Implement FollowEntityAI strategy | Discard other passage abilities than BLOCK and ALLOW

api/src/main/java/com/bartlomiejpluta/base/api/game/ai/FollowEntityAI.java

@@ -8,27 +8,42 @@ import com.bartlomiejpluta.base.api.util.pathfinding.PathFinder;
 import org.joml.Vector2i;
 
 public class FollowEntityAI implements AI {
+   private static final float recalculateInterval = 0.5f;
+
    private final NPC npc;
    private final Entity target;
-   private final PathFinder pathFinder = new AstarPathFinder();
+   private final PathFinder pathFinder = new AstarPathFinder(100);
 
-   public FollowEntityAI(NPC npc, Entity target) {
+   private final int range;
+   private float accumulator = 0.0f;
+
+   public FollowEntityAI(NPC npc, Entity target, int range) {
       this.npc = npc;
+      this.range = range;
       this.target = target;
    }
 
    @Override
    public void nextActivity(ObjectLayer layer, float dt) {
-      if (!npc.isMoving() && npc.manhattanDistance(target) > 1) {
+      var distance = npc.manhattanDistance(target);
-         var path = pathFinder.findPath(layer, npc.getCoordinates(), target.getCoordinates(), 30);
+
+      if (!npc.isMoving() && distance > 1 && distance < range && accumulator >= recalculateInterval) {
+         var path = pathFinder.findPath(layer, npc.getCoordinates(), target.getCoordinates());
 
          if (!path.isEmpty()) {
+            accumulator = recalculateInterval;
+
             var node = new Vector2i(path.getLast()).sub(npc.getCoordinates());
             var direction = Direction.ofVector(node);
             var movement = npc.prepareMovement(direction);
             layer.pushMovement(movement);
+         } else {
+            accumulator = 0.0f;
          }
+
       }
+
+      accumulator += dt;
    }
 }
 

api/src/main/java/com/bartlomiejpluta/base/api/game/ai/FollowPathAI.java

@@ -82,7 +82,7 @@ public class FollowPathAI implements AI {
       public boolean perform(NPC npc, ObjectLayer layer, float dt) {
          Movement movement = npc.prepareMovement(direction);
 
-         if (ignore || layer.isMovementPossible(movement)) {
+         if (ignore || layer.isTileReachable(movement.getTo())) {
             layer.pushMovement(movement);
             return true;
          }

api/src/main/java/com/bartlomiejpluta/base/api/game/map/layer/object/ObjectLayer.java

@@ -4,6 +4,7 @@ import com.bartlomiejpluta.base.api.game.entity.Entity;
 import com.bartlomiejpluta.base.api.game.entity.Movement;
 import com.bartlomiejpluta.base.api.game.map.layer.base.Layer;
 import com.bartlomiejpluta.base.api.game.rule.Rule;
+import org.joml.Vector2i;
 
 import java.util.List;
 
@@ -26,7 +27,7 @@ public interface ObjectLayer extends Layer {
 
    PassageAbility[][] getPassageMap();
 
-   boolean isMovementPossible(Movement movement);
+   boolean isTileReachable(Vector2i tileCoordinates);
 
    void pushMovement(Movement movement);
 }

api/src/main/java/com/bartlomiejpluta/base/api/util/pathfinding/AstarPathFinder.java

@@ -4,6 +4,7 @@ import com.bartlomiejpluta.base.api.game.map.layer.object.ObjectLayer;
 import com.bartlomiejpluta.base.api.game.map.layer.object.PassageAbility;
 import org.joml.Vector2i;
 
+import java.util.HashSet;
 import java.util.LinkedList;
 import java.util.Objects;
 import java.util.PriorityQueue;
@@ -30,8 +31,14 @@ public class AstarPathFinder implements PathFinder {
          new Vector2i(0, 1)
    };
 
+   private final int maxNodes;
+
+   public AstarPathFinder(int maxNodes) {
+      this.maxNodes = maxNodes;
+   }
+
    @Override
-   public LinkedList<Vector2i> findPath(ObjectLayer layer, Vector2i start, Vector2i end, int range) {
+   public LinkedList<Vector2i> findPath(ObjectLayer layer, Vector2i start, Vector2i end) {
       var columns = layer.getMap().getColumns();
       var rows = layer.getMap().getRows();
 
@@ -47,12 +54,20 @@ public class AstarPathFinder implements PathFinder {
 
       // We are starting with one open node (the start one) end empty closed lists
       var open = new PriorityQueue<Node>();
-      var closed = new LinkedList<Node>();
+      var closed = new HashSet<Node>();
       open.add(startNode);
 
       // As long as there are at least one open node
       while (!open.isEmpty()) {
 
+         // A safety valve which ideally should be used only and only
+         // if the target is not reachable (the path does not exist at all).
+         // It determines the maximum algorithm depth
+         // It's not the part of model A* algorithm.
+         if (closed.size() > maxNodes) {
+            return new LinkedList<>();
+         }
+
          // We are retrieving the node with the **smallest** f score
          // (That's the way the Astar.compare() comparator works)
          // And the same time we are removing the node from open list
@@ -81,9 +96,9 @@ public class AstarPathFinder implements PathFinder {
             // We are limiting the algorithm to given range
             // If current neighbour distance to start node exceeds given range parameter
             // we are getting rid of this neighbour
-            if (manhattanDistance(startNode.position, position) > range) {
+            //if (manhattanDistance(startNode.position, position) > range) {
-               continue;
+            //   continue;
-            }
+            //}
 
             // Define new neighbour
             var neighbour = new Node(position);
@@ -97,7 +112,18 @@ public class AstarPathFinder implements PathFinder {
             }
 
             // Get rid of nodes that are not reachable (blocked or something is staying on there)
-            var reachable = layer.getPassageMap()[position.y][position.x] == PassageAbility.ALLOW;
+            //
+            // ASSUME, that the end tile **always is** reachable, even if actually it is not.
+            // That means, if you want to have empty list if target actually is not reachable,
+            // you need to implement that condition by yourself.
+            // The reason for that is the fact, that when ObjectLayer is checking if
+            // the current tile is reachable via isTileReachable() method.
+            // If the target position is actually an entity which is blocking (does not allow other entities pass
+            // through it), the method rejects the end tile as reachable (because de facto it is not reachable since
+            // it is blocking) and eventually the path is assumed as not existing.
+            // It may not be consistent with a A* model implementation, however it is required to adapt
+            // the algorithm for the BASE project purpose.
+            var reachable = layer.isTileReachable(position) || position.equals(end);
             if (!reachable) {
                continue;
             }
@@ -158,12 +184,12 @@ public class AstarPathFinder implements PathFinder {
 
             for (Vector2i node : nodes) {
                if (node.equals(column, row)) {
-                  System.out.print("#");
+                  System.out.print(" # ");
                   continue tiles;
                }
             }
 
-            System.out.print(layer.getPassageMap()[row][column] == PassageAbility.ALLOW ? " " : ".");
+            System.out.print(layer.getPassageMap()[row][column] == PassageAbility.ALLOW ? "   " : " . ");
          }
 
          System.out.println("|");

api/src/main/java/com/bartlomiejpluta/base/api/util/pathfinding/PathFinder.java

@@ -6,5 +6,5 @@ import org.joml.Vector2i;
 import java.util.LinkedList;
 
 public interface PathFinder {
-   LinkedList<Vector2i> findPath(ObjectLayer layer, Vector2i start, Vector2i end, int range);
+   LinkedList<Vector2i> findPath(ObjectLayer layer, Vector2i start, Vector2i end);
 }

engine/src/main/java/com/bartlomiejpluta/base/engine/world/map/layer/object/DefaultObjectLayer.java

@@ -2,7 +2,6 @@ package com.bartlomiejpluta.base.engine.world.map.layer.object;
 
 import com.bartlomiejpluta.base.api.game.ai.NPC;
 import com.bartlomiejpluta.base.api.game.camera.Camera;
-import com.bartlomiejpluta.base.api.game.entity.Direction;
 import com.bartlomiejpluta.base.api.game.entity.Entity;
 import com.bartlomiejpluta.base.api.game.entity.Movement;
 import com.bartlomiejpluta.base.api.game.map.layer.object.ObjectLayer;
@@ -14,6 +13,7 @@ import com.bartlomiejpluta.base.api.internal.render.ShaderManager;
 import lombok.Getter;
 import lombok.NonNull;
 import org.joml.Vector2f;
+import org.joml.Vector2i;
 
 import java.util.ArrayList;
 import java.util.LinkedList;
@@ -86,51 +86,35 @@ public class DefaultObjectLayer implements ObjectLayer {
    }
 
    @Override
-   public boolean isMovementPossible(Movement movement) {
+   public boolean isTileReachable(Vector2i tileCoordinates) {
-      var target = movement.getTo();
-
       // Is trying to go beyond the map
-      if (target.x < 0 || target.y < 0 || target.x >= columns || target.y >= rows) {
+      if (tileCoordinates.x < 0 || tileCoordinates.y < 0 || tileCoordinates.x >= columns || tileCoordinates.y >= rows) {
          return false;
       }
 
-      var source = movement.getFrom();
+      if (passageMap[tileCoordinates.y][tileCoordinates.x] != PassageAbility.ALLOW) {
-      var direction = movement.getDirection();
+         return false;
+      }
 
-      var isTargetReachable = switch (passageMap[target.y][target.x]) {
-         case UP_ONLY -> direction != Direction.DOWN;
-         case DOWN_ONLY -> direction != Direction.UP;
-         case LEFT_ONLY -> direction != Direction.RIGHT;
-         case RIGHT_ONLY -> direction != Direction.LEFT;
-         case BLOCK -> false;
-         case ALLOW -> true;
-      };
-
-      var canMoveFromCurrentTile = switch (passageMap[source.y][source.x]) {
-         case UP_ONLY -> direction == Direction.UP;
-         case DOWN_ONLY -> direction == Direction.DOWN;
-         case LEFT_ONLY -> direction == Direction.LEFT;
-         case RIGHT_ONLY -> direction == Direction.RIGHT;
-         default -> true;
-      };
 
       for (var entity : entities) {
          if (entity.isBlocking()) {
 
             // The tile is occupied by other entity
-            if (entity.getCoordinates().equals(target)) {
+            if (entity.getCoordinates().equals(tileCoordinates)) {
                return false;
             }
 
             // The tile is empty, however another entity is moving on it
             var otherMovement = entity.getMovement();
-            if (otherMovement != null && otherMovement.getTo().equals(target)) {
+            if (otherMovement != null && otherMovement.getTo().equals(tileCoordinates)) {
                return false;
             }
          }
       }
 
-      return isTargetReachable && canMoveFromCurrentTile;
+
+      return true;
    }
 
    @Override
@@ -143,7 +127,7 @@ public class DefaultObjectLayer implements ObjectLayer {
       for (var iterator = movements.iterator(); iterator.hasNext(); ) {
          var movement = iterator.next();
 
-         if (isMovementPossible(movement)) {
+         if (isTileReachable(movement.getTo())) {
             movement.perform();
          }