + calculateStats(results); + + if (!silent) { + console.log(``); + console.log(`Total distance: ${totalDistance} tiles`); + console.log(`Routes completed: ${successfulRoutes} / ${totalRoutes}`); + console.log(``); + } + + // ============================================================================= + + if (!silent) { + printHeader("METRIC 3: PATHFINDING TIME"); + printRow(["Route", "Time"], [40, 12]); + } + + for (const route of routes) { + const result = results.find((r) => r.route === route.name); + + if (result && result.pathLength !== null) { + const execTime = measureExecutionTime( + adapter, + route, + options.iterations ?? DEFAULT_ITERATIONS, + ); + result.executionTime = execTime; + + if (!silent) { + printRow([route.name, `${execTime!.toFixed(2)}ms`], [40, 12]); + } + } else { + if (!silent) { + printRow([route.name, "FAILED"], [40, 12]); + } + } + } + + const stats = calculateStats(results); + + if (!silent) { + console.log(``); + console.log(`Total time: ${stats.totalTime.toFixed(2)}ms`); + console.log(`Average time: ${stats.avgTime.toFixed(2)}ms`); + console.log( + `Routes benchmarked: ${stats.timedRoutes} / ${stats.totalRoutes}`, + ); + console.log(``); + + // ============================================================================= + + printHeader("SUMMARY"); + + console.log(`Adapter: ${adapterName}`); + console.log(`Scenario: ${scenarioName}`); + console.log(``); + + if (stats.successfulRoutes < stats.totalRoutes) { + console.log( + `Warning: Only ${stats.successfulRoutes} out of ${stats.totalRoutes} routes were completed successfully!`, + ); + console.log(``); + } + + console.log("Scores:"); + console.log(` Initialization: ${initializationTime.toFixed(2)}ms`); + console.log(` Pathfinding: ${stats.totalTime.toFixed(2)}ms`); + console.log(` Distance: ${totalDistance} tiles`); + console.log(``); + } else { + // Silent mode - just print a summary line + const status = stats.successfulRoutes < stats.totalRoutes ? "⚠️ " : "✅"; + console.log( + `${status} ${scenarioName.padEnd(35)} | Init: ${initializationTime.toFixed(2).padStart(8)}ms | Path: ${stats.totalTime.toFixed(2).padStart(9)}ms | Dist: ${totalDistance.toString().padStart(7)} tiles | Routes: ${stats.successfulRoutes}/${stats.totalRoutes}`, + ); + } + + return { + initializationTime, + totalTime: stats.totalTime, + totalDistance: totalDistance, + }; +} + +function printUsage() { + console.log(` +Usage: + npx tsx tests/pathfinding/benchmark/run.ts [ []] + npx tsx tests/pathfinding/benchmark/run.ts --synthetic [] + npx tsx tests/pathfinding/benchmark/run.ts --synthetic --all [] + +Arguments: + Name of the scenario to benchmark (default: "default" -> giantworldmap with handpicked ports) + Pathfinding adapter: "hpa" (default), "hpa.cached", "legacy" + --silent Minimize output, only print summary lines + --synthetic Run synthetic scenarios + --all Run all synthetic scenarios (requires --synthetic) + +Examples: + npx tsx tests/pathfinding/benchmark/run.ts + npx tsx tests/pathfinding/benchmark/run.ts default legacy + npx tsx tests/pathfinding/benchmark/run.ts --synthetic --all + npx tsx tests/pathfinding/benchmark/run.ts --synthetic iceland legacy + +Available synthetic scenarios: + Run 'ls tests/pathfinding/benchmark/scenarios/synthetic' to see all available scenarios +`); +} + +async function main() { + const args = process.argv.slice(2); + + if (args.includes("--help") || args.includes("-h")) { + printUsage(); + process.exit(0); + } + + const isSynthetic = args.includes("--synthetic"); + const isAll = args.includes("--all"); + const isSilent = args.includes("--silent"); + const nonFlagArgs = args.filter((arg) => !arg.startsWith("--")); + + if (isSynthetic) { + if (isAll) { + // Run all synthetic scenarios + const adapterName = nonFlagArgs[0] || DEFAULT_ADAPTER; + + // Find all synthetic scenario files + const scenarioFiles = readdirSync(syntheticScenariosDir) + .filter((file) => file.endsWith(".ts")) + .map((file) => file.replace(".ts", "")) + .sort(); + + console.log( + `Running ${scenarioFiles.length} synthetic scenarios with ${adapterName} adapter...`, + ); + console.log(``); + + const results: { + initializationTime: number; + totalTime: number; + totalDistance: number; + }[] = []; + + for (let i = 0; i < scenarioFiles.length; i++) { + const mapName = scenarioFiles[i]; + const scenarioName = `synthetic/${mapName}`; + const result = await runScenario(adapterName, scenarioName, { + silent: true, + iterations: 1, + }); + results.push(result); + } + + console.log(``); + console.log(`Completed ${scenarioFiles.length} scenarios`); + console.log( + `Total Initialization Time: ${results.reduce((sum, r) => sum + r.initializationTime, 0).toFixed(2)}ms`, + ); + console.log( + `Total Pathfinding Time: ${results.reduce((sum, r) => sum + r.totalTime, 0).toFixed(2)}ms`, + ); + console.log( + `Total Distance: ${results.reduce((sum, r) => sum + r.totalDistance, 0)} tiles`, + ); + } else if (nonFlagArgs.length >= 1) { + // Run single synthetic scenario + const mapName = nonFlagArgs[0]; + const adapterName = nonFlagArgs[1] || DEFAULT_ADAPTER; + const scenarioName = `synthetic/${mapName}`; + + await runScenario(adapterName, scenarioName, { silent: isSilent }); + } else { + console.error("Error: --synthetic requires a map name or --all flag"); + printUsage(); + process.exit(1); + } + } else { + // Standard mode with positional arguments + const scenarioName = nonFlagArgs[0] || DEFAULT_SCENARIO; + const adapterName = nonFlagArgs[1] || DEFAULT_ADAPTER; + + await runScenario(adapterName, scenarioName, { silent: isSilent }); + } +} + +main().catch((error) => { + console.error("Fatal error:", error); + process.exit(1); +}); diff --git a/tests/pathfinding/benchmark/scenarios/default.ts b/tests/pathfinding/benchmark/scenarios/default.ts new file mode 100644 index 000000000..83985bc3a --- /dev/null +++ b/tests/pathfinding/benchmark/scenarios/default.ts @@ -0,0 +1,55 @@ +export const MAP_NAME = "giantworldmap"; + +export const PORTS: { [k: string]: [number, number] } = { + Miami: [1014, 694], + Boston: [1120, 498], + Houston: [844, 657], + Chicago: [928, 508], + Cleveland: [995, 514], + Barcelona: [1943, 518], + "Sao Paulo": [1396, 1288], + "San Francisco": [520, 547], + "Falkland Islands": [1259, 1616], + "San Salvador": [901, 842], + Luxor: [2302, 700], + Venice: [2068, 468], + "Kongo River": [2142, 965], + Shanghai: [3317, 639], + Tokyo: [3525, 583], + "Abu Zabi": [2554, 711], + Gdansk: [2143, 362], + Neapol: [2081, 516], + "San Felipe": [617, 637], + Anchorage: [217, 281], + Honolulu: [156, 768], + "Ghana River": [1877, 869], + "Guinea River": [1824, 868], + "Peru River": [1097, 1162], + "China Desert River": [2965, 599], + "Australia River": [3663, 1343], +}; + +export const ROUTES: Array<[keyof typeof PORTS, keyof typeof PORTS]> = [ + ["Miami", "Boston"], + ["Miami", "Houston"], + ["Miami", "Chicago"], + ["Miami", "Cleveland"], + ["Miami", "Barcelona"], + ["Miami", "Sao Paulo"], + ["Miami", "San Francisco"], + ["Miami", "Falkland Islands"], + ["Miami", "San Salvador"], + ["Luxor", "Venice"], + ["Luxor", "Kongo River"], + ["Shanghai", "Tokyo"], + ["Shanghai", "San Francisco"], + ["Abu Zabi", "Gdansk"], + ["Chicago", "Cleveland"], + ["Barcelona", "Neapol"], + ["San Francisco", "San Felipe"], + ["Anchorage", "Honolulu"], + ["Kongo River", "Ghana River"], + ["Kongo River", "Guinea River"], + ["Peru River", "China Desert River"], + ["China Desert River", "Australia River"], +]; diff --git a/tests/pathfinding/benchmark/scenarios/synthetic/giantworldmap.ts b/tests/pathfinding/benchmark/scenarios/synthetic/giantworldmap.ts new file mode 100644 index 000000000..ef4bcfda1 --- /dev/null +++ b/tests/pathfinding/benchmark/scenarios/synthetic/giantworldmap.ts @@ -0,0 +1,1207 @@ +export const MAP_NAME = "giantworldmap"; + +export const PORTS: { [k: string]: [number, number] } = { + Port001: [2224, 1019], + Port002: [1665, 145], + Port003: [3969, 186], + Port004: [1211, 215], + Port005: [735, 163], + Port006: [1346, 176], + Port007: [2561, 150], + Port008: [653, 173], + Port009: [2787, 144], + Port010: [1148, 181], + Port011: [396, 182], + Port012: [3613, 180], + Port013: [3931, 179], + Port014: [2192, 178], + Port015: [622, 173], + Port016: [597, 160], + Port017: [1663, 172], + Port018: [802, 162], + Port019: [3923, 179], + Port020: [1875, 405], + Port021: [2883, 159], + Port022: [3336, 336], + Port023: [944, 155], + Port024: [3864, 289], + Port025: [2303, 290], + Port026: [2266, 296], + Port027: [1678, 159], + Port028: [3259, 289], + Port029: [2141, 300], + Port030: [2544, 160], + Port031: [1132, 294], + Port032: [855, 152], + Port033: [3509, 159], + Port034: [2788, 160], + Port035: [1872, 312], + Port036: [2979, 310], + Port037: [2580, 169], + Port038: [2789, 145], + Port039: [3224, 297], + Port040: [2277, 296], + Port041: [1295, 160], + Port042: [2559, 169], + Port043: [1654, 147], + Port044: [3583, 148], + Port045: [2199, 172], + Port046: [2891, 182], + Port047: [115, 311], + Port048: [762, 173], + Port049: [381, 304], + Port050: [170, 314], + Port051: [1676, 159], + Port052: [3689, 297], + Port053: [3420, 311], + Port054: [2827, 294], + Port055: [280, 293], + Port056: [2127, 298], + Port057: [3453, 298], + Port058: [3144, 143], + Port059: [228, 296], + Port060: [3303, 291], + Port061: [1655, 148], + Port062: [1043, 145], + Port063: [3751, 169], + Port064: [475, 173], + Port065: [589, 143], + Port066: [2134, 302], + Port067: [2702, 160], + Port068: [2242, 289], + Port069: [444, 180], + Port070: [673, 145], + Port071: [383, 303], + Port072: [3401, 148], + Port073: [3912, 179], + Port074: [3414, 311], + Port075: [638, 170], + Port076: [2849, 305], + Port077: [2214, 293], + Port078: [3078, 422], + Port079: [2789, 158], + Port080: [2554, 169], + Port081: [2919, 142], + Port082: [3309, 142], + Port083: [1323, 173], + Port084: [1103, 456], + Port085: [1637, 170], + Port086: [2101, 411], + Port087: [2547, 168], + Port088: [483, 408], + Port089: [2532, 160], + Port090: [3225, 142], + Port091: [2714, 305], + Port092: [675, 143], + Port093: [1277, 404], + Port094: [1223, 411], + Port095: [2857, 306], + Port096: [3381, 160], + Port097: [533, 386], + Port098: [3543, 490], + Port099: [1669, 148], + Port100: [1024, 173], + Port101: [3384, 310], + Port102: [1934, 444], + Port103: [2117, 311], + Port104: [3290, 423], + Port105: [2073, 230], + Port106: [3353, 310], + Port107: [2144, 297], + Port108: [625, 169], + Port109: [2757, 145], + Port110: [111, 299], + Port111: [2235, 172], + Port112: [3162, 318], + Port113: [1990, 492], + Port114: [2285, 217], + Port115: [2791, 148], + Port116: [1055, 232], + Port117: [459, 220], + Port118: [2674, 234], + Port119: [371, 311], + Port120: [591, 320], + Port121: [2808, 160], + Port122: [2299, 229], + Port123: [3491, 416], + Port124: [783, 462], + Port125: [950, 218], + Port126: [2842, 151], + Port127: [51, 288], + Port128: [955, 230], + Port129: [2149, 509], + Port130: [933, 232], + Port131: [2556, 227], + Port132: [2709, 315], + Port133: [179, 235], + Port134: [1222, 464], + Port135: [1745, 218], + Port136: [766, 149], + Port137: [3149, 386], + Port138: [4091, 228], + Port139: [923, 173], + Port140: [53, 217], + Port141: [2435, 218], + Port142: [862, 159], + Port143: [1133, 299], + Port144: [252, 218], + Port145: [584, 421], + Port146: [52, 217], + Port147: [1845, 489], + Port148: [3763, 181], + Port149: [538, 423], + Port150: [1470, 241], + Port151: [891, 226], + Port152: [1975, 458], + Port153: [453, 218], + Port154: [1281, 418], + Port155: [4049, 221], + Port156: [3514, 158], + Port157: [3941, 241], + Port158: [1498, 229], + Port159: [590, 478], + Port160: [321, 182], + Port161: [2302, 284], + Port162: [2418, 296], + Port163: [3139, 384], + Port164: [1203, 315], + Port165: [2275, 404], + Port166: [100, 173], + Port167: [310, 180], + Port168: [1287, 396], + Port169: [2430, 266], + Port170: [183, 170], + Port171: [176, 235], + Port172: [325, 182], + Port173: [2984, 315], + Port174: [511, 248], + Port175: [2700, 215], + Port176: [2560, 222], + Port177: [3162, 298], + Port178: [1917, 463], + Port179: [1094, 458], + Port180: [2870, 314], + Port181: [2683, 221], + Port182: [1679, 172], + Port183: [3012, 247], + Port184: [1324, 214], + Port185: [2734, 220], + Port186: [80, 239], + Port187: [2579, 234], + Port188: [1297, 152], + Port189: [1206, 464], + Port190: [3426, 168], + Port191: [745, 282], + Port192: [2996, 329], + Port193: [2061, 247], + Port194: [3073, 426], + Port195: [3051, 246], + Port196: [3921, 179], + Port197: [503, 402], + Port198: [3473, 159], + Port199: [846, 296], + Port200: [2179, 180], +}; + +export const ROUTES: Array<[keyof typeof PORTS, keyof typeof PORTS]> = [ + ["Port001", "Port002"], + ["Port001", "Port003"], + ["Port001", "Port004"], + ["Port001", "Port005"], + ["Port001", "Port006"], + ["Port002", "Port003"], + ["Port002", "Port004"], + ["Port002", "Port005"], + ["Port002", "Port006"], + ["Port002", "Port007"], + ["Port003", "Port004"], + ["Port003", "Port005"], + ["Port003", "Port006"], + ["Port003", "Port007"], + ["Port003", "Port008"], + ["Port004", "Port005"], + ["Port004", "Port006"], + ["Port004", "Port007"], + ["Port004", "Port008"], + ["Port004", "Port009"], + ["Port005", "Port006"], + ["Port005", "Port007"], + ["Port005", "Port008"], + ["Port005", "Port009"], + ["Port005", "Port010"], + ["Port006", "Port007"], + ["Port006", "Port008"], + ["Port006", "Port009"], + ["Port006", "Port010"], + ["Port006", "Port011"], + ["Port007", "Port008"], + ["Port007", "Port009"], + ["Port007", "Port010"], + ["Port007", "Port011"], + ["Port007", "Port012"], + ["Port008", "Port009"], + ["Port008", "Port010"], + ["Port008", "Port011"], + ["Port008", "Port012"], + ["Port008", "Port013"], + ["Port009", "Port010"], + ["Port009", "Port011"], + ["Port009", "Port012"], + ["Port009", "Port013"], + ["Port009", "Port014"], + ["Port010", "Port011"], + ["Port010", "Port012"], + ["Port010", "Port013"], + ["Port010", "Port014"], + ["Port010", "Port015"], + ["Port011", "Port012"], + ["Port011", "Port013"], + ["Port011", "Port014"], + ["Port011", "Port015"], + ["Port011", "Port016"], + ["Port012", "Port013"], + ["Port012", "Port014"], + ["Port012", "Port015"], + ["Port012", "Port016"], + ["Port012", "Port017"], + ["Port013", "Port014"], + ["Port013", "Port015"], + ["Port013", "Port016"], + ["Port013", "Port017"], + ["Port013", "Port018"], + ["Port014", "Port015"], + ["Port014", "Port016"], + ["Port014", "Port017"], + ["Port014", "Port018"], + ["Port014", "Port019"], + ["Port015", "Port016"], + ["Port015", "Port017"], + ["Port015", "Port018"], + ["Port015", "Port019"], + ["Port015", "Port020"], + ["Port016", "Port017"], + ["Port016", "Port018"], + ["Port016", "Port019"], + ["Port016", "Port020"], + ["Port016", "Port021"], + ["Port017", "Port018"], + ["Port017", "Port019"], + ["Port017", "Port020"], + ["Port017", "Port021"], + ["Port017", "Port022"], + ["Port018", "Port019"], + ["Port018", "Port020"], + ["Port018", "Port021"], + ["Port018", "Port022"], + ["Port018", "Port023"], + ["Port019", "Port020"], + ["Port019", "Port021"], + ["Port019", "Port022"], + ["Port019", "Port023"], + ["Port019", "Port024"], + ["Port020", "Port021"], + ["Port020", "Port022"], + ["Port020", "Port023"], + ["Port020", "Port024"], + ["Port020", "Port025"], + ["Port021", "Port022"], + ["Port021", "Port023"], + ["Port021", "Port024"], + ["Port021", "Port025"], + ["Port021", "Port026"], + ["Port022", "Port023"], + ["Port022", "Port024"], + ["Port022", "Port025"], + ["Port022", "Port026"], + ["Port022", "Port027"], + ["Port023", "Port024"], + ["Port023", "Port025"], + ["Port023", "Port026"], + ["Port023", "Port027"], + ["Port023", "Port028"], + ["Port024", "Port025"], + ["Port024", "Port026"], + ["Port024", "Port027"], + ["Port024", "Port028"], + ["Port024", "Port029"], + ["Port025", "Port026"], + ["Port025", "Port027"], + ["Port025", "Port028"], + ["Port025", "Port029"], + ["Port025", "Port030"], + ["Port026", "Port027"], + ["Port026", "Port028"], + ["Port026", "Port029"], + ["Port026", "Port030"], + ["Port026", "Port031"], + ["Port027", "Port028"], + ["Port027", "Port029"], + ["Port027", "Port030"], + ["Port027", "Port031"], + ["Port027", "Port032"], + ["Port028", "Port029"], + ["Port028", "Port030"], + ["Port028", "Port031"], + ["Port028", "Port032"], + ["Port028", "Port033"], + ["Port029", "Port030"], + ["Port029", "Port031"], + ["Port029", "Port032"], + ["Port029", "Port033"], + ["Port029", "Port034"], + ["Port030", "Port031"], + ["Port030", "Port032"], + ["Port030", "Port033"], + ["Port030", "Port034"], + ["Port030", "Port035"], + ["Port031", "Port032"], + ["Port031", "Port033"], + ["Port031", "Port034"], + ["Port031", "Port035"], + ["Port031", "Port036"], + ["Port032", "Port033"], + ["Port032", "Port034"], + ["Port032", "Port035"], + ["Port032", "Port036"], + ["Port032", "Port037"], + ["Port033", "Port034"], + ["Port033", "Port035"], + ["Port033", "Port036"], + ["Port033", "Port037"], + ["Port033", "Port038"], + ["Port034", "Port035"], + ["Port034", "Port036"], + ["Port034", "Port037"], + ["Port034", "Port038"], + ["Port034", "Port039"], + ["Port035", "Port036"], + ["Port035", "Port037"], + ["Port035", "Port038"], + ["Port035", "Port039"], + ["Port035", "Port040"], + ["Port036", "Port037"], + ["Port036", "Port038"], + ["Port036", "Port039"], + ["Port036", "Port040"], + ["Port036", "Port041"], + ["Port037", "Port038"], + ["Port037", "Port039"], + ["Port037", "Port040"], + ["Port037", "Port041"], + ["Port037", "Port042"], + ["Port038", "Port039"], + ["Port038", "Port040"], + ["Port038", "Port041"], + ["Port038", "Port042"], + ["Port038", "Port043"], + ["Port039", "Port040"], + ["Port039", "Port041"], + ["Port039", "Port042"], + ["Port039", "Port043"], + ["Port039", "Port044"], + ["Port040", "Port041"], + ["Port040", "Port042"], + ["Port040", "Port043"], + ["Port040", "Port044"], + ["Port040", "Port045"], + ["Port041", "Port042"], + ["Port041", "Port043"], + ["Port041", "Port044"], + ["Port041", "Port045"], + ["Port041", "Port046"], + ["Port042", "Port043"], + ["Port042", "Port044"], + ["Port042", "Port045"], + ["Port042", "Port046"], + ["Port042", "Port047"], + ["Port043", "Port044"], + ["Port043", "Port045"], + ["Port043", "Port046"], + ["Port043", "Port047"], + ["Port043", "Port048"], + ["Port044", "Port045"], + ["Port044", "Port046"], + ["Port044", "Port047"], + ["Port044", "Port048"], + ["Port044", "Port049"], + ["Port045", "Port046"], + ["Port045", "Port047"], + ["Port045", "Port048"], + ["Port045", "Port049"], + ["Port045", "Port050"], + ["Port046", "Port047"], + ["Port046", "Port048"], + ["Port046", "Port049"], + ["Port046", "Port050"], + ["Port046", "Port051"], + ["Port047", "Port048"], + ["Port047", "Port049"], + ["Port047", "Port050"], + ["Port047", "Port051"], + ["Port047", "Port052"], + ["Port048", "Port049"], + ["Port048", "Port050"], + ["Port048", "Port051"], + ["Port048", "Port052"], + ["Port048", "Port053"], + ["Port049", "Port050"], + ["Port049", "Port051"], + ["Port049", "Port052"], + ["Port049", "Port053"], + ["Port049", "Port054"], + ["Port050", "Port051"], + ["Port050", "Port052"], + ["Port050", "Port053"], + ["Port050", "Port054"], + ["Port050", "Port055"], + ["Port051", "Port052"], + ["Port051", "Port053"], + ["Port051", "Port054"], + ["Port051", "Port055"], + ["Port051", "Port056"], + ["Port052", "Port053"], + ["Port052", "Port054"], + ["Port052", "Port055"], + ["Port052", "Port056"], + ["Port052", "Port057"], + ["Port053", "Port054"], + ["Port053", "Port055"], + ["Port053", "Port056"], + ["Port053", "Port057"], + ["Port053", "Port058"], + ["Port054", "Port055"], + ["Port054", "Port056"], + ["Port054", "Port057"], + ["Port054", "Port058"], + ["Port054", "Port059"], + ["Port055", "Port056"], + ["Port055", "Port057"], + ["Port055", "Port058"], + ["Port055", "Port059"], + ["Port055", "Port060"], + ["Port056", "Port057"], + ["Port056", "Port058"], + ["Port056", "Port059"], + ["Port056", "Port060"], + ["Port056", "Port061"], + ["Port057", "Port058"], + ["Port057", "Port059"], + ["Port057", "Port060"], + ["Port057", "Port061"], + ["Port057", "Port062"], + ["Port058", "Port059"], + ["Port058", "Port060"], + ["Port058", "Port061"], + ["Port058", "Port062"], + ["Port058", "Port063"], + ["Port059", "Port060"], + ["Port059", "Port061"], + ["Port059", "Port062"], + ["Port059", "Port063"], + ["Port059", "Port064"], + ["Port060", "Port061"], + ["Port060", "Port062"], + ["Port060", "Port063"], + ["Port060", "Port064"], + ["Port060", "Port065"], + ["Port061", "Port062"], + ["Port061", "Port063"], + ["Port061", "Port064"], + ["Port061", "Port065"], + ["Port061", "Port066"], + ["Port062", "Port063"], + ["Port062", "Port064"], + ["Port062", "Port065"], + ["Port062", "Port066"], + ["Port062", "Port067"], + ["Port063", "Port064"], + ["Port063", "Port065"], + ["Port063", "Port066"], + ["Port063", "Port067"], + ["Port063", "Port068"], + ["Port064", "Port065"], + ["Port064", "Port066"], + ["Port064", "Port067"], + ["Port064", "Port068"], + ["Port064", "Port069"], + ["Port065", "Port066"], + ["Port065", "Port067"], + ["Port065", "Port068"], + ["Port065", "Port069"], + ["Port065", "Port070"], + ["Port066", "Port067"], + ["Port066", "Port068"], + ["Port066", "Port069"], + ["Port066", "Port070"], + ["Port066", "Port071"], + ["Port067", "Port068"], + ["Port067", "Port069"], + ["Port067", "Port070"], + ["Port067", "Port071"], + ["Port067", "Port072"], + ["Port068", "Port069"], + ["Port068", "Port070"], + ["Port068", "Port071"], + ["Port068", "Port072"], + ["Port068", "Port073"], + ["Port069", "Port070"], + ["Port069", "Port071"], + ["Port069", "Port072"], + ["Port069", "Port073"], + ["Port069", "Port074"], + ["Port070", "Port071"], + ["Port070", "Port072"], + ["Port070", "Port073"], + ["Port070", "Port074"], + ["Port070", "Port075"], + ["Port071", "Port072"], + ["Port071", "Port073"], + ["Port071", "Port074"], + ["Port071", "Port075"], + ["Port071", "Port076"], + ["Port072", "Port073"], + ["Port072", "Port074"], + ["Port072", "Port075"], + ["Port072", "Port076"], + ["Port072", "Port077"], + ["Port073", "Port074"], + ["Port073", "Port075"], + ["Port073", "Port076"], + ["Port073", "Port077"], + ["Port073", "Port078"], + ["Port074", "Port075"], + ["Port074", "Port076"], + ["Port074", "Port077"], + ["Port074", "Port078"], + ["Port074", "Port079"], + ["Port075", "Port076"], + ["Port075", "Port077"], + ["Port075", "Port078"], + ["Port075", "Port079"], + ["Port075", "Port080"], + ["Port076", "Port077"], + ["Port076", "Port078"], + ["Port076", "Port079"], + ["Port076", "Port080"], + ["Port076", "Port081"], + ["Port077", "Port078"], + ["Port077", "Port079"], + ["Port077", "Port080"], + ["Port077", "Port081"], + ["Port077", "Port082"], + ["Port078", "Port079"], + ["Port078", "Port080"], + ["Port078", "Port081"], + ["Port078", "Port082"], + ["Port078", "Port083"], + ["Port079", "Port080"], + ["Port079", "Port081"], + ["Port079", "Port082"], + ["Port079", "Port083"], + ["Port079", "Port084"], + ["Port080", "Port081"], + ["Port080", "Port082"], + ["Port080", "Port083"], + ["Port080", "Port084"], + ["Port080", "Port085"], + ["Port081", "Port082"], + ["Port081", "Port083"], + ["Port081", "Port084"], + ["Port081", "Port085"], + ["Port081", "Port086"], + ["Port082", "Port083"], + ["Port082", "Port084"], + ["Port082", "Port085"], + ["Port082", "Port086"], + ["Port082", "Port087"], + ["Port083", "Port084"], + ["Port083", "Port085"], + ["Port083", "Port086"], + ["Port083", "Port087"], + ["Port083", "Port088"], + ["Port084", "Port085"], + ["Port084", "Port086"], + ["Port084", "Port087"], + ["Port084", "Port088"], + ["Port084", "Port089"], + ["Port085", "Port086"], + ["Port085", "Port087"], + ["Port085", "Port088"], + ["Port085", "Port089"], + ["Port085", "Port090"], + ["Port086", "Port087"], + ["Port086", "Port088"], + ["Port086", "Port089"], + ["Port086", "Port090"], + ["Port086", "Port091"], + ["Port087", "Port088"], + ["Port087", "Port089"], + ["Port087", "Port090"], + ["Port087", "Port091"], + ["Port087", "Port092"], + ["Port088", "Port089"], + ["Port088", "Port090"], + ["Port088", "Port091"], + ["Port088", "Port092"], + ["Port088", "Port093"], + ["Port089", "Port090"], + ["Port089", "Port091"], + ["Port089", "Port092"], + ["Port089", "Port093"], + ["Port089", "Port094"], + ["Port090", "Port091"], + ["Port090", "Port092"], + ["Port090", "Port093"], + ["Port090", "Port094"], + ["Port090", "Port095"], + ["Port091", "Port092"], + ["Port091", "Port093"], + ["Port091", "Port094"], + ["Port091", "Port095"], + ["Port091", "Port096"], + ["Port092", "Port093"], + ["Port092", "Port094"], + ["Port092", "Port095"], + ["Port092", "Port096"], + ["Port092", "Port097"], + ["Port093", "Port094"], + ["Port093", "Port095"], + ["Port093", "Port096"], + ["Port093", "Port097"], + ["Port093", "Port098"], + ["Port094", "Port095"], + ["Port094", "Port096"], + ["Port094", "Port097"], + ["Port094", "Port098"], + ["Port094", "Port099"], + ["Port095", "Port096"], + ["Port095", "Port097"], + ["Port095", "Port098"], + ["Port095", "Port099"], + ["Port095", "Port100"], + ["Port096", "Port097"], + ["Port096", "Port098"], + ["Port096", "Port099"], + ["Port096", "Port100"], + ["Port096", "Port101"], + ["Port097", "Port098"], + ["Port097", "Port099"], + ["Port097", "Port100"], + ["Port097", "Port101"], + ["Port097", "Port102"], + ["Port098", "Port099"], + ["Port098", "Port100"], + ["Port098", "Port101"], + ["Port098", "Port102"], + ["Port098", "Port103"], + ["Port099", "Port100"], + ["Port099", "Port101"], + ["Port099", "Port102"], + ["Port099", "Port103"], + ["Port099", "Port104"], + ["Port100", "Port101"], + ["Port100", "Port102"], + ["Port100", "Port103"], + ["Port100", "Port104"], + ["Port100", "Port105"], + ["Port101", "Port102"], + ["Port101", "Port103"], + ["Port101", "Port104"], + ["Port101", "Port105"], + ["Port101", "Port106"], + ["Port102", "Port103"], + ["Port102", "Port104"], + ["Port102", "Port105"], + ["Port102", "Port106"], + ["Port102", "Port107"], + ["Port103", "Port104"], + ["Port103", "Port105"], + ["Port103", "Port106"], + ["Port103", "Port107"], + ["Port103", "Port108"], + ["Port104", "Port105"], + ["Port104", "Port106"], + ["Port104", "Port107"], + ["Port104", "Port108"], + ["Port104", "Port109"], + ["Port105", "Port106"], + ["Port105", "Port107"], + ["Port105", "Port108"], + ["Port105", "Port109"], + ["Port105", "Port110"], + ["Port106", "Port107"], + ["Port106", "Port108"], + ["Port106", "Port109"], + ["Port106", "Port110"], + ["Port106", "Port111"], + ["Port107", "Port108"], + ["Port107", "Port109"], + ["Port107", "Port110"], + ["Port107", "Port111"], + ["Port107", "Port112"], + ["Port108", "Port109"], + ["Port108", "Port110"], + ["Port108", "Port111"], + ["Port108", "Port112"], + ["Port108", "Port113"], + ["Port109", "Port110"], + ["Port109", "Port111"], + ["Port109", "Port112"], + ["Port109", "Port113"], + ["Port109", "Port114"], + ["Port110", "Port111"], + ["Port110", "Port112"], + ["Port110", "Port113"], + ["Port110", "Port114"], + ["Port110", "Port115"], + ["Port111", "Port112"], + ["Port111", "Port113"], + ["Port111", "Port114"], + ["Port111", "Port115"], + ["Port111", "Port116"], + ["Port112", "Port113"], + ["Port112", "Port114"], + ["Port112", "Port115"], + ["Port112", "Port116"], + ["Port112", "Port117"], + ["Port113", "Port114"], + ["Port113", "Port115"], + ["Port113", "Port116"], + ["Port113", "Port117"], + ["Port113", "Port118"], + ["Port114", "Port115"], + ["Port114", "Port116"], + ["Port114", "Port117"], + ["Port114", "Port118"], + ["Port114", "Port119"], + ["Port115", "Port116"], + ["Port115", "Port117"], + ["Port115", "Port118"], + ["Port115", "Port119"], + ["Port115", "Port120"], + ["Port116", "Port117"], + ["Port116", "Port118"], + ["Port116", "Port119"], + ["Port116", "Port120"], + ["Port116", "Port121"], + ["Port117", "Port118"], + ["Port117", "Port119"], + ["Port117", "Port120"], + ["Port117", "Port121"], + ["Port117", "Port122"], + ["Port118", "Port119"], + ["Port118", "Port120"], + ["Port118", "Port121"], + ["Port118", "Port122"], + ["Port118", "Port123"], + ["Port119", "Port120"], + ["Port119", "Port121"], + ["Port119", "Port122"], + ["Port119", "Port123"], + ["Port119", "Port124"], + ["Port120", "Port121"], + ["Port120", "Port122"], + ["Port120", "Port123"], + ["Port120", "Port124"], + ["Port120", "Port125"], + ["Port121", "Port122"], + ["Port121", "Port123"], + ["Port121", "Port124"], + ["Port121", "Port125"], + ["Port121", "Port126"], + ["Port122", "Port123"], + ["Port122", "Port124"], + ["Port122", "Port125"], + ["Port122", "Port126"], + ["Port122", "Port127"], + ["Port123", "Port124"], + ["Port123", "Port125"], + ["Port123", "Port126"], + ["Port123", "Port127"], + ["Port123", "Port128"], + ["Port124", "Port125"], + ["Port124", "Port126"], + ["Port124", "Port127"], + ["Port124", "Port128"], + ["Port124", "Port129"], + ["Port125", "Port126"], + ["Port125", "Port127"], + ["Port125", "Port128"], + ["Port125", "Port129"], + ["Port125", "Port130"], + ["Port126", "Port127"], + ["Port126", "Port128"], + ["Port126", "Port129"], + ["Port126", "Port130"], + ["Port126", "Port131"], + ["Port127", "Port128"], + ["Port127", "Port129"], + ["Port127", "Port130"], + ["Port127", "Port131"], + ["Port127", "Port132"], + ["Port128", "Port129"], + ["Port128", "Port130"], + ["Port128", "Port131"], + ["Port128", "Port132"], + ["Port128", "Port133"], + ["Port129", "Port130"], + ["Port129", "Port131"], + ["Port129", "Port132"], + ["Port129", "Port133"], + ["Port129", "Port134"], + ["Port130", "Port131"], + ["Port130", "Port132"], + ["Port130", "Port133"], + ["Port130", "Port134"], + ["Port130", "Port135"], + ["Port131", "Port132"], + ["Port131", "Port133"], + ["Port131", "Port134"], + ["Port131", "Port135"], + ["Port131", "Port136"], + ["Port132", "Port133"], + ["Port132", "Port134"], + ["Port132", "Port135"], + ["Port132", "Port136"], + ["Port132", "Port137"], + ["Port133", "Port134"], + ["Port133", "Port135"], + ["Port133", "Port136"], + ["Port133", "Port137"], + ["Port133", "Port138"], + ["Port134", "Port135"], + ["Port134", "Port136"], + ["Port134", "Port137"], + ["Port134", "Port138"], + ["Port134", "Port139"], + ["Port135", "Port136"], + ["Port135", "Port137"], + ["Port135", "Port138"], + ["Port135", "Port139"], + ["Port135", "Port140"], + ["Port136", "Port137"], + ["Port136", "Port138"], + ["Port136", "Port139"], + ["Port136", "Port140"], + ["Port136", "Port141"], + ["Port137", "Port138"], + ["Port137", "Port139"], + ["Port137", "Port140"], + ["Port137", "Port141"], + ["Port137", "Port142"], + ["Port138", "Port139"], + ["Port138", "Port140"], + ["Port138", "Port141"], + ["Port138", "Port142"], + ["Port138", "Port143"], + ["Port139", "Port140"], + ["Port139", "Port141"], + ["Port139", "Port142"], + ["Port139", "Port143"], + ["Port139", "Port144"], + ["Port140", "Port141"], + ["Port140", "Port142"], + ["Port140", "Port143"], + ["Port140", "Port144"], + ["Port140", "Port145"], + ["Port141", "Port142"], + ["Port141", "Port143"], + ["Port141", "Port144"], + ["Port141", "Port145"], + ["Port141", "Port146"], + ["Port142", "Port143"], + ["Port142", "Port144"], + ["Port142", "Port145"], + ["Port142", "Port146"], + ["Port142", "Port147"], + ["Port143", "Port144"], + ["Port143", "Port145"], + ["Port143", "Port146"], + ["Port143", "Port147"], + ["Port143", "Port148"], + ["Port144", "Port145"], + ["Port144", "Port146"], + ["Port144", "Port147"], + ["Port144", "Port148"], + ["Port144", "Port149"], + ["Port145", "Port146"], + ["Port145", "Port147"], + ["Port145", "Port148"], + ["Port145", "Port149"], + ["Port145", "Port150"], + ["Port146", "Port147"], + ["Port146", "Port148"], + ["Port146", "Port149"], + ["Port146", "Port150"], + ["Port146", "Port151"], + ["Port147", "Port148"], + ["Port147", "Port149"], + ["Port147", "Port150"], + ["Port147", "Port151"], + ["Port147", "Port152"], + ["Port148", "Port149"], + ["Port148", "Port150"], + ["Port148", "Port151"], + ["Port148", "Port152"], + ["Port148", "Port153"], + ["Port149", "Port150"], + ["Port149", "Port151"], + ["Port149", "Port152"], + ["Port149", "Port153"], + ["Port149", "Port154"], + ["Port150", "Port151"], + ["Port150", "Port152"], + ["Port150", "Port153"], + ["Port150", "Port154"], + ["Port150", "Port155"], + ["Port151", "Port152"], + ["Port151", "Port153"], + ["Port151", "Port154"], + ["Port151", "Port155"], + ["Port151", "Port156"], + ["Port152", "Port153"], + ["Port152", "Port154"], + ["Port152", "Port155"], + ["Port152", "Port156"], + ["Port152", "Port157"], + ["Port153", "Port154"], + ["Port153", "Port155"], + ["Port153", "Port156"], + ["Port153", "Port157"], + ["Port153", "Port158"], + ["Port154", "Port155"], + ["Port154", "Port156"], + ["Port154", "Port157"], + ["Port154", "Port158"], + ["Port154", "Port159"], + ["Port155", "Port156"], + ["Port155", "Port157"], + ["Port155", "Port158"], + ["Port155", "Port159"], + ["Port155", "Port160"], + ["Port156", "Port157"], + ["Port156", "Port158"], + ["Port156", "Port159"], + ["Port156", "Port160"], + ["Port156", "Port161"], + ["Port157", "Port158"], + ["Port157", "Port159"], + ["Port157", "Port160"], + ["Port157", "Port161"], + ["Port157", "Port162"], + ["Port158", "Port159"], + ["Port158", "Port160"], + ["Port158", "Port161"], + ["Port158", "Port162"], + ["Port158", "Port163"], + ["Port159", "Port160"], + ["Port159", "Port161"], + ["Port159", "Port162"], + ["Port159", "Port163"], + ["Port159", "Port164"], + ["Port160", "Port161"], + ["Port160", "Port162"], + ["Port160", "Port163"], + ["Port160", "Port164"], + ["Port160", "Port165"], + ["Port161", "Port162"], + ["Port161", "Port163"], + ["Port161", "Port164"], + ["Port161", "Port165"], + ["Port161", "Port166"], + ["Port162", "Port163"], + ["Port162", "Port164"], + ["Port162", "Port165"], + ["Port162", "Port166"], + ["Port162", "Port167"], + ["Port163", "Port164"], + ["Port163", "Port165"], + ["Port163", "Port166"], + ["Port163", "Port167"], + ["Port163", "Port168"], + ["Port164", "Port165"], + ["Port164", "Port166"], + ["Port164", "Port167"], + ["Port164", "Port168"], + ["Port164", "Port169"], + ["Port165", "Port166"], + ["Port165", "Port167"], + ["Port165", "Port168"], + ["Port165", "Port169"], + ["Port165", "Port170"], + ["Port166", "Port167"], + ["Port166", "Port168"], + ["Port166", "Port169"], + ["Port166", "Port170"], + ["Port166", "Port171"], + ["Port167", "Port168"], + ["Port167", "Port169"], + ["Port167", "Port170"], + ["Port167", "Port171"], + ["Port167", "Port172"], + ["Port168", "Port169"], + ["Port168", "Port170"], + ["Port168", "Port171"], + ["Port168", "Port172"], + ["Port168", "Port173"], + ["Port169", "Port170"], + ["Port169", "Port171"], + ["Port169", "Port172"], + ["Port169", "Port173"], + ["Port169", "Port174"], + ["Port170", "Port171"], + ["Port170", "Port172"], + ["Port170", "Port173"], + ["Port170", "Port174"], + ["Port170", "Port175"], + ["Port171", "Port172"], + ["Port171", "Port173"], + ["Port171", "Port174"], + ["Port171", "Port175"], + ["Port171", "Port176"], + ["Port172", "Port173"], + ["Port172", "Port174"], + ["Port172", "Port175"], + ["Port172", "Port176"], + ["Port172", "Port177"], + ["Port173", "Port174"], + ["Port173", "Port175"], + ["Port173", "Port176"], + ["Port173", "Port177"], + ["Port173", "Port178"], + ["Port174", "Port175"], + ["Port174", "Port176"], + ["Port174", "Port177"], + ["Port174", "Port178"], + ["Port174", "Port179"], + ["Port175", "Port176"], + ["Port175", "Port177"], + ["Port175", "Port178"], + ["Port175", "Port179"], + ["Port175", "Port180"], + ["Port176", "Port177"], + ["Port176", "Port178"], + ["Port176", "Port179"], + ["Port176", "Port180"], + ["Port176", "Port181"], + ["Port177", "Port178"], + ["Port177", "Port179"], + ["Port177", "Port180"], + ["Port177", "Port181"], + ["Port177", "Port182"], + ["Port178", "Port179"], + ["Port178", "Port180"], + ["Port178", "Port181"], + ["Port178", "Port182"], + ["Port178", "Port183"], + ["Port179", "Port180"], + ["Port179", "Port181"], + ["Port179", "Port182"], + ["Port179", "Port183"], + ["Port179", "Port184"], + ["Port180", "Port181"], + ["Port180", "Port182"], + ["Port180", "Port183"], + ["Port180", "Port184"], + ["Port180", "Port185"], + ["Port181", "Port182"], + ["Port181", "Port183"], + ["Port181", "Port184"], + ["Port181", "Port185"], + ["Port181", "Port186"], + ["Port182", "Port183"], + ["Port182", "Port184"], + ["Port182", "Port185"], + ["Port182", "Port186"], + ["Port182", "Port187"], + ["Port183", "Port184"], + ["Port183", "Port185"], + ["Port183", "Port186"], + ["Port183", "Port187"], + ["Port183", "Port188"], + ["Port184", "Port185"], + ["Port184", "Port186"], + ["Port184", "Port187"], + ["Port184", "Port188"], + ["Port184", "Port189"], + ["Port185", "Port186"], + ["Port185", "Port187"], + ["Port185", "Port188"], + ["Port185", "Port189"], + ["Port185", "Port190"], + ["Port186", "Port187"], + ["Port186", "Port188"], + ["Port186", "Port189"], + ["Port186", "Port190"], + ["Port186", "Port191"], + ["Port187", "Port188"], + ["Port187", "Port189"], + ["Port187", "Port190"], + ["Port187", "Port191"], + ["Port187", "Port192"], + ["Port188", "Port189"], + ["Port188", "Port190"], + ["Port188", "Port191"], + ["Port188", "Port192"], + ["Port188", "Port193"], + ["Port189", "Port190"], + ["Port189", "Port191"], + ["Port189", "Port192"], + ["Port189", "Port193"], + ["Port189", "Port194"], + ["Port190", "Port191"], + ["Port190", "Port192"], + ["Port190", "Port193"], + ["Port190", "Port194"], + ["Port190", "Port195"], + ["Port191", "Port192"], + ["Port191", "Port193"], + ["Port191", "Port194"], + ["Port191", "Port195"], + ["Port191", "Port196"], + ["Port192", "Port193"], + ["Port192", "Port194"], + ["Port192", "Port195"], + ["Port192", "Port196"], + ["Port192", "Port197"], + ["Port193", "Port194"], + ["Port193", "Port195"], + ["Port193", "Port196"], + ["Port193", "Port197"], + ["Port193", "Port198"], + ["Port194", "Port195"], + ["Port194", "Port196"], + ["Port194", "Port197"], + ["Port194", "Port198"], + ["Port194", "Port199"], + ["Port195", "Port196"], + ["Port195", "Port197"], + ["Port195", "Port198"], + ["Port195", "Port199"], + ["Port195", "Port200"], + ["Port196", "Port197"], + ["Port196", "Port198"], + ["Port196", "Port199"], + ["Port196", "Port200"], + ["Port197", "Port198"], + ["Port197", "Port199"], + ["Port197", "Port200"], + ["Port198", "Port199"], + ["Port198", "Port200"], + ["Port199", "Port200"], + ["Port001", "Port007"], + ["Port001", "Port008"], + ["Port001", "Port009"], + ["Port002", "Port008"], + ["Port002", "Port009"], + ["Port002", "Port010"], + ["Port003", "Port009"], + ["Port003", "Port010"], + ["Port003", "Port011"], + ["Port004", "Port010"], + ["Port004", "Port011"], + ["Port004", "Port012"], + ["Port005", "Port011"], + ["Port005", "Port012"], + ["Port005", "Port013"], +]; diff --git a/tests/pathfinding/playground/README.md b/tests/pathfinding/playground/README.md new file mode 100644 index 000000000..7555fd003 --- /dev/null +++ b/tests/pathfinding/playground/README.md @@ -0,0 +1,25 @@ +# Pathfinding Playground + +Interactive web-based visualization tool for exploring and comparing pathfinding algorithms. + +## Usage + +Start the server from the project root: + +```bash +# With path caching (default) +npx tsx tests/pathfinding/playground/server.ts + +# Without path caching +npx tsx tests/pathfinding/playground/server.ts --no-cache +``` + +Then open http://localhost:5555 in your browser. + +## Options + +- `--no-cache` - Disable path caching in NavMesh to measure uncached performance + +## Clanker Disclosure + +The source code of both the UI and the backend is mostly generated by a robot and therefore probably unmaintainable by humans. Since this is meant to be one-off playground project the author has not put additional thought into the inner workings. The UI however is very highly opinionated, if you believe a clanker could do this first pass, you live in the (possibly not far off) future. diff --git a/tests/pathfinding/playground/api/maps.ts b/tests/pathfinding/playground/api/maps.ts new file mode 100644 index 000000000..7d1776931 --- /dev/null +++ b/tests/pathfinding/playground/api/maps.ts @@ -0,0 +1,224 @@ +import { readdirSync, readFileSync } from "fs"; +import { dirname, join } from "path"; +import { fileURLToPath } from "url"; +import { Game } from "../../../../src/core/game/Game.js"; +import { TileRef } from "../../../../src/core/game/GameMap.js"; +import { NavMesh } from "../../../../src/core/pathfinding/navmesh/NavMesh.js"; +import { setupFromPath } from "../../utils.js"; + +export interface MapInfo { + name: string; + displayName: string; +} + +export interface MapCache { + game: Game; + navMesh: NavMesh; +} + +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 + */ +function getMapsDirectory(): string { + return join( + dirname(fileURLToPath(import.meta.url)), + "../../../../resources/maps", + ); +} + +/** + * Format map name to title case with proper spacing + * Handles: underscores, camelCase, existing spaces, and parentheses + */ +function formatMapName(name: string): string { + return ( + name + // Replace underscores with spaces + .replace(/_/g, " ") + // Add space before capital letters (for camelCase) + .replace(/([a-z])([A-Z])/g, "$1 $2") + // Convert to lowercase first + .toLowerCase() + // Capitalize first letter of string + .replace(/^\w/, (char) => char.toUpperCase()) + // Capitalize after spaces and opening parentheses + .replace(/(\s+|[(])\w/g, (match) => match.toUpperCase()) + ); +} + +/** + * Get list of available maps by reading the resources/maps directory + */ +export function listMaps(): MapInfo[] { + const mapsDir = getMapsDirectory(); + const maps: MapInfo[] = []; + + try { + const entries = readdirSync(mapsDir, { withFileTypes: true }); + + for (const entry of entries) { + if (entry.isDirectory()) { + const name = entry.name; + let displayName = formatMapName(name); + + // Try to read displayName from manifest.json + try { + const manifestPath = join(mapsDir, name, "manifest.json"); + const manifestData = JSON.parse(readFileSync(manifestPath, "utf-8")); + if (manifestData.name) { + displayName = formatMapName(manifestData.name); + } + } catch (e) { + // If manifest doesn't exist or doesn't have name, use formatted folder name + console.warn( + `Could not read manifest for ${name}:`, + e instanceof Error ? e.message : e, + ); + } + + maps.push({ name, displayName }); + } + } + } catch (e) { + console.error("Failed to read maps directory:", e); + } + + return maps.sort((a, b) => a.displayName.localeCompare(b.displayName)); +} + +/** + * Load a map from cache or disk + */ +export async function loadMap(mapName: string): Promise { + // Check cache first + if (cache.has(mapName)) { + return cache.get(mapName)!; + } + + const mapsDir = getMapsDirectory(); + + // Use the existing setupFromPath utility to load the map + const game = await setupFromPath(mapsDir, mapName); + + // Initialize NavMesh + const navMesh = new NavMesh(game, { cachePaths: config.cachePaths }); + navMesh.initialize(); + + const cacheEntry: MapCache = { game, navMesh }; + + // Store in cache + cache.set(mapName, cacheEntry); + + return cacheEntry; +} + +/** + * Get map metadata for client + */ +export async function getMapMetadata(mapName: string) { + const { game, navMesh } = await loadMap(mapName); + + // Extract map data + const mapData: number[] = []; + for (let y = 0; y < game.height(); y++) { + for (let x = 0; x < game.width(); x++) { + const tile = game.ref(x, y); + mapData.push(game.isWater(tile) ? 1 : 0); + } + } + + // Extract static graph data from NavMesh + const miniMap = game.miniMap(); + const navMeshGraph = (navMesh as any).graph; + + // Convert gateways from Map to array + const gatewaysArray = Array.from(navMeshGraph.gateways.values()); + const allGateways = gatewaysArray.map((gw: any) => ({ + id: gw.id, + x: miniMap.x(gw.tile), + y: miniMap.y(gw.tile), + })); + + // Create a lookup map from gateway ID to gateway for edge conversion + const gatewayById = new Map(gatewaysArray.map((gw: any) => [gw.id, gw])); + + // Convert edges from Map to flat array + // The edges Map has gateway IDs as keys, and arrays of edges as values + const allEdges: any[] = []; + for (const edgeArray of navMeshGraph.edges.values()) { + allEdges.push(...edgeArray); + } + + // Deduplicate edges (they're bidirectional, so each edge appears twice) + const seenEdges = new Set(); + const edges = allEdges + .filter((edge: any) => { + const edgeKey = + edge.from < edge.to + ? `${edge.from}-${edge.to}` + : `${edge.to}-${edge.from}`; + if (seenEdges.has(edgeKey)) return false; + seenEdges.add(edgeKey); + return true; + }) + .map((edge: any) => { + const fromGateway = gatewayById.get(edge.from); + const toGateway = gatewayById.get(edge.to); + + return { + fromId: edge.from, + toId: edge.to, + from: fromGateway + ? [miniMap.x(fromGateway.tile) * 2, miniMap.y(fromGateway.tile) * 2] + : [0, 0], + to: toGateway + ? [miniMap.x(toGateway.tile) * 2, miniMap.y(toGateway.tile) * 2] + : [0, 0], + cost: edge.cost, + path: edge.path + ? edge.path.map((tile: TileRef) => [game.x(tile), game.y(tile)]) + : null, + }; + }); + + console.log( + `Map ${mapName}: ${allGateways.length} gateways, ${edges.length} edges`, + ); + + const sectorSize = navMeshGraph.sectorSize; + + return { + name: mapName, + width: game.width(), + height: game.height(), + mapData, + graphDebug: { + allGateways, + edges, + sectorSize, + }, + }; +} + +/** + * Clear map cache + */ +export function clearCache() { + cache.clear(); +} diff --git a/tests/pathfinding/playground/api/pathfinding.ts b/tests/pathfinding/playground/api/pathfinding.ts new file mode 100644 index 000000000..102e83310 --- /dev/null +++ b/tests/pathfinding/playground/api/pathfinding.ts @@ -0,0 +1,157 @@ +import { TileRef } from "../../../../src/core/game/GameMap.js"; +import { MiniAStarAdapter } from "../../../../src/core/pathfinding/adapters/MiniAStarAdapter.js"; +import { loadMap } from "./maps.js"; + +interface PathfindingOptions { + includePfMini?: boolean; + includeNavMesh?: boolean; +} + +interface NavMeshResult { + path: Array<[number, number]> | null; + initialPath: Array<[number, number]> | null; + gateways: Array<[number, number]> | null; + timings: any; + length: number; + time: number; +} + +interface PfMiniResult { + path: Array<[number, number]> | null; + length: number; + time: number; +} + +// Cache pathfinding adapters per map +const pfMiniCache = new Map(); + +/** + * Get or create MiniAStar adapter for a map + */ +function getPfMiniAdapter(mapName: string, game: any): MiniAStarAdapter { + if (!pfMiniCache.has(mapName)) { + const adapter = new MiniAStarAdapter(game, { waterPath: true }); + pfMiniCache.set(mapName, adapter); + } + return pfMiniCache.get(mapName)!; +} + +/** + * Convert TileRef array to coordinate array + */ +function pathToCoords( + path: TileRef[] | null, + game: any, +): Array<[number, number]> | null { + if (!path) return null; + return path.map((tile) => [game.x(tile), game.y(tile)]); +} + +/** + * Compute pathfinding between two points + */ +export async function computePath( + mapName: string, + from: [number, number], + to: [number, number], + options: PathfindingOptions = {}, +): Promise { + const { game, navMesh: navMeshAdapter } = await loadMap(mapName); + + // Convert coordinates to TileRefs + const fromRef = game.ref(from[0], from[1]); + const toRef = game.ref(to[0], to[1]); + + // Validate that both points are water tiles + if (!game.isWater(fromRef)) { + throw new Error(`Start point (${from[0]}, ${from[1]}) is not water`); + } + if (!game.isWater(toRef)) { + throw new Error(`End point (${to[0]}, ${to[1]}) is not water`); + } + + // Compute NavMesh path + const navMeshPath = navMeshAdapter.findPath(fromRef, toRef, true); + const path = pathToCoords(navMeshPath, game); + + const miniMap = game.miniMap(); + + // Extract debug info + let gateways: Array<[number, number]> | null = null; + let initialPath: Array<[number, number]> | null = null; + let timings: any = {}; + + if (navMeshAdapter.debugInfo) { + // Convert gatewayPath (TileRefs on miniMap) to full map coordinates + if (navMeshAdapter.debugInfo.gatewayPath) { + gateways = navMeshAdapter.debugInfo.gatewayPath.map((tile: TileRef) => { + const x = miniMap.x(tile) * 2; + const y = miniMap.y(tile) * 2; + return [x, y] as [number, number]; + }); + } + + // Convert initial path + if (navMeshAdapter.debugInfo.initialPath) { + initialPath = navMeshAdapter.debugInfo.initialPath.map( + (tile: TileRef) => [game.x(tile), game.y(tile)] as [number, number], + ); + } + + timings = navMeshAdapter.debugInfo.timings || {}; + } + + return { + path, + initialPath, + gateways, + timings, + length: path ? path.length : 0, + time: timings.total ?? 0, + }; +} + +/** + * Compute only PathFinder.Mini path + */ +export async function computePfMiniPath( + mapName: string, + from: [number, number], + to: [number, number], +): Promise { + const { game } = await loadMap(mapName); + + // Convert coordinates to TileRefs + const fromRef = game.ref(from[0], from[1]); + const toRef = game.ref(to[0], to[1]); + + // Validate that both points are water tiles + if (!game.isWater(fromRef)) { + throw new Error(`Start point (${from[0]}, ${from[1]}) is not water`); + } + if (!game.isWater(toRef)) { + throw new Error(`End point (${to[0]}, ${to[1]}) is not water`); + } + + // Compute PathFinder.Mini path + const pfMiniAdapter = getPfMiniAdapter(mapName, game); + const pfMiniStart = performance.now(); + const pfMiniPath = pfMiniAdapter.findPath(fromRef, toRef); + const pfMiniEnd = performance.now(); + + const path = pathToCoords(pfMiniPath, game); + const time = pfMiniEnd - pfMiniStart; + + return { + path, + length: path ? path.length : 0, + time, + }; +} + +/** + * Clear pathfinding adapter caches + */ +export function clearAdapterCaches() { + pfMiniCache.clear(); +} diff --git a/tests/pathfinding/playground/public/client.js b/tests/pathfinding/playground/public/client.js new file mode 100644 index 000000000..48a222786 --- /dev/null +++ b/tests/pathfinding/playground/public/client.js @@ -0,0 +1,1569 @@ +// Application State +const state = { + currentMap: null, + mapData: null, + mapWidth: 0, + mapHeight: 0, + startPoint: null, + endPoint: null, + navMeshPath: null, + navMeshResult: null, // Store full NavMesh result including timing + pfMiniPath: null, + pfMiniResult: null, // Store full PF.Mini result including timing + graphDebug: null, // Static graph data (gateways, edges, sectorSize) - loaded once per map + debugInfo: null, // Per-path debug data (timings, gatewayWaypoints, initialPath) + isMapLoading: false, // Loading state for map switching + isNavMeshLoading: false, // Separate loading state for NavMesh + isPfMiniLoading: false, // Separate loading state for PF.Mini + showPfMini: false, + activeRefreshButton: null, // Track which refresh button is spinning +}; + +// Canvas state +let zoomLevel = 1.0; +let panX = 0; +let panY = 0; +let isDragging = false; +let dragStartX = 0; +let dragStartY = 0; +let dragStartPanX = 0; +let dragStartPanY = 0; + +let mapCanvas, overlayCanvas, interactiveCanvas; +let mapCtx, overlayCtx, interactiveCtx; +let mapRendered = false; +let hoveredGateway = null; +let hoveredPoint = null; // 'start', 'end', or null +let draggingPoint = null; // 'start', 'end', or null +let draggingPointPosition = null; // [x, y] canvas position while dragging +let lastPathRecalcTime = 0; +let renderRequested = false; + +// Save current state to URL query string +function updateURLState() { + const params = new URLSearchParams(); + + if (state.currentMap) { + params.set("map", state.currentMap); + } + if (state.startPoint) { + params.set("start", `${state.startPoint[0]},${state.startPoint[1]}`); + } + if (state.endPoint) { + params.set("end", `${state.endPoint[0]},${state.endPoint[1]}`); + } + + const newURL = `${window.location.pathname}?${params.toString()}`; + window.history.replaceState({}, "", newURL); +} + +// Restore state from URL query string +function restoreFromURL() { + const params = new URLSearchParams(window.location.search); + + const mapName = params.get("map"); + const startStr = params.get("start"); + const endStr = params.get("end"); + + const result = { + map: mapName, + start: null, + end: null, + }; + + if (startStr) { + const [x, y] = startStr.split(",").map(Number); + if (!isNaN(x) && !isNaN(y)) { + result.start = [x, y]; + } + } + + if (endStr) { + const [x, y] = endStr.split(",").map(Number); + if (!isNaN(x) && !isNaN(y)) { + result.end = [x, y]; + } + } + + return result; +} + +// Initialize on DOM load +window.addEventListener("DOMContentLoaded", () => { + initializeCanvases(); + initializeControls(); + initializeDragControls(); + initializeTimingsPanel(); + loadMaps(); +}); + +// Initialize canvas elements +function initializeCanvases() { + mapCanvas = document.getElementById("mapCanvas"); + mapCtx = mapCanvas.getContext("2d"); + + overlayCanvas = document.getElementById("overlayCanvas"); + overlayCtx = overlayCanvas.getContext("2d"); + + // Create interactive canvas OUTSIDE the CSS transform wrapper + // This canvas is viewport-sized and renders paths/points at screen coordinates + const canvasContainer = document.querySelector(".canvas-container"); + interactiveCanvas = document.createElement("canvas"); + interactiveCanvas.id = "interactiveCanvas"; + interactiveCanvas.style.position = "absolute"; + interactiveCanvas.style.top = "0"; + interactiveCanvas.style.left = "0"; + interactiveCanvas.style.width = "100%"; + interactiveCanvas.style.height = "100%"; + interactiveCanvas.style.zIndex = "3"; + interactiveCanvas.style.pointerEvents = "none"; + canvasContainer.appendChild(interactiveCanvas); + interactiveCtx = interactiveCanvas.getContext("2d"); + + // Size interactive canvas to viewport + const resizeInteractiveCanvas = () => { + const rect = canvasContainer.getBoundingClientRect(); + interactiveCanvas.width = rect.width; + interactiveCanvas.height = rect.height; + }; + resizeInteractiveCanvas(); + window.addEventListener("resize", resizeInteractiveCanvas); +} + +// Initialize control event listeners +function initializeControls() { + // Map selector (top panel) + document.getElementById("scenarioSelect").addEventListener("change", (e) => { + switchMap(e.target.value); + }); + + // Map selector (welcome screen) + document + .getElementById("welcomeMapSelect") + .addEventListener("change", (e) => { + const mapName = e.target.value; + if (mapName) { + switchMap(mapName); + } + }); + + // PF.Mini request button + document.getElementById("requestPfMini").addEventListener("click", () => { + if ( + state.startPoint && + state.endPoint && + !state.pfMiniPath && + !state.isPfMiniLoading + ) { + state.showPfMini = true; + requestPfMiniOnly(state.startPoint, state.endPoint); + } + }); + + // Refresh NavMesh button + document.getElementById("refreshNavMesh").addEventListener("click", (e) => { + if (state.startPoint && state.endPoint) { + const btn = e.currentTarget; + btn.classList.add("spinning"); + state.activeRefreshButton = btn; + requestPathfinding(state.startPoint, state.endPoint); + } + }); + + // Refresh PF.Mini button + document.getElementById("refreshPfMini").addEventListener("click", (e) => { + if (state.startPoint && state.endPoint && state.pfMiniPath) { + const btn = e.currentTarget; + btn.classList.add("spinning"); + state.activeRefreshButton = btn; + requestPfMiniOnly(state.startPoint, state.endPoint); + } + }); + + // Visualization toggles - all buttons + [ + "showInitialPath", + "showUsedGateways", + "showColoredMap", + "showGateways", + "showSectorGrid", + "showEdges", + ].forEach((id) => { + const button = document.getElementById(id); + button.addEventListener("click", () => { + const isActive = button.dataset.active === "true"; + button.dataset.active = !isActive; + // Map coloring affects map canvas + if (id === "showColoredMap") { + renderMapBackground(2); + } + // Static overlays (sectors, edges, all gateways) go on overlay canvas + if (["showGateways", "showSectorGrid", "showEdges"].includes(id)) { + renderOverlay(2); + } + // Dynamic elements (paths, highlighted gateways) go on interactive canvas + renderInteractive(); + }); + }); + + // Zoom control + document.getElementById("zoom").addEventListener("input", (e) => { + zoomLevel = parseFloat(e.target.value); + document.getElementById("zoomValue").textContent = + zoomLevel.toFixed(1) + "x"; + updateTransform(); + }); + + // Clear points button + document.getElementById("clearPoints").addEventListener("click", () => { + clearPoints(); + }); +} + +// Helper function to check if mouse is over a start/end point +function getPointAtPosition(canvasX, canvasY) { + const scale = zoomLevel; + const zoomFactor = 3 / zoomLevel; + const hitRadius = Math.max(4, scale * 3 * zoomFactor) + 3; // Add 3px tolerance + + // Check end point first (render on top) + if (state.endPoint) { + const dx = canvasX - (state.endPoint[0] + 0.5); + const dy = canvasY - (state.endPoint[1] + 0.5); + const distance = Math.sqrt(dx * dx + dy * dy); + if (distance <= hitRadius / scale) { + return "end"; + } + } + + // Check start point + if (state.startPoint) { + const dx = canvasX - (state.startPoint[0] + 0.5); + const dy = canvasY - (state.startPoint[1] + 0.5); + const distance = Math.sqrt(dx * dx + dy * dy); + if (distance <= hitRadius / scale) { + return "start"; + } + } + + return null; +} + +// Throttled path recalculation (max once per 16ms ~60fps) +function schedulePathRecalc() { + const now = Date.now(); + const timeSinceLastCall = now - lastPathRecalcTime; + + if (timeSinceLastCall >= 16) { + // Enough time has passed, request immediately + lastPathRecalcTime = now; + if (state.startPoint && state.endPoint) { + requestPathfinding(state.startPoint, state.endPoint); + } + } + // If not enough time has passed, skip this call (throttle) +} + +// Initialize drag and click controls +function initializeDragControls() { + const wrapper = document.getElementById("canvasWrapper"); + const tooltip = document.getElementById("tooltip"); + + wrapper.addEventListener("mousedown", (e) => { + const rect = wrapper.getBoundingClientRect(); + const canvasX = (e.clientX - rect.left - panX) / zoomLevel; + const canvasY = (e.clientY - rect.top - panY) / zoomLevel; + + // Check if clicking on a point + const pointAtMouse = getPointAtPosition(canvasX, canvasY); + + if (pointAtMouse) { + // Start dragging the point + draggingPoint = pointAtMouse; + wrapper.style.cursor = "move"; + + // Invalidate PF.Mini path since we're changing the route + state.pfMiniPath = null; + state.pfMiniResult = null; + updatePfMiniButton(); + } else { + // Start panning the map + isDragging = true; + wrapper.style.cursor = "grabbing"; + } + + dragStartX = e.clientX; + dragStartY = e.clientY; + dragStartPanX = panX; + dragStartPanY = panY; + }); + + wrapper.addEventListener("mousemove", (e) => { + const rect = wrapper.getBoundingClientRect(); + const canvasX = (e.clientX - rect.left - panX) / zoomLevel; + const canvasY = (e.clientY - rect.top - panY) / zoomLevel; + + if (draggingPoint) { + // Dragging a start/end point - snap to water tile + const tileX = Math.floor(canvasX); + const tileY = Math.floor(canvasY); + + // Validate tile is within bounds and is water + if ( + tileX >= 0 && + tileX < state.mapWidth && + tileY >= 0 && + tileY < state.mapHeight + ) { + const tileIndex = tileY * state.mapWidth + tileX; + const isWater = state.mapData[tileIndex] === 1; + + if (isWater) { + // Snap to water tile center + draggingPointPosition = [tileX, tileY]; + + // Update the actual point position and trigger throttled path recalculation + if (draggingPoint === "start") { + state.startPoint = [tileX, tileY]; + } else { + state.endPoint = [tileX, tileY]; + } + + // Trigger throttled path recalculation (16ms) + if (state.startPoint && state.endPoint) { + schedulePathRecalc(); + } + } + // If not water, keep previous valid position (don't update) + } + + renderInteractive(); + } else if (isDragging) { + // Panning the map + const dx = e.clientX - dragStartX; + const dy = e.clientY - dragStartY; + panX = dragStartPanX + dx; + panY = dragStartPanY + dy; + updateTransform(); // Updates interactive layer at screen coordinates + } else { + // Check for point hover + const pointAtMouse = getPointAtPosition(canvasX, canvasY); + if (pointAtMouse !== hoveredPoint) { + hoveredPoint = pointAtMouse; + renderInteractive(); // Fast - only redraws points + // Update cursor + wrapper.style.cursor = hoveredPoint ? "move" : "grab"; + } + + // Check for gateway hover (only if gateway visualization is enabled) + const showGateways = + document.getElementById("showGateways").dataset.active === "true"; + const showUsedGateways = + document.getElementById("showUsedGateways").dataset.active === "true"; + + if ( + (showGateways || showUsedGateways) && + state.graphDebug && + state.graphDebug.allGateways + ) { + // Filter gateways based on what's visible + let gatewaysToCheck = state.graphDebug.allGateways; + if ( + showUsedGateways && + !showGateways && + state.debugInfo && + state.debugInfo.gatewayWaypoints + ) { + // Only show tooltips for used gateways + // gatewayWaypoints are coordinates [x, y] matching the map format + const usedGatewayCoords = new Set( + state.debugInfo.gatewayWaypoints.map(([x, y]) => `${x},${y}`), + ); + gatewaysToCheck = state.graphDebug.allGateways.filter((gw) => + usedGatewayCoords.has(`${gw.x * 2},${gw.y * 2}`), + ); + } + + const foundGateway = findGatewayAtPosition( + canvasX, + canvasY, + gatewaysToCheck, + ); + + if (foundGateway !== hoveredGateway) { + hoveredGateway = foundGateway; + if (hoveredGateway) { + showGatewayTooltip(hoveredGateway, e.clientX, e.clientY); + } else { + tooltip.classList.remove("visible"); + } + renderInteractive(); + } else if (hoveredGateway) { + tooltip.style.left = e.clientX + 15 + "px"; + tooltip.style.top = e.clientY + 15 + "px"; + } + } else { + // No gateway visualization enabled, clear any existing tooltip + if (hoveredGateway) { + hoveredGateway = null; + tooltip.classList.remove("visible"); + renderInteractive(); + } + } + } + }); + + wrapper.addEventListener("mouseup", (e) => { + // Only treat as click if mouse didn't move much + const dx = Math.abs(e.clientX - dragStartX); + const dy = Math.abs(e.clientY - dragStartY); + + if (draggingPoint) { + // Finished dragging a point + // Request final path update to ensure we have the path for the final position + // (in case throttling skipped the last update during fast dragging) + if (state.startPoint && state.endPoint) { + requestPathfinding(state.startPoint, state.endPoint); + } + draggingPoint = null; + draggingPointPosition = null; + renderInteractive(); + updateURLState(); + } else if (isDragging && dx < 5 && dy < 5) { + // Was panning but didn't move much - treat as click + handleMapClick(e); + } + + isDragging = false; + + // Reset cursor based on current hover state + const rect = wrapper.getBoundingClientRect(); + const canvasX = (e.clientX - rect.left - panX) / zoomLevel; + const canvasY = (e.clientY - rect.top - panY) / zoomLevel; + const pointAtMouse = getPointAtPosition(canvasX, canvasY); + wrapper.style.cursor = pointAtMouse ? "move" : "grab"; + }); + + wrapper.addEventListener("mouseleave", () => { + isDragging = false; + draggingPoint = null; + draggingPointPosition = null; + tooltip.classList.remove("visible"); + wrapper.style.cursor = "grab"; + + const needsRender = hoveredGateway || hoveredPoint; + hoveredGateway = null; + hoveredPoint = null; + + if (needsRender) { + renderInteractive(); + } + }); + + wrapper.addEventListener("wheel", (e) => { + e.preventDefault(); + + const rect = wrapper.getBoundingClientRect(); + const mouseX = e.clientX - rect.left; + const mouseY = e.clientY - rect.top; + + const oldZoom = zoomLevel; + const zoomDelta = e.deltaY > 0 ? 0.9 : 1.1; + zoomLevel = Math.max(0.1, Math.min(5, zoomLevel * zoomDelta)); + + panX = mouseX - (mouseX - panX) * (zoomLevel / oldZoom); + panY = mouseY - (mouseY - panY) * (zoomLevel / oldZoom); + + document.getElementById("zoom").value = zoomLevel; + document.getElementById("zoomValue").textContent = zoomLevel.toFixed(1); + + updateTransform(); + renderInteractive(); + }); +} + +// Initialize timings panel to default state +function initializeTimingsPanel() { + // Set initial state to match "no path" state + updateTimingsPanel({ navMesh: null, pfMini: null }); + updatePfMiniButton(); +} + +// Handle map clicks for point selection +function handleMapClick(e) { + if ( + !state.currentMap || + state.isMapLoading || + state.isNavMeshLoading || + state.isPfMiniLoading + ) + return; + + const wrapper = document.getElementById("canvasWrapper"); + const rect = wrapper.getBoundingClientRect(); + + // Convert screen coordinates to tile coordinates + const canvasX = (e.clientX - rect.left - panX) / zoomLevel; + const canvasY = (e.clientY - rect.top - panY) / zoomLevel; + const tileX = Math.floor(canvasX); + const tileY = Math.floor(canvasY); + + // Validate coordinates + if ( + tileX < 0 || + tileX >= state.mapWidth || + tileY < 0 || + tileY >= state.mapHeight + ) { + return; + } + + // Check if tile is water + const index = tileY * state.mapWidth + tileX; + const isWater = state.mapData[index] === 1; + + if (!isWater) { + showError("Selected point must be on water"); + return; + } + + // Point selection state machine + if (!state.startPoint) { + // Set start point + state.startPoint = [tileX, tileY]; + updatePointDisplay(); + renderInteractive(); + updateURLState(); + } else if (!state.endPoint) { + // Set end point and trigger pathfinding + state.endPoint = [tileX, tileY]; + updatePointDisplay(); + renderInteractive(); + updateURLState(); + requestPathfinding(state.startPoint, state.endPoint); + } else { + // Reset and set new start point + clearPoints(); + state.startPoint = [tileX, tileY]; + updatePointDisplay(); + renderInteractive(); + updateURLState(); + } +} + +// Clear selected points +function clearPoints() { + state.startPoint = null; + state.endPoint = null; + state.navMeshPath = null; + state.navMeshResult = null; + state.pfMiniPath = null; + state.pfMiniResult = null; + state.debugInfo = null; + state.showPfMini = false; + updatePointDisplay(); + hidePathInfo(); + updatePfMiniButton(); + updateURLState(); // Remove points from URL + renderInteractive(); +} + +// Update transform for pan/zoom +function updateTransform() { + const transform = `translate(${panX}px, ${panY}px) scale(${zoomLevel})`; + mapCanvas.style.transform = transform; + overlayCanvas.style.transform = transform; + // Interactive canvas is outside the transform - update it separately + renderInteractive(); +} + +// Load available maps +async function loadMaps() { + setStatus("Loading maps...", true); + + try { + const response = await fetch("/api/maps"); + if (!response.ok) throw new Error("Failed to load maps"); + + const data = await response.json(); + + // Featured maps to show in grid (in order) + const featuredMapNames = [ + "giantworldmap", + "northamerica", + "southamerica", + "europe", + "asia", + "straitofgibraltar", + "manicouagan", + "mars", + ]; + + // Get featured maps in the specified order + const gridMaps = featuredMapNames + .map((name) => data.maps.find((m) => m.name === name)) + .filter((map) => map !== undefined); + + // Populate map grid with featured maps - update placeholders + gridMaps.forEach((map, index) => { + const card = document.querySelector(`[data-map-index="${index}"]`); + if (!card) return; + + // Update click handler + card.onclick = () => switchMap(map.name); + + // Update image + const img = card.querySelector("img"); + if (img) { + img.src = `/api/maps/${encodeURIComponent(map.name)}/thumbnail`; + img.alt = map.displayName; + } + + // Update name + const nameEl = card.querySelector(".map-card-name"); + if (nameEl) { + nameEl.textContent = map.displayName; + nameEl.style.opacity = "1"; + } + }); + + // Populate both selectors (all maps) + const topSelect = document.getElementById("scenarioSelect"); + const welcomeSelect = document.getElementById("welcomeMapSelect"); + + topSelect.innerHTML = ''; + welcomeSelect.innerHTML = ''; + + data.maps.forEach((map) => { + // Top panel selector + const topOption = document.createElement("option"); + topOption.value = map.name; + topOption.textContent = map.displayName; + topSelect.appendChild(topOption); + + // Welcome screen selector + const welcomeOption = document.createElement("option"); + welcomeOption.value = map.name; + welcomeOption.textContent = map.displayName; + welcomeSelect.appendChild(welcomeOption); + }); + + setStatus("Select a map to begin"); + + // Restore state from URL if present + const urlState = restoreFromURL(); + if (urlState.map) { + // Load the map from URL + await switchMap(urlState.map, true); // Restore points from URL + + // Points will be restored in switchMap after the map loads + } + } catch (error) { + showError(`Failed to load maps: ${error.message}`); + } +} + +// Switch to a different map +async function switchMap(mapName, restorePointsFromURL = false) { + if (!mapName) return; + + setStatus("Loading map...", true); + state.isMapLoading = true; + + try { + const response = await fetch(`/api/maps/${encodeURIComponent(mapName)}`); + if (!response.ok) throw new Error("Failed to load map"); + + const data = await response.json(); + + // Update state + state.currentMap = mapName; + state.mapWidth = data.width; + state.mapHeight = data.height; + state.mapData = data.mapData; + state.graphDebug = data.graphDebug; // Store static graph debug data + + // Clear paths (but don't update URL yet if we're restoring from URL) + state.startPoint = null; + state.endPoint = null; + state.navMeshPath = null; + state.navMeshResult = null; + state.pfMiniPath = null; + state.pfMiniResult = null; + state.debugInfo = null; + state.showPfMini = false; + updatePointDisplay(); + hidePathInfo(); + updatePfMiniButton(); + + // Size canvases + mapCanvas.width = state.mapWidth * 2; + mapCanvas.height = state.mapHeight * 2; + mapCanvas.style.width = `${state.mapWidth}px`; + mapCanvas.style.height = `${state.mapHeight}px`; + + overlayCanvas.width = state.mapWidth * 2; + overlayCanvas.height = state.mapHeight * 2; + overlayCanvas.style.width = `${state.mapWidth}px`; + overlayCanvas.style.height = `${state.mapHeight}px`; + + // Render map and overlays + renderMapBackground(2); + renderOverlay(2); + renderInteractive(); + + // Reset view + zoomLevel = 1.0; + panX = 0; + panY = 0; + document.getElementById("zoom").value = 1.0; + document.getElementById("zoomValue").textContent = "1.0"; + updateTransform(); + + // Hide welcome screen + hideWelcomeScreen(); + + // Sync both selectors + document.getElementById("scenarioSelect").value = mapName; + document.getElementById("welcomeMapSelect").value = mapName; + + setStatus("Click on map to set start point"); + mapRendered = true; + + // Restore start/end points from URL if requested (initial page load) + if (restorePointsFromURL) { + const urlState = restoreFromURL(); + if (urlState.start) { + const [x, y] = urlState.start; + if (x >= 0 && x < state.mapWidth && y >= 0 && y < state.mapHeight) { + const tileIndex = y * state.mapWidth + x; + const isWater = state.mapData[tileIndex] === 1; + if (isWater) { + state.startPoint = [x, y]; + } + } + } + if (urlState.end) { + const [x, y] = urlState.end; + if (x >= 0 && x < state.mapWidth && y >= 0 && y < state.mapHeight) { + const tileIndex = y * state.mapWidth + x; + const isWater = state.mapData[tileIndex] === 1; + if (isWater) { + state.endPoint = [x, y]; + } + } + } + + // If both points are set, request pathfinding + if (state.startPoint && state.endPoint) { + renderInteractive(); + requestPathfinding(state.startPoint, state.endPoint); + } + } else { + // User manually switched maps - update URL to clear points + updateURLState(); + } + } catch (error) { + showError(`Failed to load map: ${error.message}`); + } finally { + state.isMapLoading = false; + } +} + +// Show/hide welcome screen +function showWelcomeScreen() { + document.getElementById("welcomeScreen").classList.remove("hidden"); +} + +function hideWelcomeScreen() { + document.getElementById("welcomeScreen").classList.add("hidden"); +} + +// Request pathfinding computation (NavMesh only) +async function requestPathfinding(from, to) { + setStatus("Computing path...", true); + state.isNavMeshLoading = true; + + try { + const response = await fetch("/api/pathfind", { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ + map: state.currentMap, + from, + to, + }), + }); + + if (!response.ok) { + const error = await response.json(); + throw new Error(error.message || "Pathfinding failed"); + } + + const result = await response.json(); + + // Update state + state.navMeshPath = result.path; + state.navMeshResult = result; // Store full result for later use + // Don't reset pfMiniPath - preserve it across NavMesh refreshes + state.debugInfo = { + initialPath: result.initialPath, + gatewayWaypoints: result.gateways, + timings: result.timings, + }; + + // Update UI - preserve existing PF.Mini if it exists + updatePathInfo({ navMesh: result, pfMini: state.pfMiniResult }); + renderInteractive(); + + setStatus("Path computed successfully"); + } catch (error) { + showError(`Pathfinding failed: ${error.message}`); + } finally { + state.isNavMeshLoading = false; + // Stop refresh button spinning + if (state.activeRefreshButton) { + state.activeRefreshButton.classList.remove("spinning"); + state.activeRefreshButton = null; + } + } +} + +// Request PF.Mini computation only (without re-computing NavMesh) +async function requestPfMiniOnly(from, to) { + setStatus("Computing PF.Mini path...", true); + state.isPfMiniLoading = true; + updatePfMiniButton(); // Update button to show loading state + + try { + const response = await fetch("/api/pathfind-pfmini", { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ + map: state.currentMap, + from, + to, + }), + }); + + if (!response.ok) { + const error = await response.json(); + throw new Error(error.message || "Pathfinding failed"); + } + + const result = await response.json(); + + // Update only PF.Mini path (preserve existing NavMesh path and debug info) + state.pfMiniPath = result.path; + state.pfMiniResult = result; // Store full result + + // Update UI (preserve existing NavMesh result) + updatePathInfo({ navMesh: state.navMeshResult, pfMini: result }); + renderInteractive(); + + setStatus("PF.Mini path computed successfully"); + } catch (error) { + showError(`PF.Mini pathfinding failed: ${error.message}`); + } finally { + state.isPfMiniLoading = false; + // Stop refresh button spinning + if (state.activeRefreshButton) { + state.activeRefreshButton.classList.remove("spinning"); + state.activeRefreshButton = null; + } + // Update button state + updatePfMiniButton(); + } +} + +// Update point display +function updatePointDisplay() { + updatePfMiniButton(); +} + +// Update PF.Mini button state +function updatePfMiniButton() { + const button = document.getElementById("requestPfMini"); + const requestSection = document.getElementById("pfMiniRequestSection"); + + if (state.pfMiniPath) { + // Hide button when PF.Mini is already computed + requestSection.style.display = "none"; + } else if (state.isPfMiniLoading && !state.activeRefreshButton) { + // Show loading spinner when computing PF.Mini (not a refresh) + requestSection.style.display = "block"; + button.disabled = true; + button.innerHTML = 'Computing... '; + } else if (state.startPoint && state.endPoint && state.navMeshPath) { + // Show and enable button when points are set and NavMesh path exists + requestSection.style.display = "block"; + button.disabled = false; + button.textContent = "Request PathFinder.Mini"; + } else { + // Show but disable button when points aren't set + requestSection.style.display = "block"; + button.disabled = true; + button.textContent = "Request PathFinder.Mini"; + } +} + +// Update path info in UI +function updatePathInfo(result) { + // Update PF.Mini legend visibility + if (result.pfMini) { + document.getElementById("pfMiniLegend").style.display = "flex"; + } else { + document.getElementById("pfMiniLegend").style.display = "none"; + } + + // Update timings panel + updateTimingsPanel(result); + + // Update PF.Mini button + updatePfMiniButton(); +} + +// Update the dedicated timings panel +function updateTimingsPanel(result) { + const navMesh = result.navMesh; + + // Show NavMesh time and path length (or 0.00 in light gray if no data) + const navMeshTimeEl = document.getElementById("navMeshTime"); + if (navMesh && navMesh.time > 0) { + navMeshTimeEl.textContent = `${navMesh.time.toFixed(2)}ms`; + navMeshTimeEl.classList.remove("faded"); + } else { + navMeshTimeEl.textContent = "0.00ms"; + navMeshTimeEl.classList.add("faded"); + } + + const navMeshTilesEl = document.getElementById("navMeshTiles"); + if (navMesh && navMesh.length > 0) { + navMeshTilesEl.textContent = `- ${navMesh.length} tiles`; + } else { + navMeshTilesEl.textContent = ""; + } + + // Show timing breakdown - always visible with gray dashes when no data + const timings = navMesh && navMesh.timings ? navMesh.timings : {}; + + // Early Exit + const earlyExitEl = document.getElementById("timingEarlyExit"); + const earlyExitValueEl = document.getElementById("timingEarlyExitValue"); + earlyExitEl.style.display = "flex"; + if (timings.earlyExitLocalPath !== undefined) { + earlyExitValueEl.textContent = `${timings.earlyExitLocalPath.toFixed(2)}ms`; + earlyExitValueEl.style.color = "#f5f5f5"; + } else { + earlyExitValueEl.textContent = "—"; + earlyExitValueEl.style.color = "#666"; + } + + // Find Gateways + const findGatewaysEl = document.getElementById("timingFindGateways"); + const findGatewaysValueEl = document.getElementById( + "timingFindGatewaysValue", + ); + findGatewaysEl.style.display = "flex"; + if (timings.findGateways !== undefined) { + findGatewaysValueEl.textContent = `${timings.findGateways.toFixed(2)}ms`; + findGatewaysValueEl.style.color = "#f5f5f5"; + } else { + findGatewaysValueEl.textContent = "—"; + findGatewaysValueEl.style.color = "#666"; + } + + // Gateway Path + const gatewayPathEl = document.getElementById("timingGatewayPath"); + const gatewayPathValueEl = document.getElementById("timingGatewayPathValue"); + gatewayPathEl.style.display = "flex"; + if (timings.findGatewayPath !== undefined) { + gatewayPathValueEl.textContent = `${timings.findGatewayPath.toFixed(2)}ms`; + gatewayPathValueEl.style.color = "#f5f5f5"; + } else { + gatewayPathValueEl.textContent = "—"; + gatewayPathValueEl.style.color = "#666"; + } + + // Initial Path + const initialPathEl = document.getElementById("timingInitialPath"); + const initialPathValueEl = document.getElementById("timingInitialPathValue"); + initialPathEl.style.display = "flex"; + if (timings.buildInitialPath !== undefined) { + initialPathValueEl.textContent = `${timings.buildInitialPath.toFixed(2)}ms`; + initialPathValueEl.style.color = "#f5f5f5"; + } else { + initialPathValueEl.textContent = "—"; + initialPathValueEl.style.color = "#666"; + } + + // Smooth Path + const smoothPathEl = document.getElementById("timingSmoothPath"); + const smoothPathValueEl = document.getElementById("timingSmoothPathValue"); + smoothPathEl.style.display = "flex"; + if (timings.buildSmoothPath !== undefined) { + smoothPathValueEl.textContent = `${timings.buildSmoothPath.toFixed(2)}ms`; + smoothPathValueEl.style.color = "#f5f5f5"; + } else { + smoothPathValueEl.textContent = "—"; + smoothPathValueEl.style.color = "#666"; + } + + // Show PF.Mini time and speedup if available + if (result.pfMini && result.pfMini.time > 0) { + const pfMiniTimeEl = document.getElementById("pfMiniTime"); + pfMiniTimeEl.textContent = `${result.pfMini.time.toFixed(2)}ms`; + pfMiniTimeEl.classList.remove("faded"); + + document.getElementById("pfMiniTiles").textContent = + `- ${result.pfMini.length} tiles`; + document.getElementById("pfMiniTimingSection").style.display = "block"; + + // Calculate and show speedup + if (navMesh && navMesh.time > 0) { + const speedup = result.pfMini.time / navMesh.time; + document.getElementById("speedupValue").textContent = + `${speedup.toFixed(1)}x`; + document.getElementById("speedupSection").style.display = "block"; + } else { + document.getElementById("speedupSection").style.display = "none"; + } + } else if (result.pfMini) { + // PF.Mini exists but time is 0 + const pfMiniTimeEl = document.getElementById("pfMiniTime"); + pfMiniTimeEl.textContent = "—"; + pfMiniTimeEl.classList.add("faded"); + document.getElementById("pfMiniTiles").textContent = ""; + document.getElementById("pfMiniTimingSection").style.display = "block"; + document.getElementById("speedupSection").style.display = "none"; + } else { + document.getElementById("pfMiniTimingSection").style.display = "none"; + document.getElementById("speedupSection").style.display = "none"; + } +} + +// Reset path info to show dashes +function hidePathInfo() { + // Don't hide the panel, just reset to show dashes + updateTimingsPanel({ navMesh: null, pfMini: null }); +} + +// Set status message +function setStatus(message, loading = false) { + const statusEl = document.getElementById("status"); + statusEl.textContent = message; + statusEl.className = loading ? "loading" : ""; +} + +// Show error message +function showError(message) { + const errorEl = document.getElementById("error"); + errorEl.textContent = message; + errorEl.classList.add("visible"); + setTimeout(() => { + errorEl.classList.remove("visible"); + }, 5000); + setStatus(message, false); +} + +// Render map background +function renderMapBackground(scale) { + mapCanvas.width = state.mapWidth * scale; + mapCanvas.height = state.mapHeight * scale; + mapCanvas.style.width = `${state.mapWidth}px`; + mapCanvas.style.height = `${state.mapHeight}px`; + + // Use ImageData for much faster rendering + const imageData = mapCtx.createImageData( + state.mapWidth * scale, + state.mapHeight * scale, + ); + const data = imageData.data; + + // Check if colored map is enabled + const showColored = + document.getElementById("showColoredMap").dataset.active === "true"; + + let waterR, waterG, waterB, landR, landG, landB; + + if (showColored) { + // Colored: Water = #2a5c8a (darker blue), Land = #a1bb75 + waterR = 42; + waterG = 92; + waterB = 138; + landR = 161; + landG = 187; + landB = 117; + } else { + // Grayscale: Water = #3c3c3c (darker gray), Land = #777777 (slightly darker) + waterR = 60; + waterG = 60; + waterB = 60; + landR = 119; + landG = 119; + landB = 119; + } + + for (let y = 0; y < state.mapHeight; y++) { + for (let x = 0; x < state.mapWidth; x++) { + const mapIndex = y * state.mapWidth + x; + const isWater = state.mapData[mapIndex] === 1; + + const r = isWater ? waterR : landR; + const g = isWater ? waterG : landG; + const b = isWater ? waterB : landB; + + // Fill all pixels for this tile (scale x scale block) + for (let dy = 0; dy < scale; dy++) { + for (let dx = 0; dx < scale; dx++) { + const px = x * scale + dx; + const py = y * scale + dy; + const pixelIndex = (py * state.mapWidth * scale + px) * 4; + + data[pixelIndex] = r; + data[pixelIndex + 1] = g; + data[pixelIndex + 2] = b; + data[pixelIndex + 3] = 255; // Alpha + } + } + } + } + + mapCtx.putImageData(imageData, 0, 0); +} + +// Render static debug overlays (sectors, edges, all gateways) at map scale +function renderOverlay(scale) { + overlayCtx.clearRect(0, 0, overlayCanvas.width, overlayCanvas.height); + + if (!state.mapData || !state.graphDebug) return; + + const showSectorGrid = + document.getElementById("showSectorGrid").dataset.active === "true"; + const showEdges = + document.getElementById("showEdges").dataset.active === "true"; + const showGateways = + document.getElementById("showGateways").dataset.active === "true"; + + // Draw sector grid (sectorSize is in mini map coords, scale 2x for real map) + if (showSectorGrid && state.graphDebug.sectorSize) { + const sectorSize = state.graphDebug.sectorSize * 2; + overlayCtx.strokeStyle = "#777777"; + overlayCtx.lineWidth = scale * 0.5; + overlayCtx.globalAlpha = 0.7; + overlayCtx.setLineDash([5 * scale, 5 * scale]); + + // Vertical lines + for (let x = 0; x <= state.mapWidth; x += sectorSize) { + overlayCtx.beginPath(); + overlayCtx.moveTo(x * scale, 0); + overlayCtx.lineTo(x * scale, state.mapHeight * scale); + overlayCtx.stroke(); + } + + // Horizontal lines + for (let y = 0; y <= state.mapHeight; y += sectorSize) { + overlayCtx.beginPath(); + overlayCtx.moveTo(0, y * scale); + overlayCtx.lineTo(state.mapWidth * scale, y * scale); + overlayCtx.stroke(); + } + + overlayCtx.setLineDash([]); + overlayCtx.globalAlpha = 1.0; + } + + // Draw edges + if (showEdges && state.graphDebug.edges) { + overlayCtx.strokeStyle = "#00ff88"; + overlayCtx.lineWidth = scale * 0.5; + overlayCtx.globalAlpha = 0.4; + + for (const edge of state.graphDebug.edges) { + overlayCtx.beginPath(); + overlayCtx.moveTo( + (edge.from[0] + 0.5) * scale, + (edge.from[1] + 0.5) * scale, + ); + overlayCtx.lineTo((edge.to[0] + 0.5) * scale, (edge.to[1] + 0.5) * scale); + overlayCtx.stroke(); + } + + overlayCtx.globalAlpha = 1.0; + } + + // Draw all gateways + if (showGateways && state.graphDebug.allGateways) { + overlayCtx.fillStyle = "#aaaaaa"; + const gatewayRadius = scale * 1.5; + + for (const gw of state.graphDebug.allGateways) { + overlayCtx.beginPath(); + overlayCtx.arc( + (gw.x * 2 + 0.5) * scale, + (gw.y * 2 + 0.5) * scale, + gatewayRadius, + 0, + Math.PI * 2, + ); + overlayCtx.fill(); + } + } +} + +// Convert map coordinates to screen coordinates +function mapToScreen(mapX, mapY) { + return { + x: mapX * zoomLevel + panX, + y: mapY * zoomLevel + panY, + }; +} + +// Render truly interactive/dynamic overlay (paths, points, highlights) at screen coordinates +function renderInteractive() { + // Clear viewport-sized canvas (super fast!) + interactiveCtx.clearRect( + 0, + 0, + interactiveCanvas.width, + interactiveCanvas.height, + ); + + if (!state.mapData) return; + + const markerSize = Math.max(4, 3 * zoomLevel); + + // Check what to show + const showUsedGateways = + document.getElementById("showUsedGateways").dataset.active === "true"; + const showInitialPath = + document.getElementById("showInitialPath").dataset.active === "true"; + const showEdges = + document.getElementById("showEdges").dataset.active === "true"; + const showGateways = + document.getElementById("showGateways").dataset.active === "true"; + + // Draw highlighted edges for hovered gateway only + if ( + hoveredGateway && + showEdges && + state.graphDebug && + state.graphDebug.edges + ) { + const connectedEdges = state.graphDebug.edges.filter( + (e) => e.fromId === hoveredGateway.id || e.toId === hoveredGateway.id, + ); + + interactiveCtx.strokeStyle = "#00ffaa"; + interactiveCtx.lineWidth = Math.max(1, zoomLevel * 0.8); + interactiveCtx.globalAlpha = 1.0; + + for (const edge of connectedEdges) { + const from = mapToScreen(edge.from[0], edge.from[1]); + const to = mapToScreen(edge.to[0], edge.to[1]); + interactiveCtx.beginPath(); + interactiveCtx.moveTo(from.x, from.y); + interactiveCtx.lineTo(to.x, to.y); + interactiveCtx.stroke(); + } + + interactiveCtx.globalAlpha = 1.0; + } + + // Draw highlighted gateways (hovered + connected) only + if ( + hoveredGateway && + showGateways && + state.graphDebug && + state.graphDebug.allGateways + ) { + // Get connected gateways + let connectedGatewayIds = new Set(); + if (state.graphDebug.edges) { + const connectedEdges = state.graphDebug.edges.filter( + (e) => e.fromId === hoveredGateway.id || e.toId === hoveredGateway.id, + ); + connectedEdges.forEach((edge) => { + if (edge.fromId !== hoveredGateway.id) + connectedGatewayIds.add(edge.fromId); + if (edge.toId !== hoveredGateway.id) connectedGatewayIds.add(edge.toId); + }); + } + + // Draw connected gateways + for (const gwId of connectedGatewayIds) { + const gw = state.graphDebug.allGateways.find((g) => g.id === gwId); + if (gw) { + const screen = mapToScreen(gw.x * 2, gw.y * 2); + interactiveCtx.fillStyle = "#00ff88"; + interactiveCtx.strokeStyle = "#ffffff"; + interactiveCtx.lineWidth = Math.max(1, zoomLevel * 0.3); + interactiveCtx.beginPath(); + interactiveCtx.arc( + screen.x, + screen.y, + Math.max(3, zoomLevel * 2), + 0, + Math.PI * 2, + ); + interactiveCtx.fill(); + interactiveCtx.stroke(); + } + } + + // Draw hovered gateway on top + const screen = mapToScreen(hoveredGateway.x * 2, hoveredGateway.y * 2); + interactiveCtx.fillStyle = "#ffff00"; + interactiveCtx.strokeStyle = "#ffffff"; + interactiveCtx.lineWidth = Math.max(1, zoomLevel * 0.5); + interactiveCtx.beginPath(); + interactiveCtx.arc( + screen.x, + screen.y, + Math.max(4, zoomLevel * 2.5), + 0, + Math.PI * 2, + ); + interactiveCtx.fill(); + interactiveCtx.stroke(); + } + + // Draw initial path (unsmoothed) + if ( + showInitialPath && + state.debugInfo && + state.debugInfo.initialPath && + state.debugInfo.initialPath.length > 0 + ) { + interactiveCtx.strokeStyle = "#ff00ff"; + interactiveCtx.lineWidth = Math.max(1, zoomLevel); + interactiveCtx.lineCap = "round"; + interactiveCtx.lineJoin = "round"; + interactiveCtx.beginPath(); + + for (let i = 0; i < state.debugInfo.initialPath.length; i++) { + const [x, y] = state.debugInfo.initialPath[i]; + const screen = mapToScreen(x + 0.5, y + 0.5); + if (i === 0) { + interactiveCtx.moveTo(screen.x, screen.y); + } else { + interactiveCtx.lineTo(screen.x, screen.y); + } + } + interactiveCtx.stroke(); + } + + // Draw NavMesh path + if (state.navMeshPath && state.navMeshPath.length > 0) { + interactiveCtx.strokeStyle = "#00ffff"; + interactiveCtx.lineWidth = Math.max(1, zoomLevel); + interactiveCtx.lineCap = "round"; + interactiveCtx.lineJoin = "round"; + interactiveCtx.beginPath(); + + for (let i = 0; i < state.navMeshPath.length; i++) { + const [x, y] = state.navMeshPath[i]; + const screen = mapToScreen(x + 0.5, y + 0.5); + if (i === 0) { + interactiveCtx.moveTo(screen.x, screen.y); + } else { + interactiveCtx.lineTo(screen.x, screen.y); + } + } + interactiveCtx.stroke(); + } + + // Draw PF.Mini path + if (state.pfMiniPath && state.pfMiniPath.length > 0) { + interactiveCtx.strokeStyle = "#ffaa00"; + interactiveCtx.lineWidth = Math.max(1, zoomLevel); + interactiveCtx.lineCap = "round"; + interactiveCtx.lineJoin = "round"; + interactiveCtx.beginPath(); + + for (let i = 0; i < state.pfMiniPath.length; i++) { + const [x, y] = state.pfMiniPath[i]; + const screen = mapToScreen(x + 0.5, y + 0.5); + if (i === 0) { + interactiveCtx.moveTo(screen.x, screen.y); + } else { + interactiveCtx.lineTo(screen.x, screen.y); + } + } + interactiveCtx.stroke(); + } + + // Draw used gateways (highlighted) + if (showUsedGateways && state.debugInfo && state.debugInfo.gatewayWaypoints) { + interactiveCtx.fillStyle = "#ffff00"; + const usedGatewayRadius = Math.max(3, zoomLevel * 2.5); + + for (const [x, y] of state.debugInfo.gatewayWaypoints) { + // Gateways are coordinates [x, y] in the same format as path + const screen = mapToScreen(x + 0.5, y + 0.5); + interactiveCtx.beginPath(); + interactiveCtx.arc(screen.x, screen.y, usedGatewayRadius, 0, Math.PI * 2); + interactiveCtx.fill(); + } + } + + // Start point + if (state.startPoint) { + let mapX, mapY; + if (draggingPoint === "start" && draggingPointPosition) { + // Dragging - snap to tile center + mapX = draggingPointPosition[0] + 0.5; + mapY = draggingPointPosition[1] + 0.5; + } else { + mapX = state.startPoint[0] + 0.5; + mapY = state.startPoint[1] + 0.5; + } + + const screen = mapToScreen(mapX, mapY); + + // Highlight ring if hovered + if (hoveredPoint === "start") { + interactiveCtx.strokeStyle = "#ff4444"; + interactiveCtx.lineWidth = Math.max(2, zoomLevel * 0.5); + interactiveCtx.globalAlpha = 0.5; + interactiveCtx.beginPath(); + interactiveCtx.arc(screen.x, screen.y, markerSize + 3, 0, Math.PI * 2); + interactiveCtx.stroke(); + interactiveCtx.globalAlpha = 1.0; + } + + // Draw point + interactiveCtx.fillStyle = "#ff4444"; + interactiveCtx.beginPath(); + interactiveCtx.arc(screen.x, screen.y, markerSize, 0, Math.PI * 2); + interactiveCtx.fill(); + } + + // End point + if (state.endPoint) { + let mapX, mapY; + if (draggingPoint === "end" && draggingPointPosition) { + // Dragging - snap to tile center + mapX = draggingPointPosition[0] + 0.5; + mapY = draggingPointPosition[1] + 0.5; + } else { + mapX = state.endPoint[0] + 0.5; + mapY = state.endPoint[1] + 0.5; + } + + const screen = mapToScreen(mapX, mapY); + + // Highlight ring if hovered + if (hoveredPoint === "end") { + interactiveCtx.strokeStyle = "#44ff44"; + interactiveCtx.lineWidth = Math.max(2, zoomLevel * 0.5); + interactiveCtx.globalAlpha = 0.5; + interactiveCtx.beginPath(); + interactiveCtx.arc(screen.x, screen.y, markerSize + 3, 0, Math.PI * 2); + interactiveCtx.stroke(); + interactiveCtx.globalAlpha = 1.0; + } + + // Draw point + interactiveCtx.fillStyle = "#44ff44"; + interactiveCtx.beginPath(); + interactiveCtx.arc(screen.x, screen.y, markerSize, 0, Math.PI * 2); + interactiveCtx.fill(); + } +} + +function findGatewayAtPosition(canvasX, canvasY, gatewaysToCheck = null) { + const gateways = + gatewaysToCheck || (state.graphDebug && state.graphDebug.allGateways); + if (!gateways) { + return null; + } + + const threshold = 10; + + for (const gw of gateways) { + const gwX = gw.x * 2; + const gwY = gw.y * 2; + const dx = Math.abs(canvasX - gwX); + const dy = Math.abs(canvasY - gwY); + + if (dx < threshold && dy < threshold) { + return gw; + } + } + + return null; +} + +// Show gateway tooltip +function showGatewayTooltip(gateway, mouseX, mouseY) { + const tooltip = document.getElementById("tooltip"); + + const connectedEdges = state.graphDebug.edges.filter( + (e) => e.fromId === gateway.id || e.toId === gateway.id, + ); + + const selfLoops = connectedEdges.filter((e) => e.fromId === e.toId); + + let html = `Gateway ${gateway.id}
`; + html += `Position: (${gateway.x * 2}, ${gateway.y * 2})
`; + html += `Edges: ${connectedEdges.length}`; + + if (selfLoops.length > 0) { + html += ` (${selfLoops.length} self-loop!)`; + } + + if (connectedEdges.length > 0) { + html += '

- -
- -
- - - @@ -256,13 +223,9 @@

Pathfinding Playground

> End Point -
- NavMesh + HPA*
@@ -273,7 +236,7 @@

Pathfinding Playground

class="legend-color" style="background: #ffff00; height: 8px" >
- Used Gateways + Used Nodes
Pathfinding Playground border-radius: 50%; " >
- Gateways + Nodes
{ * map: string, * from: [x, y], * to: [x, y], - * includePfMini?: boolean + * adapters?: string[] // Optional: which comparison adapters to run + * } + * + * Response: + * { + * primary: { path, length, time, debug: { nodePath, initialPath, timings } }, + * comparisons: [{ adapter, path, length, time }, ...] * } */ app.post("/api/pathfind", async (req: Request, res: Response) => { try { - const { map, from, to, includePfMini } = req.body; + const { map, from, to, adapters } = req.body; // Validate request if (!map || !from || !to) { @@ -144,7 +146,7 @@ app.post("/api/pathfind", async (req: Request, res: Response) => { map, from as [number, number], to as [number, number], - { includePfMini: !!includePfMini }, + { adapters }, ); res.json(result); @@ -165,66 +167,6 @@ app.post("/api/pathfind", async (req: Request, res: Response) => { } }); -/** - * POST /api/pathfind-pfmini - * Compute only PathFinder.Mini path - * - * Request body: - * { - * map: string, - * from: [x, y], - * to: [x, y] - * } - */ -app.post("/api/pathfind-pfmini", async (req: Request, res: Response) => { - try { - const { map, from, to } = req.body; - - // Validate request - if (!map || !from || !to) { - return res.status(400).json({ - error: "Invalid request", - message: "Missing required fields: map, from, to", - }); - } - - if ( - !Array.isArray(from) || - from.length !== 2 || - !Array.isArray(to) || - to.length !== 2 - ) { - return res.status(400).json({ - error: "Invalid coordinates", - message: "from and to must be [x, y] coordinate arrays", - }); - } - - // Compute PF.Mini path only - const result = await computePfMiniPath( - map, - from as [number, number], - to as [number, number], - ); - - res.json(result); - } catch (error) { - console.error("Error computing PF.Mini path:", error); - - if (error instanceof Error && error.message.includes("is not water")) { - res.status(400).json({ - error: "Invalid coordinates", - message: error.message, - }); - } else { - res.status(500).json({ - error: "Failed to compute PF.Mini path", - message: error instanceof Error ? error.message : String(error), - }); - } - } -}); - /** * POST /api/cache/clear * Clear all caches (useful for development) diff --git a/tests/pathfinding/utils.ts b/tests/pathfinding/utils.ts index 6e3a12ceb..e2d39b3e5 100644 --- a/tests/pathfinding/utils.ts +++ b/tests/pathfinding/utils.ts @@ -13,10 +13,19 @@ import { createGame } from "../../src/core/game/GameImpl"; import { TileRef } from "../../src/core/game/GameMap"; import { genTerrainFromBin } from "../../src/core/game/TerrainMapLoader"; import { UserSettings } from "../../src/core/game/UserSettings"; -import { NavMesh } from "../../src/core/pathfinding/navmesh/NavMesh"; -import { PathFinder, PathFinders } from "../../src/core/pathfinding/PathFinder"; +import { AStarWater } from "../../src/core/pathfinding/algorithms/AStar.Water"; +import { AStarWaterHierarchical } from "../../src/core/pathfinding/algorithms/AStar.WaterHierarchical"; +import { PathFinding } from "../../src/core/pathfinding/PathFinder"; +import { PathFinderBuilder } from "../../src/core/pathfinding/PathFinderBuilder"; +import { StepperConfig } from "../../src/core/pathfinding/PathFinderStepper"; +import { MiniMapTransformer } from "../../src/core/pathfinding/transformers/MiniMapTransformer"; +import { + PathStatus, + SteppingPathFinder, +} from "../../src/core/pathfinding/types"; import { GameConfig, PeaceTimerDuration } from "../../src/core/Schemas"; import { TestConfig } from "../util/TestConfig"; + export type BenchmarkRoute = { name: string; from: TileRef; @@ -38,25 +47,58 @@ export type BenchmarkSummary = { avgTime: number; }; -export function getAdapter(game: Game, name: string): PathFinder { +function tileStepperConfig(game: Game): StepperConfig { + return { + equals: (a, b) => a === b, + distance: (a, b) => game.manhattanDist(a, b), + preCheck: (from, to) => + typeof from !== "number" || + typeof to !== "number" || + !game.isValidRef(from) || + !game.isValidRef(to) + ? { status: PathStatus.NOT_FOUND } + : null, + }; +} + +export function getAdapter( + game: Game, + name: string, +): SteppingPathFinder { switch (name) { - case "legacy": - return PathFinders.WaterLegacy(game, { - iterations: 500_000, - maxTries: 50, - }); + case "a.baseline": { + return PathFinderBuilder.create(new AStarWater(game.miniMap())) + .wrap((pf) => new MiniMapTransformer(pf, game, game.miniMap())) + .buildWithStepper(tileStepperConfig(game)); + } + case "a.generic": { + // Same as baseline - uses AStarWater on minimap + return PathFinderBuilder.create(new AStarWater(game.miniMap())) + .wrap((pf) => new MiniMapTransformer(pf, game, game.miniMap())) + .buildWithStepper(tileStepperConfig(game)); + } + case "a.full": { + return PathFinderBuilder.create( + new AStarWater(game.map()), + ).buildWithStepper(tileStepperConfig(game)); + } case "hpa": { - // Recreate NavMesh without cache, this approach was chosen + // 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 navMesh = new NavMesh(game, { cachePaths: false }); - navMesh.initialize(); - (game as any)._navMesh = navMesh; + 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 PathFinders.Water(game); + return PathFinding.Water(game); } case "hpa.cached": - return PathFinders.Water(game); + return PathFinding.Water(game); default: throw new Error(`Unknown pathfinding adapter: ${name}`); } @@ -98,7 +140,7 @@ export async function getScenario( } export function measurePathLength( - adapter: PathFinder, + adapter: SteppingPathFinder, route: BenchmarkRoute, ): number | null { const path = adapter.findPath(route.from, route.to); @@ -113,7 +155,7 @@ export function measureTime(fn: () => T): { result: T; time: number } { } export function measureExecutionTime( - adapter: PathFinder, + adapter: SteppingPathFinder, route: BenchmarkRoute, executions: number = 1, ): number | null { diff --git a/tests/perf/AstarPerf.ts b/tests/perf/AstarPerf.ts deleted file mode 100644 index 6e5931672..000000000 --- a/tests/perf/AstarPerf.ts +++ /dev/null @@ -1,29 +0,0 @@ -import Benchmark from "benchmark"; -import { MiniPathFinder } from "../../src/core/pathfinding/PathFinding"; -import { setup } from "../util/Setup"; - -const game = await setup("giantworldmap", {}, []); - -new Benchmark.Suite() - .add("top-left-to-bottom-right", () => { - new MiniPathFinder(game, 10_000_000_000, true, 1).nextTile( - game.ref(0, 0), - game.ref(4077, 1929), - ); - }) - .add("hawaii to svalbard", () => { - new MiniPathFinder(game, 10_000_000_000, true, 1).nextTile( - game.ref(186, 800), - game.ref(2205, 52), - ); - }) - .add("black sea to california", () => { - new MiniPathFinder(game, 10_000_000_000, true, 1).nextTile( - game.ref(2349, 455), - game.ref(511, 536), - ); - }) - .on("cycle", (event: any) => { - console.log(String(event.target)); - }) - .run({ async: true }); From fb78aade97656a3a485bb51d2fc01152cbeb53f7 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 04:34:05 +0100 Subject: [PATCH 23/34] Pathfinding Refinement (#2878) 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. - [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 | Before | After | | :--- | :--- | | image | image | | image | image | 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 | 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 +- .../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 | 176 +++++---- .../pathfinding/playground/api/pathfinding.ts | 107 +++--- 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 +- tests/util/Setup.ts | 67 +++- 20 files changed, 1019 insertions(+), 725 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 04a4b60a9..2c3497817 100644 --- a/src/core/pathfinding/PathFinder.ts +++ b/src/core/pathfinding/PathFinder.ts @@ -8,10 +8,10 @@ import { } from "./PathFinder.Parabola"; 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"; /** @@ -43,7 +43,7 @@ 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.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); + + if (Array.isArray(from)) { + return this.findPathMultiSource(from as TileRef[], to as TileRef); + } - return this.findPathSingle(from as TileRef, to as TileRef, this.debugMode); + 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}`); - } - - // Initialize AStarWaterHierarchical with minimap and graph - const hpaStar = new AStarWaterHierarchical(game.miniMap(), graph, { - cachePaths: config.cachePaths, - }); + // Capture graph build data from DebugSpan + const graphBuildData = extractGraphBuildData(); + DebugSpan.disable(); - 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[] = []; @@ -153,48 +169,83 @@ 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; - - 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, + }>; + + 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), + })); + + // 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`, - ); + 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, + }); + } - const clusterSize = graph.clusterSize; + console.log( + `Map ${mapName}: ${allNodes.length} nodes, ${edges.length} edges (fallback)`, + ); + } else { + // No graph available + allNodes = []; + edges = []; + console.log(`Map ${mapName}: no graph available`); + } return { name: mapName, @@ -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); - - // 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); - - return withMiniMap; +function extractTimings(span: { + name: string; + duration?: number; + children: any[]; +}): Record { + const timings: Record = {}; + + if (span.duration !== undefined) { + timings[span.name] = span.duration; + } + + 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 @@

Pathfinding Playground

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 e2d39b3e5..08c96ca63 100644 --- a/tests/pathfinding/utils.ts +++ b/tests/pathfinding/utils.ts @@ -9,7 +9,7 @@ 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 } from "../../src/core/game/TerrainMapLoader"; import { UserSettings } from "../../src/core/game/UserSettings"; @@ -86,16 +86,24 @@ 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); diff --git a/tests/util/Setup.ts b/tests/util/Setup.ts index 6d8699cea..5e038bdc2 100644 --- a/tests/util/Setup.ts +++ b/tests/util/Setup.ts @@ -30,28 +30,40 @@ export async function setup( const binMapDir = path.join(__dirname, "..", "testdata", "maps", mapName); const mapBinPath = path.join(binMapDir, "map.bin"); const miniMapBinPath = path.join(binMapDir, "map4x.bin"); + const manifestPath = path.join(binMapDir, "manifest.json"); let gameMap, miniGameMap; if (fsSync.existsSync(mapBinPath) && fsSync.existsSync(miniMapBinPath)) { - // Binary map format + // Binary map format — test data files lack the 4-byte width/height header + // that genTerrainFromBin expects, so prepend it from the manifest. + const manifest = JSON.parse(fsSync.readFileSync(manifestPath, "utf-8")); + const mapBinBuffer = fsSync.readFileSync(mapBinPath); const miniMapBinBuffer = fsSync.readFileSync(miniMapBinPath); - const mapBinString = String.fromCharCode(...new Uint8Array(mapBinBuffer)); - const miniMapBinString = String.fromCharCode( - ...new Uint8Array(miniMapBinBuffer), + + const mapWithHeader = prependDimensionHeader( + new Uint8Array(mapBinBuffer), + manifest.map.width, + manifest.map.height, + ); + const miniMapWithHeader = prependDimensionHeader( + new Uint8Array(miniMapBinBuffer), + manifest.map4x.width, + manifest.map4x.height, + ); + + gameMap = await genTerrainFromBin(uint8ArrayToBinaryString(mapWithHeader)); + miniGameMap = await genTerrainFromBin( + uint8ArrayToBinaryString(miniMapWithHeader), ); - gameMap = await genTerrainFromBin(mapBinString); - miniGameMap = await genTerrainFromBin(miniMapBinString); } else { // Legacy PNG map format const mapPath = path.join(__dirname, "..", "testdata", `${mapName}.png`); const imageBuffer = await fs.readFile(mapPath); const { map, miniMap } = await generateMap(imageBuffer, false); - gameMap = await genTerrainFromBin(String.fromCharCode.apply(null, map)); - miniGameMap = await genTerrainFromBin( - String.fromCharCode.apply(null, miniMap), - ); + gameMap = await genTerrainFromBin(uint8ArrayToBinaryString(map)); + miniGameMap = await genTerrainFromBin(uint8ArrayToBinaryString(miniMap)); } // Configure the game @@ -82,6 +94,41 @@ export async function setup( return createGame(humans, [], gameMap, miniGameMap, config); } +/** + * Prepend a 4-byte little-endian width/height header to raw terrain data, + * matching the format that genTerrainFromBin expects. + */ +function prependDimensionHeader( + rawData: Uint8Array, + width: number, + height: number, +): Uint8Array { + const header = new Uint8Array(4); + header[0] = width & 0xff; + header[1] = (width >> 8) & 0xff; + header[2] = height & 0xff; + header[3] = (height >> 8) & 0xff; + const result = new Uint8Array(4 + rawData.length); + result.set(header); + result.set(rawData, 4); + return result; +} + +/** + * Convert a Uint8Array to a binary string without exceeding the call stack. + * Using spread or .apply on large arrays blows the stack limit. + */ +function uint8ArrayToBinaryString(bytes: Uint8Array): string { + const CHUNK = 8192; + let result = ""; + for (let i = 0; i < bytes.length; i += CHUNK) { + result += String.fromCharCode( + ...bytes.subarray(i, Math.min(i + CHUNK, bytes.length)), + ); + } + return result; +} + export function playerInfo(name: string, type: PlayerType): PlayerInfo { return new PlayerInfo("fr", name, type, null, name); } From 67ff7cb121782b082037ca8d3c1c2a5b55bcdef3 Mon Sep 17 00:00:00 2001 From: 1brucben <1benjbruce@gmail.com> Date: Sat, 21 Feb 2026 04:34:53 +0100 Subject: [PATCH 24/34] Pathfinding - optimize naval invasions (#2932) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit https://pf-pt-4.openfront.dev/ Hello again! Pathfinding. It's fast, but inaccurate. This PR makes it more accurate and actually faster. Sadly it is _faster_ because of a blunder in previous PR (using BucketQueue where MinHeap would be better), not because of a new tech. More importantly, it is more accurate. And that's what people apparently want. Most of the functional changes relate to `SpatialQuery` module. This is the thingy that answers "we know the target, which tile of my territory is the best to launch an invasion". To make it compute a path from South America to the deep inland China river, it has to work on a coerced map, one with a very small resolution, so small in fact, that every 4096 map tiles gets compressed to just one pixel. I hope you see where this is going. Previously we selected a random coastal tile within this big pixel (honestly it wasn't random at all, but could very well be for the illustrative purposes). Now, we try to be a bit more deliberate. Since we already know the rough location of the probably best tile, we can exclude all other tiles from the computation. Imagine a player's territory spans both Americas on global map - that's a lot of shores. But since we already know the best tile is somewhere close to Miami, the problem space was greatly reduced, no need to consider all other shores. But pathing to the target in China from Miami is still crazy expensive. This is where second trick comes to play - instead of pathing all the way to China, we select a _waypoint_ in the rough direction of China, about 100 to 200 tiles away. This way we fairly cheaply select best tile to launch an invasion towards this abstract point. And chances are, this point is far enough, the newly computed path is very close to being optimal. When you throw a dart from far away, the difference between scoring 10 and missing is very small. This is why aiming in the general direction of the board - as opposed to the ceiling - is usually good enough. opposed bank of a river?! Well, pathing from America to China is cool, but most players wouldn't notice the difference on such long paths, what about the short ones? We now try more accurate pathing first and defer to hierarchy only if it fails. This produces much better paths for short invasions. While the fix described above ensures the accuracy is improved also on medium-to-long routes. Yes. https://github.com/user-attachments/assets/9cf9586f-c99a-416d-b856-8cf0a21c35ed Grab a 🥕. Remember `tests/pathfinding/playground` is mostly generated code and go easy on it. It's enough for it to work and do it's job of visualizing the paths. No need for throughout review of these files. - [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: moleole --- .../pathfinding/algorithms/AStar.Water.ts | 8 +- .../algorithms/AStar.WaterBounded.ts | 42 +- .../algorithms/AStar.WaterHierarchical.ts | 48 ++ .../pathfinding/algorithms/PriorityQueue.ts | 43 +- src/core/pathfinding/spatial/SpatialQuery.ts | 143 ++++- .../transformers/SmoothingWaterTransformer.ts | 3 + .../playground/api/spatialQuery.ts | 161 ++++++ tests/pathfinding/playground/public/client.js | 535 +++++++++++++++++- .../pathfinding/playground/public/index.html | 79 ++- .../pathfinding/playground/public/styles.css | 120 +++- tests/pathfinding/playground/server.ts | 53 ++ 11 files changed, 1171 insertions(+), 64 deletions(-) create mode 100644 tests/pathfinding/playground/api/spatialQuery.ts diff --git a/src/core/pathfinding/algorithms/AStar.Water.ts b/src/core/pathfinding/algorithms/AStar.Water.ts index 6452114a5..d6a366293 100644 --- a/src/core/pathfinding/algorithms/AStar.Water.ts +++ b/src/core/pathfinding/algorithms/AStar.Water.ts @@ -1,6 +1,6 @@ import { GameMap, TileRef } from "../../game/GameMap"; import { PathFinder } from "../types"; -import { BucketQueue, PriorityQueue } from "./PriorityQueue"; +import { MinHeap, PriorityQueue } from "./PriorityQueue"; const LAND_BIT = 7; // Bit 7 in terrain indicates land const MAGNITUDE_MASK = 0x1f; @@ -45,11 +45,7 @@ export class AStarWater implements PathFinder { this.gScore = new Uint32Array(this.numNodes); this.cameFrom = new Int32Array(this.numNodes); - // 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); + this.queue = new MinHeap(this.numNodes); } findPath(start: number | number[], goal: number): number[] | null { diff --git a/src/core/pathfinding/algorithms/AStar.WaterBounded.ts b/src/core/pathfinding/algorithms/AStar.WaterBounded.ts index aa8bdd693..8af127ef4 100644 --- a/src/core/pathfinding/algorithms/AStar.WaterBounded.ts +++ b/src/core/pathfinding/algorithms/AStar.WaterBounded.ts @@ -1,6 +1,6 @@ import { GameMap, TileRef } from "../../game/GameMap"; import { PathFinder } from "../types"; -import { BucketQueue } from "./PriorityQueue"; +import { MinHeap } from "./PriorityQueue"; const LAND_BIT = 7; const MAGNITUDE_MASK = 0x1f; @@ -33,7 +33,7 @@ export class AStarWaterBounded implements PathFinder { private readonly gScoreStamp: Uint32Array; private readonly gScore: Uint32Array; private readonly cameFrom: Int32Array; - private readonly queue: BucketQueue; + private readonly queue: MinHeap; private readonly terrain: Uint8Array; private readonly mapWidth: number; private readonly heuristicWeight: number; @@ -54,11 +54,7 @@ export class AStarWaterBounded implements PathFinder { this.gScore = new Uint32Array(maxSearchArea); this.cameFrom = new Int32Array(maxSearchArea); - const maxDim = Math.ceil(Math.sqrt(maxSearchArea)); - // Account for scaled costs + tie-breaker headroom - const maxF = - (this.heuristicWeight + 1) * BASE_COST * maxDim * 2 + COST_SCALE * maxDim; - this.queue = new BucketQueue(maxF); + this.queue = new MinHeap(maxSearchArea * 4); } findPath(start: number | number[], goal: number): number[] | null { @@ -209,6 +205,8 @@ export class AStarWaterBounded implements PathFinder { closedStamp[neighborLocal] !== stamp && (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const ny = currentY - 1; + const distToGoal = Math.abs(currentX - goalX) + Math.abs(ny - goalY); const magnitude = neighborTerrain & MAGNITUDE_MASK; const cost = BASE_COST + getMagnitudePenalty(magnitude); const tentativeG = currentG + cost; @@ -219,11 +217,7 @@ export class AStarWaterBounded implements PathFinder { cameFrom[neighborLocal] = currentLocal; gScore[neighborLocal] = tentativeG; gScoreStamp[neighborLocal] = stamp; - const ny = currentY - 1; - const h = - weight * - BASE_COST * - (Math.abs(currentX - goalX) + Math.abs(ny - goalY)); + const h = weight * BASE_COST * distToGoal; const f = tentativeG + h + crossTieBreaker(currentX, ny); queue.push(neighborLocal, f); } @@ -238,6 +232,8 @@ export class AStarWaterBounded implements PathFinder { closedStamp[neighborLocal] !== stamp && (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const ny = currentY + 1; + const distToGoal = Math.abs(currentX - goalX) + Math.abs(ny - goalY); const magnitude = neighborTerrain & MAGNITUDE_MASK; const cost = BASE_COST + getMagnitudePenalty(magnitude); const tentativeG = currentG + cost; @@ -248,11 +244,7 @@ export class AStarWaterBounded implements PathFinder { cameFrom[neighborLocal] = currentLocal; gScore[neighborLocal] = tentativeG; gScoreStamp[neighborLocal] = stamp; - const ny = currentY + 1; - const h = - weight * - BASE_COST * - (Math.abs(currentX - goalX) + Math.abs(ny - goalY)); + const h = weight * BASE_COST * distToGoal; const f = tentativeG + h + crossTieBreaker(currentX, ny); queue.push(neighborLocal, f); } @@ -267,6 +259,8 @@ export class AStarWaterBounded implements PathFinder { closedStamp[neighborLocal] !== stamp && (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const nx = currentX - 1; + const distToGoal = Math.abs(nx - goalX) + Math.abs(currentY - goalY); const magnitude = neighborTerrain & MAGNITUDE_MASK; const cost = BASE_COST + getMagnitudePenalty(magnitude); const tentativeG = currentG + cost; @@ -277,11 +271,7 @@ export class AStarWaterBounded implements PathFinder { cameFrom[neighborLocal] = currentLocal; gScore[neighborLocal] = tentativeG; gScoreStamp[neighborLocal] = stamp; - const nx = currentX - 1; - const h = - weight * - BASE_COST * - (Math.abs(nx - goalX) + Math.abs(currentY - goalY)); + const h = weight * BASE_COST * distToGoal; const f = tentativeG + h + crossTieBreaker(nx, currentY); queue.push(neighborLocal, f); } @@ -296,6 +286,8 @@ export class AStarWaterBounded implements PathFinder { closedStamp[neighborLocal] !== stamp && (neighbor === goal || (neighborTerrain & landMask) === 0) ) { + const nx = currentX + 1; + const distToGoal = Math.abs(nx - goalX) + Math.abs(currentY - goalY); const magnitude = neighborTerrain & MAGNITUDE_MASK; const cost = BASE_COST + getMagnitudePenalty(magnitude); const tentativeG = currentG + cost; @@ -306,11 +298,7 @@ export class AStarWaterBounded implements PathFinder { cameFrom[neighborLocal] = currentLocal; gScore[neighborLocal] = tentativeG; gScoreStamp[neighborLocal] = stamp; - const nx = currentX + 1; - const h = - weight * - BASE_COST * - (Math.abs(nx - goalX) + Math.abs(currentY - goalY)); + const h = weight * BASE_COST * distToGoal; const f = tentativeG + h + crossTieBreaker(nx, currentY); queue.push(neighborLocal, f); } diff --git a/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts b/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts index ce8ceb2a7..78a8ff6bc 100644 --- a/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts +++ b/src/core/pathfinding/algorithms/AStar.WaterHierarchical.ts @@ -12,6 +12,7 @@ export class AStarWaterHierarchical implements PathFinder { private abstractAStar: AbstractGraphAStar; private localAStar: AStarWaterBounded; private localAStarMultiCluster: AStarWaterBounded; + private localAStarShortPath: AStarWaterBounded; private sourceResolver: SourceResolver; constructor( @@ -41,6 +42,11 @@ export class AStarWaterHierarchical implements PathFinder { maxMultiClusterNodes, ); + // BoundedAStar for short path multi-source (120 + 2*10 padding = 140) + const shortPathSize = 140; + const maxShortPathNodes = shortPathSize * shortPathSize; + this.localAStarShortPath = new AStarWaterBounded(map, maxShortPathNodes); + // SourceResolver for multi-source search this.sourceResolver = new SourceResolver(this.map, this.graph); } @@ -62,6 +68,10 @@ export class AStarWaterHierarchical implements PathFinder { sources: TileRef[], target: TileRef, ): TileRef[] | null { + // Early exit: try bounded A* for sources close to target + const shortPath = this.tryShortPathMultiSource(sources, target); + if (shortPath) return shortPath; + // 1. Resolve target to abstract node const targetNode = this.sourceResolver.resolveTarget(target); if (!targetNode) return null; @@ -82,6 +92,44 @@ export class AStarWaterHierarchical implements PathFinder { return this.findPathSingle(winningSource, target); } + private tryShortPathMultiSource( + sources: TileRef[], + target: TileRef, + ): TileRef[] | null { + const SHORT_PATH_THRESHOLD = 120; + const PADDING = 10; + + const candidates = sources.filter( + (s) => this.map.manhattanDist(s, target) <= SHORT_PATH_THRESHOLD, + ); + if (candidates.length === 0) return null; + + const toX = this.map.x(target); + const toY = this.map.y(target); + let minX = toX, + maxX = toX, + minY = toY, + maxY = toY; + + for (const s of candidates) { + const sx = this.map.x(s); + const sy = this.map.y(s); + minX = Math.min(minX, sx); + maxX = Math.max(maxX, sx); + minY = Math.min(minY, sy); + maxY = Math.max(maxY, sy); + } + + const bounds = { + minX: Math.max(0, minX - PADDING), + maxX: Math.min(this.map.width() - 1, maxX + PADDING), + minY: Math.max(0, minY - PADDING), + maxY: Math.min(this.map.height() - 1, maxY + PADDING), + }; + + return this.localAStarShortPath.searchBounded(candidates, target, bounds); + } + findPathSingle(from: TileRef, to: TileRef): TileRef[] | null { const dist = this.map.manhattanDist(from, to); diff --git a/src/core/pathfinding/algorithms/PriorityQueue.ts b/src/core/pathfinding/algorithms/PriorityQueue.ts index c8f525f0b..df7f52919 100644 --- a/src/core/pathfinding/algorithms/PriorityQueue.ts +++ b/src/core/pathfinding/algorithms/PriorityQueue.ts @@ -18,7 +18,20 @@ export class MinHeap implements PriorityQueue { push(node: number, priority: number): void { if (this.size >= this.capacity) { - throw new Error(`MinHeap capacity exceeded: ${this.capacity}`); + console.error( + `MinHeap capacity exceeded (${this.capacity}). ` + + "Resizing, but this indicates a bug. Please investigate.", + ); + + this.capacity *= 2; + + const newHeap = new Int32Array(this.capacity); + const newPri = new Float32Array(this.capacity); + newHeap.set(this.heap); + newPri.set(this.priorities); + + this.heap = newHeap; + this.priorities = newPri; } let i = this.size++; @@ -94,6 +107,8 @@ export class MinHeap implements PriorityQueue { export class BucketQueue implements PriorityQueue { private buckets: Int32Array[]; private bucketSizes: Int32Array; + private bucketStamp: Uint32Array; + private stamp = 0; private minBucket: number; private maxBucket: number; private size: number; @@ -102,6 +117,7 @@ export class BucketQueue implements PriorityQueue { this.maxBucket = maxPriority + 1; this.buckets = new Array(this.maxBucket); this.bucketSizes = new Int32Array(this.maxBucket); + this.bucketStamp = new Uint32Array(this.maxBucket); this.minBucket = this.maxBucket; this.size = 0; } @@ -113,7 +129,9 @@ export class BucketQueue implements PriorityQueue { this.buckets[bucket] = new Int32Array(64); } - const size = this.bucketSizes[bucket]; + const size = + this.bucketStamp[bucket] === this.stamp ? this.bucketSizes[bucket] : 0; + if (size >= this.buckets[bucket].length) { const newBucket = new Int32Array(this.buckets[bucket].length * 2); newBucket.set(this.buckets[bucket]); @@ -121,7 +139,8 @@ export class BucketQueue implements PriorityQueue { } this.buckets[bucket][size] = node; - this.bucketSizes[bucket]++; + this.bucketSizes[bucket] = size + 1; + this.bucketStamp[bucket] = this.stamp; this.size++; if (bucket < this.minBucket) { @@ -131,11 +150,13 @@ export class BucketQueue implements PriorityQueue { pop(): number { while (this.minBucket < this.maxBucket) { - const size = this.bucketSizes[this.minBucket]; - if (size > 0) { - this.bucketSizes[this.minBucket]--; - this.size--; - return this.buckets[this.minBucket][size - 1]; + if (this.bucketStamp[this.minBucket] === this.stamp) { + const size = this.bucketSizes[this.minBucket]; + if (size > 0) { + this.bucketSizes[this.minBucket]--; + this.size--; + return this.buckets[this.minBucket][size - 1]; + } } this.minBucket++; } @@ -147,7 +168,11 @@ export class BucketQueue implements PriorityQueue { } clear(): void { - this.bucketSizes.fill(0); + this.stamp++; + if (this.stamp > 0xffffffff) { + this.bucketStamp.fill(0); + this.stamp = 1; + } this.minBucket = this.maxBucket; this.size = 0; } diff --git a/src/core/pathfinding/spatial/SpatialQuery.ts b/src/core/pathfinding/spatial/SpatialQuery.ts index 1336a636f..9128dd0b4 100644 --- a/src/core/pathfinding/spatial/SpatialQuery.ts +++ b/src/core/pathfinding/spatial/SpatialQuery.ts @@ -1,12 +1,27 @@ import { Game, Player, TerraNullius } from "../../game/Game"; import { TileRef } from "../../game/GameMap"; +import { DebugSpan } from "../../utilities/DebugSpan"; import { PathFinding } from "../PathFinder"; +import { AStarWaterBounded } from "../algorithms/AStar.WaterBounded"; type Owner = Player | TerraNullius; +const REFINE_MAX_SEARCH_AREA = 100 * 100; + export class SpatialQuery { + private boundedAStar: AStarWaterBounded | null = null; + constructor(private game: Game) {} + private getBoundedAStar(): AStarWaterBounded { + this.boundedAStar ??= new AStarWaterBounded( + this.game.map(), + REFINE_MAX_SEARCH_AREA, + ); + + return this.boundedAStar; + } + /** * Find nearest tile matching predicate using BFS traversal. * Uses Manhattan distance filter, ignores terrain barriers. @@ -64,27 +79,125 @@ export class SpatialQuery { * Returns null for terra nullius (no borderTiles). */ closestShoreByWater(owner: Owner, target: TileRef): TileRef | null { - if (!owner.isPlayer()) return null; + return DebugSpan.wrap("SpatialQuery.closestShoreByWater", () => { + if (!owner.isPlayer()) return null; - const gm = this.game; - const player = owner as Player; + const gm = this.game; + const player = owner as Player; - // Target must be water or shore (land adjacent to water) - if (!gm.isWater(target) && !gm.isShore(target)) return null; + // Target must be water or shore (land adjacent to water) + if (!gm.isWater(target) && !gm.isShore(target)) return null; - const targetComponent = gm.getWaterComponent(target); - if (targetComponent === null) return null; + const targetComponent = gm.getWaterComponent(target); + if (targetComponent === null) return null; - const isValidTile = (t: TileRef) => { - if (!gm.isShore(t) || !gm.isLand(t)) return false; - const tComponent = gm.getWaterComponent(t); - return tComponent === targetComponent; + const isValidTile = (t: TileRef) => { + if (!gm.isShore(t) || !gm.isLand(t)) return false; + const tComponent = gm.getWaterComponent(t); + return tComponent === targetComponent; + }; + + const shores = Array.from(player.borderTiles()).filter(isValidTile); + if (shores.length === 0) return null; + + const path = PathFinding.Water(gm).findPath(shores, target); + if (!path || path.length === 0) return null; + + return DebugSpan.wrap("SpatialQuery.refineStartTile", () => + this.refineStartTile(path, shores, gm), + ); + }); + } + + private refineStartTile( + path: TileRef[], + shores: TileRef[], + gm: Game, + ): TileRef { + const CANDIDATE_RADIUS = 20; + const MIN_WAYPOINT_DIST = 50; + const MAX_WAYPOINT_DIST = 200; + const PADDING = 10; + + if (path.length <= MIN_WAYPOINT_DIST) { + return path[0]; + } + + const bestTile = path[0]; + const map = gm.map(); + + const candidates = shores.filter( + (s) => map.manhattanDist(s, bestTile) <= CANDIDATE_RADIUS, + ); + + if (candidates.length <= 1) return bestTile; + + // Precompute candidate bounds + let candMinX = map.x(candidates[0]); + let candMaxX = candMinX; + let candMinY = map.y(candidates[0]); + let candMaxY = candMinY; + + for (let i = 1; i < candidates.length; i++) { + const sx = map.x(candidates[i]); + const sy = map.y(candidates[i]); + candMinX = Math.min(candMinX, sx); + candMaxX = Math.max(candMaxX, sx); + candMinY = Math.min(candMinY, sy); + candMaxY = Math.max(candMaxY, sy); + } + + // Binary search for furthest waypoint that keeps bounds within limit + let lo = MIN_WAYPOINT_DIST; + let hi = Math.min(MAX_WAYPOINT_DIST, path.length - 1); + let bestWaypointIdx = lo; + + for (let i = 0; i < 5 && lo <= hi; i++) { + const mid = (lo + hi) >> 1; + const wp = path[mid]; + const wpX = map.x(wp); + const wpY = map.y(wp); + + const minX = Math.min(candMinX, wpX) - PADDING; + const maxX = Math.max(candMaxX, wpX) + PADDING; + const minY = Math.min(candMinY, wpY) - PADDING; + const maxY = Math.max(candMaxY, wpY) + PADDING; + + const area = (maxX - minX + 1) * (maxY - minY + 1); + if (area <= REFINE_MAX_SEARCH_AREA) { + bestWaypointIdx = mid; + lo = mid + 1; + } else { + hi = mid - 1; + } + } + + const waypoint = path[bestWaypointIdx]; + const wpX = map.x(waypoint); + const wpY = map.y(waypoint); + + const bounds = { + minX: Math.max(0, Math.min(candMinX, wpX) - PADDING), + maxX: Math.min(map.width() - 1, Math.max(candMaxX, wpX) + PADDING), + minY: Math.max(0, Math.min(candMinY, wpY) - PADDING), + maxY: Math.min(map.height() - 1, Math.max(candMaxY, wpY) + PADDING), }; - const shores = Array.from(player.borderTiles()).filter(isValidTile); - if (shores.length === 0) return null; + const boundsArea = + (bounds.maxX - bounds.minX + 1) * (bounds.maxY - bounds.minY + 1); + if (boundsArea > REFINE_MAX_SEARCH_AREA) return bestTile; + + const refinedPath = this.getBoundedAStar().searchBounded( + candidates, + waypoint, + bounds, + ); + + DebugSpan.set("$candidates", () => candidates); + DebugSpan.set("$refinedPath", () => refinedPath); + DebugSpan.set("$originalBestTile", () => bestTile); + DebugSpan.set("$newBestTile", () => refinedPath?.[0] ?? bestTile); - const path = PathFinding.Water(gm).findPath(shores, target); - return path?.[0] ?? null; + return refinedPath?.[0] ?? bestTile; } } diff --git a/src/core/pathfinding/transformers/SmoothingWaterTransformer.ts b/src/core/pathfinding/transformers/SmoothingWaterTransformer.ts index 63b30c97f..5b4bd0b0c 100644 --- a/src/core/pathfinding/transformers/SmoothingWaterTransformer.ts +++ b/src/core/pathfinding/transformers/SmoothingWaterTransformer.ts @@ -54,6 +54,9 @@ export class SmoothingWaterTransformer implements PathFinder { this.refineEndpoints(smoothed), ); + // Pass 3: LOS smoothing again (refinement may create new shortcut opportunities) + smoothed = DebugSpan.wrap("smoother:los2", () => this.losSmooth(smoothed)); + return smoothed; } diff --git a/tests/pathfinding/playground/api/spatialQuery.ts b/tests/pathfinding/playground/api/spatialQuery.ts new file mode 100644 index 000000000..df209fd77 --- /dev/null +++ b/tests/pathfinding/playground/api/spatialQuery.ts @@ -0,0 +1,161 @@ +import { TileRef } from "../../../../src/core/game/GameMap.js"; +import { PathFinding } from "../../../../src/core/pathfinding/PathFinder.js"; +import { SpatialQuery } from "../../../../src/core/pathfinding/spatial/SpatialQuery.js"; +import { DebugSpan } from "../../../../src/core/utilities/DebugSpan.js"; +import { loadMap } from "./maps.js"; + +export interface SpatialQueryResult { + selectedShore: [number, number] | null; + path: Array<[number, number]> | null; + shores: Array<[number, number]>; + debug: { + candidates: Array<[number, number]> | null; + refinedPath: Array<[number, number]> | null; + originalBestTile: [number, number] | null; + newBestTile: [number, number] | null; + timings: Record; + }; +} + +/** + * Extract timings from DebugSpan hierarchy + */ +function extractTimings(span: { + name: string; + duration?: number; + children: any[]; +}): Record { + const timings: Record = {}; + + if (span.duration !== undefined) { + timings[span.name] = span.duration; + } + + for (const child of span.children) { + Object.assign(timings, extractTimings(child)); + } + + return timings; +} + +/** + * Convert TileRef to coordinate tuple + */ +function tileToCoord(tile: TileRef, game: any): [number, number] { + return [game.x(tile), game.y(tile)]; +} + +/** + * Convert TileRef array to coordinate array + */ +function tilesToCoords( + tiles: TileRef[] | null | undefined, + game: any, +): Array<[number, number]> | null { + if (!tiles) return null; + return tiles.map((tile) => tileToCoord(tile, game)); +} + +/** + * Compute spatial query for transport ship launch + */ +export async function computeSpatialQuery( + mapName: string, + ownedTiles: number[], + target: [number, number], +): Promise { + const { game } = await loadMap(mapName); + + const targetRef = game.ref(target[0], target[1]) as TileRef; + + // Validate target is water or shore + if (!game.isWater(targetRef) && !game.isShore(targetRef)) { + throw new Error( + `Target (${target[0]}, ${target[1]}) must be water or shore`, + ); + } + + // Convert owned tile indices to TileRefs + const ownedRefs = ownedTiles.map((idx) => { + const x = idx % game.width(); + const y = Math.floor(idx / game.width()); + return game.ref(x, y) as TileRef; + }); + + // Create mock player that returns owned tiles as border tiles + // The SpatialQuery will filter to actual shore tiles + const mockPlayer = { + isPlayer: () => true, + smallID: () => 999, // Arbitrary ID for visualization + borderTiles: function* () { + for (const tile of ownedRefs) { + yield tile; + } + }, + }; + + // Get target water component for filtering + const targetComponent = game.getWaterComponent(targetRef); + + // Pre-compute all valid shore tiles for visualization + const allShores: TileRef[] = []; + for (const tile of ownedRefs) { + if (game.isShore(tile) && game.isLand(tile)) { + const tComponent = game.getWaterComponent(tile); + if (tComponent === targetComponent) { + allShores.push(tile); + } + } + } + + // Enable DebugSpan to capture internal state + DebugSpan.enable(); + + // Run spatial query + const spatialQuery = new SpatialQuery(game); + const selectedShore = spatialQuery.closestShoreByWater( + mockPlayer as any, + targetRef, + ); + + // Get span data + const span = DebugSpan.getLastSpan(); + DebugSpan.disable(); + + // Extract debug info from span + let candidates: TileRef[] | null = null; + let refinedPath: TileRef[] | null = null; + let originalBestTile: TileRef | null = null; + let newBestTile: TileRef | null = null; + + if (span?.data) { + candidates = (span.data.$candidates as TileRef[] | undefined) ?? null; + refinedPath = (span.data.$refinedPath as TileRef[] | undefined) ?? null; + originalBestTile = + (span.data.$originalBestTile as TileRef | undefined) ?? null; + newBestTile = (span.data.$newBestTile as TileRef | undefined) ?? null; + } + + // Compute full path if we have a selected shore + let path: TileRef[] | null = null; + if (selectedShore) { + path = PathFinding.Water(game).findPath(selectedShore, targetRef); + } + + const timings = span ? extractTimings(span) : {}; + + return { + selectedShore: selectedShore ? tileToCoord(selectedShore, game) : null, + path: tilesToCoords(path, game), + shores: allShores.map((t) => tileToCoord(t, game)), + debug: { + candidates: tilesToCoords(candidates, game), + refinedPath: tilesToCoords(refinedPath, game), + originalBestTile: originalBestTile + ? tileToCoord(originalBestTile, game) + : null, + newBestTile: newBestTile ? tileToCoord(newBestTile, game) : null, + timings, + }, + }; +} diff --git a/tests/pathfinding/playground/public/client.js b/tests/pathfinding/playground/public/client.js index 0016ccdb7..c40a5ef9f 100644 --- a/tests/pathfinding/playground/public/client.js +++ b/tests/pathfinding/playground/public/client.js @@ -16,6 +16,11 @@ const state = { isMapLoading: false, // Loading state for map switching isHpaLoading: false, // Separate loading state for HPA* activeRefreshButton: null, // Track which refresh button is spinning + // Transport Ship mode + mode: "pathfinding", // "pathfinding" | "transport" + paintedTiles: new Set(), // Set of tile indices (y * width + x) + brushSize: 5, + transportResult: null, // Result from spatial query }; // Colors for comparison paths @@ -36,6 +41,8 @@ let dragStartX = 0; let dragStartY = 0; let dragStartPanX = 0; let dragStartPanY = 0; +let isPainting = false; +let isErasing = false; let mapCanvas, overlayCanvas, interactiveCanvas; let mapCtx, overlayCtx, interactiveCtx; @@ -203,6 +210,109 @@ function initializeControls() { document.getElementById("clearPoints").addEventListener("click", () => { clearPoints(); }); + + // Mode switch buttons + document.querySelectorAll(".mode-button").forEach((btn) => { + btn.addEventListener("click", () => { + const newMode = btn.dataset.mode; + if (newMode !== state.mode) { + setMode(newMode); + } + }); + }); + + // Transport controls + const brushSizeInput = document.getElementById("brushSize"); + const brushSizeValue = document.getElementById("brushSizeValue"); + brushSizeInput.addEventListener("input", (e) => { + state.brushSize = parseInt(e.target.value); + brushSizeValue.textContent = state.brushSize; + }); + + document.getElementById("clearTerritory").addEventListener("click", () => { + state.paintedTiles.clear(); + state.transportResult = null; + updateTransportInfo(); + renderInteractive(); + }); +} + +// Set application mode +function setMode(newMode) { + state.mode = newMode; + + // Update UI + document.querySelectorAll(".mode-button").forEach((btn) => { + btn.classList.toggle("active", btn.dataset.mode === newMode); + }); + + const transportControls = document.getElementById("transportControls"); + const timingsPanel = document.getElementById("timingsPanel"); + const debugPanel = document.querySelector(".debug-panel"); + + if (newMode === "transport") { + transportControls.style.display = "block"; + timingsPanel.style.top = "280px"; + debugPanel.style.display = "none"; + setStatus("Paint territory, then click water target"); + } else { + transportControls.style.display = "none"; + timingsPanel.style.top = "280px"; + debugPanel.style.display = "flex"; + if (state.startPoint && state.endPoint) { + setStatus("Path computed successfully"); + } else if (state.startPoint) { + setStatus("Click on map to set end point"); + } else { + setStatus("Click on map to set start point"); + } + } + + renderInteractive(); +} + +// Update transport info display +function updateTransportInfo() { + const paintedCount = document.getElementById("paintedCount"); + const shoreCount = document.getElementById("shoreCount"); + + paintedCount.textContent = state.paintedTiles.size; + + // Count shore tiles + let shores = 0; + if (state.mapData) { + for (const idx of state.paintedTiles) { + if (isLandShore(idx)) { + shores++; + } + } + } + shoreCount.textContent = shores; +} + +// Check if tile is a land shore (land adjacent to water) +function isLandShore(tileIdx) { + const x = tileIdx % state.mapWidth; + const y = Math.floor(tileIdx / state.mapWidth); + + // Must be land + if (state.mapData[tileIdx] !== 0) return false; + + // Check 4 neighbors for water + const neighbors = [ + [x - 1, y], + [x + 1, y], + [x, y - 1], + [x, y + 1], + ]; + + for (const [nx, ny] of neighbors) { + if (nx < 0 || nx >= state.mapWidth || ny < 0 || ny >= state.mapHeight) + continue; + const nIdx = ny * state.mapWidth + nx; + if (state.mapData[nIdx] === 1) return true; + } + return false; } // Helper function to check if mouse is over a start/end point @@ -250,6 +360,20 @@ function schedulePathRecalc() { // If not enough time has passed, skip this call (throttle) } +// Throttled spatial query recalculation (max once per 50ms for heavier computation) +let lastSpatialQueryTime = 0; +function scheduleSpatialQueryRecalc() { + const now = Date.now(); + const timeSinceLastCall = now - lastSpatialQueryTime; + + if (timeSinceLastCall >= 50) { + lastSpatialQueryTime = now; + if (state.endPoint && state.paintedTiles.size > 0) { + requestSpatialQuery(state.endPoint); + } + } +} + // Initialize drag and click controls function initializeDragControls() { const wrapper = document.getElementById("canvasWrapper"); @@ -260,10 +384,46 @@ function initializeDragControls() { const canvasX = (e.clientX - rect.left - panX) / zoomLevel; const canvasY = (e.clientY - rect.top - panY) / zoomLevel; - // Check if clicking on a point + // Transport mode: check for dragging end point first, then painting + if (state.mode === "transport") { + // Check if clicking on end point to drag it + const pointAtMouse = getPointAtPosition(canvasX, canvasY); + if (pointAtMouse === "end") { + draggingPoint = "end"; + wrapper.style.cursor = "move"; + dragStartX = e.clientX; + dragStartY = e.clientY; + return; + } + + const tileX = Math.floor(canvasX); + const tileY = Math.floor(canvasY); + + if ( + tileX >= 0 && + tileX < state.mapWidth && + tileY >= 0 && + tileY < state.mapHeight + ) { + const tileIdx = tileY * state.mapWidth + tileX; + const isLand = state.mapData[tileIdx] === 0; + + if (isLand) { + // Start painting (or erasing with ctrl/right-click) + isErasing = e.ctrlKey || e.button === 2; + isPainting = true; + paintAtPosition(tileX, tileY, isErasing); + wrapper.style.cursor = isErasing ? "crosshair" : "pointer"; + return; + } + } + // Fall through to panning if not on land + } + + // Pathfinding mode: check if clicking on a point const pointAtMouse = getPointAtPosition(canvasX, canvasY); - if (pointAtMouse) { + if (pointAtMouse && state.mode === "pathfinding") { // Start dragging the point draggingPoint = pointAtMouse; wrapper.style.cursor = "move"; @@ -284,6 +444,53 @@ function initializeDragControls() { const canvasX = (e.clientX - rect.left - panX) / zoomLevel; const canvasY = (e.clientY - rect.top - panY) / zoomLevel; + // Transport mode: continue painting + if (isPainting && state.mode === "transport") { + const tileX = Math.floor(canvasX); + const tileY = Math.floor(canvasY); + paintAtPosition(tileX, tileY, isErasing); + return; + } + + // Transport mode: dragging end point + if (draggingPoint === "end" && state.mode === "transport") { + const tileX = Math.floor(canvasX); + const tileY = Math.floor(canvasY); + + if ( + tileX >= 0 && + tileX < state.mapWidth && + tileY >= 0 && + tileY < state.mapHeight + ) { + const tileIndex = tileY * state.mapWidth + tileX; + const isWater = state.mapData[tileIndex] === 1; + + if (isWater) { + draggingPointPosition = [tileX, tileY]; + state.endPoint = [tileX, tileY]; + renderInteractive(); + + // Throttled spatial query recomputation + if (state.paintedTiles.size > 0) { + scheduleSpatialQueryRecalc(); + } + } + } + return; + } + + // Transport mode: check hover over end point + if (state.mode === "transport" && !isDragging) { + const pointAtMouse = getPointAtPosition(canvasX, canvasY); + if (pointAtMouse !== hoveredPoint) { + hoveredPoint = pointAtMouse; + renderInteractive(); + wrapper.style.cursor = hoveredPoint ? "move" : "grab"; + } + return; + } + if (draggingPoint) { // Dragging a start/end point - snap to water tile const tileX = Math.floor(canvasX); @@ -395,6 +602,26 @@ function initializeDragControls() { const dx = Math.abs(e.clientX - dragStartX); const dy = Math.abs(e.clientY - dragStartY); + // Transport mode: finish painting + if (isPainting) { + isPainting = false; + isErasing = false; + wrapper.style.cursor = "grab"; + return; + } + + // Transport mode: finish dragging end point + if (draggingPoint === "end" && state.mode === "transport") { + if (state.endPoint && state.paintedTiles.size > 0) { + requestSpatialQuery(state.endPoint); + } + draggingPoint = null; + draggingPointPosition = null; + renderInteractive(); + wrapper.style.cursor = "grab"; + return; + } + if (draggingPoint) { // Finished dragging a point // Request final path update to ensure we have the path for the final position @@ -408,7 +635,11 @@ function initializeDragControls() { updateURLState(); } else if (isDragging && dx < 5 && dy < 5) { // Was panning but didn't move much - treat as click - handleMapClick(e); + if (state.mode === "transport") { + handleTransportClick(e); + } else { + handleMapClick(e); + } } isDragging = false; @@ -418,13 +649,16 @@ function initializeDragControls() { const canvasX = (e.clientX - rect.left - panX) / zoomLevel; const canvasY = (e.clientY - rect.top - panY) / zoomLevel; const pointAtMouse = getPointAtPosition(canvasX, canvasY); - wrapper.style.cursor = pointAtMouse ? "move" : "grab"; + wrapper.style.cursor = + pointAtMouse && state.mode === "pathfinding" ? "move" : "grab"; }); wrapper.addEventListener("mouseleave", () => { isDragging = false; draggingPoint = null; draggingPointPosition = null; + isPainting = false; + isErasing = false; tooltip.classList.remove("visible"); wrapper.style.cursor = "grab"; @@ -437,6 +671,13 @@ function initializeDragControls() { } }); + // Prevent context menu on right-click (for erasing) + wrapper.addEventListener("contextmenu", (e) => { + if (state.mode === "transport") { + e.preventDefault(); + } + }); + wrapper.addEventListener("wheel", (e) => { e.preventDefault(); @@ -446,7 +687,7 @@ function initializeDragControls() { const oldZoom = zoomLevel; const zoomDelta = e.deltaY > 0 ? 0.9 : 1.1; - zoomLevel = Math.max(0.1, Math.min(5, zoomLevel * zoomDelta)); + zoomLevel = Math.max(0.1, Math.min(10, zoomLevel * zoomDelta)); panX = mouseX - (mouseX - panX) * (zoomLevel / oldZoom); panY = mouseY - (mouseY - panY) * (zoomLevel / oldZoom); @@ -535,6 +776,155 @@ function clearPoints() { renderInteractive(); } +// Paint tiles in a brush area +function paintAtPosition(centerX, centerY, erase = false) { + const radius = Math.floor(state.brushSize / 2); + let changed = false; + + for (let dy = -radius; dy <= radius; dy++) { + for (let dx = -radius; dx <= radius; dx++) { + const x = centerX + dx; + const y = centerY + dy; + + if (x < 0 || x >= state.mapWidth || y < 0 || y >= state.mapHeight) + continue; + + const idx = y * state.mapWidth + x; + const isLand = state.mapData[idx] === 0; + + if (!isLand) continue; + + if (erase) { + if (state.paintedTiles.has(idx)) { + state.paintedTiles.delete(idx); + changed = true; + } + } else { + if (!state.paintedTiles.has(idx)) { + state.paintedTiles.add(idx); + changed = true; + } + } + } + } + + if (changed) { + updateTransportInfo(); + renderInteractive(); + } +} + +// Handle clicks in transport mode +function handleTransportClick(e) { + if (!state.currentMap || state.isMapLoading) return; + + const wrapper = document.getElementById("canvasWrapper"); + const rect = wrapper.getBoundingClientRect(); + + const canvasX = (e.clientX - rect.left - panX) / zoomLevel; + const canvasY = (e.clientY - rect.top - panY) / zoomLevel; + const tileX = Math.floor(canvasX); + const tileY = Math.floor(canvasY); + + if ( + tileX < 0 || + tileX >= state.mapWidth || + tileY < 0 || + tileY >= state.mapHeight + ) { + return; + } + + const idx = tileY * state.mapWidth + tileX; + const isWater = state.mapData[idx] === 1; + + if (!isWater) { + return; + } + + // Clicked on water - run spatial query + if (state.paintedTiles.size === 0) { + showError("Paint some territory first"); + return; + } + + requestSpatialQuery([tileX, tileY]); +} + +// Request spatial query computation +async function requestSpatialQuery(target) { + setStatus("Computing spatial query...", true); + + try { + // Only send shore tiles (land adjacent to water) - much smaller payload + const ownedTiles = Array.from(state.paintedTiles).filter((idx) => + isLandShore(idx), + ); + + const response = await fetch("/api/spatial-query", { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ + map: state.currentMap, + ownedTiles, + target, + }), + }); + + if (!response.ok) { + const error = await response.json(); + throw new Error(error.message || "Spatial query failed"); + } + + const result = await response.json(); + state.transportResult = result; + state.endPoint = target; + + renderInteractive(); + updateTransportTimings(result); + + if (result.selectedShore) { + setStatus( + `Shore selected: (${result.selectedShore[0]}, ${result.selectedShore[1]})`, + ); + } else { + setStatus("No valid shore found"); + } + } catch (error) { + showError(`Spatial query failed: ${error.message}`); + } +} + +// Update timings panel for transport mode +function updateTransportTimings(result) { + const hpaTimeEl = document.getElementById("hpaTime"); + const hpaTilesEl = document.getElementById("hpaTiles"); + + if (result.path) { + hpaTilesEl.textContent = `- ${result.path.length} tiles`; + } else { + hpaTilesEl.textContent = ""; + } + + const totalTime = + result.debug?.timings?.["SpatialQuery.closestShoreByWater"] ?? 0; + if (totalTime > 0) { + hpaTimeEl.textContent = `${totalTime.toFixed(2)}ms`; + hpaTimeEl.classList.remove("faded"); + } else { + hpaTimeEl.textContent = "0.00ms"; + hpaTimeEl.classList.add("faded"); + } + + // Hide pathfinding-specific timing breakdown in transport mode + document.getElementById("timingEarlyExit").style.display = "none"; + document.getElementById("timingFindNodes").style.display = "none"; + document.getElementById("timingAbstractPath").style.display = "none"; + document.getElementById("timingInitialPath").style.display = "none"; + document.getElementById("timingSmoothPath").style.display = "none"; + document.getElementById("comparisonsSection").style.display = "none"; +} + // Update transform for pan/zoom function updateTransform() { const transform = `translate(${panX}px, ${panY}px) scale(${zoomLevel})`; @@ -1164,6 +1554,135 @@ function mapToScreen(mapX, mapY) { }; } +// Render transport mode elements +function renderTransportMode() { + const tileSize = Math.max(1, zoomLevel); + + // Draw painted territory + if (state.paintedTiles.size > 0) { + interactiveCtx.fillStyle = "rgba(66, 135, 245, 0.5)"; + + for (const idx of state.paintedTiles) { + const x = idx % state.mapWidth; + const y = Math.floor(idx / state.mapWidth); + const screen = mapToScreen(x, y); + interactiveCtx.fillRect(screen.x, screen.y, tileSize, tileSize); + } + } + + // Draw all shore tiles (dark blue squares) + if (state.transportResult && state.transportResult.shores) { + interactiveCtx.fillStyle = "#2a4a6a"; + + for (const [x, y] of state.transportResult.shores) { + const screen = mapToScreen(x, y); + interactiveCtx.fillRect(screen.x, screen.y, tileSize, tileSize); + } + } + + // Draw refinement candidates (muted yellow/gold squares) + if (state.transportResult?.debug?.candidates) { + interactiveCtx.fillStyle = "rgba(200, 170, 80, 0.7)"; + + for (const [x, y] of state.transportResult.debug.candidates) { + const screen = mapToScreen(x, y); + interactiveCtx.fillRect(screen.x, screen.y, tileSize, tileSize); + } + } + + // Draw refined path (magenta) + if (state.transportResult?.debug?.refinedPath) { + interactiveCtx.strokeStyle = "#ff00ff"; + interactiveCtx.lineWidth = Math.max(1, zoomLevel * 0.8); + interactiveCtx.lineCap = "round"; + interactiveCtx.lineJoin = "round"; + interactiveCtx.beginPath(); + + for (let i = 0; i < state.transportResult.debug.refinedPath.length; i++) { + const [x, y] = state.transportResult.debug.refinedPath[i]; + const screen = mapToScreen(x + 0.5, y + 0.5); + if (i === 0) { + interactiveCtx.moveTo(screen.x, screen.y); + } else { + interactiveCtx.lineTo(screen.x, screen.y); + } + } + interactiveCtx.stroke(); + } + + // Draw full path (cyan) + if (state.transportResult && state.transportResult.path) { + interactiveCtx.strokeStyle = "#00ffff"; + interactiveCtx.lineWidth = Math.max(1, zoomLevel); + interactiveCtx.lineCap = "round"; + interactiveCtx.lineJoin = "round"; + interactiveCtx.beginPath(); + + for (let i = 0; i < state.transportResult.path.length; i++) { + const [x, y] = state.transportResult.path[i]; + const screen = mapToScreen(x + 0.5, y + 0.5); + if (i === 0) { + interactiveCtx.moveTo(screen.x, screen.y); + } else { + interactiveCtx.lineTo(screen.x, screen.y); + } + } + interactiveCtx.stroke(); + } + + // Draw original best tile (orange square) if different from new best + if (state.transportResult?.debug?.originalBestTile) { + const [ox, oy] = state.transportResult.debug.originalBestTile; + const newBest = state.transportResult.debug.newBestTile; + + // Only show if different from new best + if (!newBest || ox !== newBest[0] || oy !== newBest[1]) { + const screen = mapToScreen(ox, oy); + interactiveCtx.fillStyle = "#ff8800"; + interactiveCtx.fillRect(screen.x, screen.y, tileSize, tileSize); + } + } + + // Draw selected shore (green square) + if (state.transportResult && state.transportResult.selectedShore) { + const [sx, sy] = state.transportResult.selectedShore; + const screen = mapToScreen(sx, sy); + interactiveCtx.fillStyle = "#44ff44"; + interactiveCtx.fillRect(screen.x, screen.y, tileSize, tileSize); + } + + // Draw target point (red circle, matching pathfinding mode style) + if (state.endPoint) { + const markerSize = Math.max(4, 3 * zoomLevel); + let mapX, mapY; + if (draggingPoint === "end" && draggingPointPosition) { + mapX = draggingPointPosition[0] + 0.5; + mapY = draggingPointPosition[1] + 0.5; + } else { + mapX = state.endPoint[0] + 0.5; + mapY = state.endPoint[1] + 0.5; + } + + const screen = mapToScreen(mapX, mapY); + + // Highlight ring if hovered + if (hoveredPoint === "end") { + interactiveCtx.strokeStyle = "#ff4444"; + interactiveCtx.lineWidth = Math.max(2, zoomLevel * 0.5); + interactiveCtx.globalAlpha = 0.5; + interactiveCtx.beginPath(); + interactiveCtx.arc(screen.x, screen.y, markerSize + 3, 0, Math.PI * 2); + interactiveCtx.stroke(); + interactiveCtx.globalAlpha = 1.0; + } + + interactiveCtx.fillStyle = "#ff4444"; + interactiveCtx.beginPath(); + interactiveCtx.arc(screen.x, screen.y, markerSize, 0, Math.PI * 2); + interactiveCtx.fill(); + } +} + // Render truly interactive/dynamic overlay (paths, points, highlights) at screen coordinates function renderInteractive() { // Clear viewport-sized canvas (super fast!) @@ -1178,6 +1697,12 @@ function renderInteractive() { const markerSize = Math.max(4, 3 * zoomLevel); + // Transport mode: render painted territory and results + if (state.mode === "transport") { + renderTransportMode(); + return; + } + // Check what to show const showUsedNodes = document.getElementById("showUsedNodes").dataset.active === "true"; diff --git a/tests/pathfinding/playground/public/index.html b/tests/pathfinding/playground/public/index.html index f03d041d3..f4dcbaf79 100644 --- a/tests/pathfinding/playground/public/index.html +++ b/tests/pathfinding/playground/public/index.html @@ -118,11 +118,88 @@

Pathfinding Playground

+
+ + +
+
Select a scenario to begin
+ + +
@@ -149,7 +226,7 @@

Pathfinding Playground

- + 1.0x