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goto with Dial's algo (Dijkstra's + bucket sort)

fix-squashed-planets
Rasmus Brönnegård 2022-02-08 21:12:33 +01:00
parent a7b294025e
commit 2b8d580355
2 changed files with 73 additions and 33 deletions
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95
src/object/task/taskgoto.cpp
View File

@ -1689,8 +1689,15 @@ void CTaskGoto::PathFindingInit()
m_bmIter[i] = -1;
}
m_bmStep = 0;
m_bfsQueueBegin = 0;
m_bfsQueueEnd = 0;
for (auto& bucket : m_bfsQueue)
{
bucket.clear();
}
m_bfsQueueMin = 0;
m_bfsQueueCountPushed = 0;
m_bfsQueueCountPopped = 0;
m_bfsQueueCountRepeated = 0;
m_bfsQueueCountSkipped = 0;
}
// Calculates points and passes to go from start to goal.
@ -1709,7 +1716,7 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
// Relative postion and distance to neighbors.
static const int dXs[8] = {-1, 0, 1, -1, 1, -1, 0, 1};
static const int dYs[8] = {-1, -1, -1, 0, 0, 1, 1, 1};
// static const float dDist[8] = {M_SQRT2, 1.0f, M_SQRT2, 1.0f, 1.0f, M_SQRT2, 1.0f, M_SQRT2};
// These are the costs of the edges. They must be less than the number of buckets in the queue.
static const int32_t dDist[8] = {7, 5, 7, 5, 5, 7, 5, 7};
const int startX = static_cast<int>((start.x+1600.0f)/BM_DIM_STEP);
@ -1717,7 +1724,7 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
const int goalX = static_cast<int>((goal.x+1600.0f)/BM_DIM_STEP);
const int goalY = static_cast<int>((goal.z+1600.0f)/BM_DIM_STEP);
if (m_bfsQueueEnd == 0) // New search
if (m_bfsQueueCountPushed == 0) // New search
{
if (startX == goalX && startY == goalY)
{
@ -1731,8 +1738,9 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
goalY >= 0 && goalY < m_bmSize )
{
const int indexInMap = goalY * m_bmSize + goalX;
m_bfsDistances[indexInMap] = 0.0;
m_bfsQueue[m_bfsQueueEnd++] = indexInMap;
m_bfsDistances[indexInMap] = 0;
m_bfsQueue[0].push_back(indexInMap);
m_bfsQueueCountPushed += 1;
BitmapSetDot(1, goalX, goalY); // Mark as enqueued
}
@ -1754,8 +1762,9 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
!BitmapTestDot(1, x, y))
{
const int indexInMap = y * m_bmSize + x;
m_bfsDistances[indexInMap] = 0.0;
m_bfsQueue[m_bfsQueueEnd++] = indexInMap;
m_bfsDistances[indexInMap] = 0;
m_bfsQueue[0].push_back(indexInMap);
m_bfsQueueCountPushed += 1;
BitmapSetDot(1, x, y); // Mark as enqueued
}
}
@ -1765,13 +1774,30 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
m_bmIterCounter = 0;
while (m_bfsQueueBegin != m_bfsQueueEnd)
while (m_bfsQueueCountPushed != m_bfsQueueCountPopped)
{
// Pop a node from the queue
const uint32_t indexInMap = m_bfsQueue[m_bfsQueueBegin++];
while (m_bfsQueue[m_bfsQueueMin % 8].empty())
{
m_bfsQueueMin += 1;
}
auto& bucket = m_bfsQueue[m_bfsQueueMin % 8];
const uint32_t indexInMap = bucket.back();
bucket.pop_back();
m_bfsQueueCountPopped += 1;
const int32_t distance = m_bfsDistances[indexInMap];
if (distance != m_bfsQueueMin)
{
m_bfsQueueCountSkipped += 1;
GetLogger()->Debug("Skipping node with mismatched distance, distance: %d, m_bfsQueueMin: %d\n",
distance, m_bfsQueueMin);
continue;
}
const int x = indexInMap % m_bmSize;
const int y = indexInMap / m_bmSize;
const int32_t distance = m_bfsDistances[indexInMap];
if (x == startX && y == startY)
{
@ -1800,7 +1826,7 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
}
if (bestX == -1)
{
GetLogger()->Error("Failed to find node parent\n");
GetLogger()->Debug("Failed to find node parent\n");
return ERR_GOTO_ITER;
}
btX = bestX;
@ -1820,7 +1846,15 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
}
// std::reverse(m_bmPoints, m_bmPoints + m_bmTotal);
GetLogger()->Info("Found path to goal with %d nodes\n", m_bmTotal + 1);
GetLogger()->Debug("Found path to goal with %d nodes\n", m_bmTotal + 1);
GetLogger()->Debug("m_bmStep: %d\n", m_bmStep);
GetLogger()->Debug("m_bfsQueueMin: %d mod 8 = %d\n", m_bfsQueueMin, m_bfsQueueMin % 8);
GetLogger()->Debug("m_bfsQueueCountPushed: %d\n", m_bfsQueueCountPushed);
GetLogger()->Debug("m_bfsQueueCountPopped: %d\n", m_bfsQueueCountPopped);
GetLogger()->Debug("m_bfsQueueCountRepeated: %d\n", m_bfsQueueCountRepeated);
GetLogger()->Debug("m_bfsQueueCountSkipped: %d\n", m_bfsQueueCountSkipped);
GetLogger()->Debug("m_bfsQueue sizes:\n 0: %lu\n 1: %lu\n 2: %lu\n 3: %lu\n 4: %lu\n 5: %lu\n 6: %lu\n 7: %lu\n",
m_bfsQueue[0].size(), m_bfsQueue[1].size(), m_bfsQueue[2].size(), m_bfsQueue[3].size(), m_bfsQueue[4].size(), m_bfsQueue[5].size(), m_bfsQueue[6].size(), m_bfsQueue[7].size());
return ERR_OK;
}
@ -1831,28 +1865,26 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
const int nY = y + dYs[i];
if (BitmapTestDotIsVisitable(nX, nY))
{
const int neighborIndexInMap = nY * m_bmSize + nX;
const int32_t newDistance = distance + dDist[i];
if (BitmapTestDot(1, nX, nY))
{
// We have seen this node before.
// Update distance without adding it to the queue.
const int neighborIndexInMap = nY * m_bmSize + nX;
m_bfsDistances[neighborIndexInMap] = std::min(
m_bfsDistances[neighborIndexInMap],
distance + dDist[i]);
}
else
{
// Enqueue this neighbor
const int neighborIndexInMap = nY * m_bmSize + nX;
m_bfsDistances[neighborIndexInMap] = distance + dDist[i];
m_bfsQueue[m_bfsQueueEnd++] = neighborIndexInMap;
BitmapSetDot(1, nX, nY); // Mark as enqueued
if (m_bfsQueueEnd > m_bmSize * m_bmSize)
// Only enqueue previously seen nodes if this is a shorter path.
if (newDistance < m_bfsDistances[neighborIndexInMap])
{
GetLogger()->Error("Queue is full\n");
return ERR_GOTO_ITER;
m_bfsQueueCountRepeated += 1;
}
else
{
continue;
}
}
// Enqueue this neighbor
m_bfsDistances[neighborIndexInMap] = newDistance;
m_bfsQueue[newDistance % 8].push_back(neighborIndexInMap);
m_bfsQueueCountPushed += 1;
BitmapSetDot(1, nX, nY); // Mark as enqueued
}
}
@ -2140,7 +2172,10 @@ bool CTaskGoto::BitmapOpen()
if (m_bmArray.get() == nullptr) m_bmArray = MakeUniqueArray<unsigned char>(m_bmSize*m_bmSize/8*2);
memset(m_bmArray.get(), 0, m_bmSize*m_bmSize/8*2);
if (m_bfsDistances.get() == nullptr) m_bfsDistances = MakeUniqueArray<int32_t>(m_bmSize*m_bmSize);
if (m_bfsQueue.get() == nullptr) m_bfsQueue = MakeUniqueArray<uint32_t>(m_bmSize*m_bmSize);
for (auto& bucket : m_bfsQueue)
{
bucket.reserve(256);
}
m_bmChanged = true;
m_bmOffset = m_bmSize/2;

11
src/object/task/taskgoto.h
View File

@ -23,7 +23,9 @@
#include "math/vector.h"
#include <array>
#include <memory>
#include <vector>
namespace Math
{
@ -142,9 +144,12 @@ protected:
int m_bmLine = 0; // increment line m_bmSize/8
std::unique_ptr<unsigned char[]> m_bmArray; // Bit table
std::unique_ptr<int32_t[]> m_bfsDistances; // Distances to the goal for breadth-first search.
std::unique_ptr<uint32_t[]> m_bfsQueue; // Nodes in the queue. Stored as indices.
int m_bfsQueueBegin = 0; // Front of the queue. This is the next node to be expanded.
int m_bfsQueueEnd = 0; // Back of the queue. This is where nodes are inserted.
std::array<std::vector<uint32_t>, 8> m_bfsQueue; // Priority queue with indices to nodes. Nodes are sorted into buckets.
int m_bfsQueueMin = 0; // Front of the queue. This value mod 8 is the index to the bucket with the next node to be expanded.
int m_bfsQueueCountPushed = 0; // Number of nodes inserted into the queue.
int m_bfsQueueCountPopped = 0; // Number of nodes extacted from the queue.
int m_bfsQueueCountRepeated = 0; // Number of nodes re-inserted into the queue.
int m_bfsQueueCountSkipped = 0; // Number of nodes skipped because of unexpected distance (likely re-added).
int m_bmMinX = 0, m_bmMinY = 0;
int m_bmMaxX = 0, m_bmMaxY = 0;
int m_bmTotal = 0; // index of final point in m_bmPoints