ref: 596459dd77e5c3e66a57be31e711a58624024881
dir: /jpsb.c/
#include <u.h>
#include <libc.h>
#include <draw.h>
#include "dat.h"
#include "fns.h"
/* jump point search with block-based symmetry breaking (JPS(B): 2014, harabor and
* grastien), using pairing heaps for priority queues and a bitmap representing the
* entire map.
* no preprocessing since we'd have to repair the database each time anything moves,
* which is a pain.
* no pruning of intermediate nodes (JPS(B+P)) as of yet, until other options are
* assessed.
* the pruning rules adhere to (2012, harabor and grastien) to disallow corner cutting
* in diagonal movement, and movement code elsewhere reflects that.
* if there is no path to the target, the unit still has to move to the nearest
* accessible node. if there is such a node, we first attempt to find a nearer
* non-jump point in a cardinal direction, and if successful, the point is added at
* the end of the path. unlike plain a∗, we cannot rely on the path backtracked from
* the nearest node, since it is no longer guaranteed to be optimal, and will in fact
* go all over the place. unless jump points can be connected to all other visible
* jump points so as to perform a search on this reduced graph without rediscovering
* the map, we're forced to re-do pathfinding to this nearest node. the search should
* be much quicker since this new node is accessible.
* pathfinding is not limited to an area, so entire map may be scanned, which is too
* slow. simple approaches don't seem to work well, it would perhaps be better to
* only consider a sub-grid of the map, but the data structures currently used do not
* allow it. since the pathfinding algorithm will probably change, the current
* implementation disregards the issue.
* pathfinding is limited by number of moves (the cost function). this prevents the
* search to look at the entire map, but also means potentially non-optimal paths and
* more pathfinding when crossing the boundaries.
* since units are bigger than the pathfinding grid, the grid is "compressed" when
* scanned by using a sliding window the size of the unit, so the rest of the algorithm
* still operates on 3x3 neighbor grids, with each bit checking as many nodes as needed
* for impassibility. such an approach has apparently not been discussed in regards
* to JPS(B), possibly since JPS(B) is a particular optimization of the original
* algorithm and this snag may rarely be hit in practice.
* map dimensions are assumed to be multiples of 16 tiles.
* the code is currently horrendously ugly, though short, and ultimately wrong.
* movement should occur at any angle (rather than in 8 directions) and unit sizes
* do not have a common denominator higher than 1 pixel. */
enum{
θ∅ = 0,
θN,
θE,
θS,
θW,
θNE,
θSE,
θSW,
θNW,
};
/* FIXME: horrendous. use fucking tables you moron */
static Node *
jumpeast(int x, int y, int w, int h, Node *b, int *ofs, int left, int rot)
{
int nbits, steps, stop, end, *u, *v, ss, Δu, Δug, Δug2, Δvg;
u64int bs, *row;
Node *n;
if(rot){
u = &y;
v = &x;
Δug = b->y - y;
Δvg = b->x - x;
}else{
u = &x;
v = &y;
Δug = b->x - x;
Δvg = b->y - y;
}
steps = 0;
nbits = 64 - w + 1;
ss = left ? -1 : 1;
(*v)--;
for(;;){
row = bload(Pt(x, y), Pt(w, h), Pt(0, 2), left, rot);
bs = row[1];
if(left){
bs |= row[0] << 1 & ~row[0];
bs |= row[2] << 1 & ~row[2];
}else{
bs |= row[0] >> 1 & ~row[0];
bs |= row[2] >> 1 & ~row[2];
}
if(bs)
break;
(*u) += ss * nbits;
steps += nbits;
}
if(left){
stop = lsb(bs);
Δu = stop;
}else{
stop = msb(bs);
Δu = 63 - stop;
}
end = (row[1] & 1ULL << stop) != 0;
(*u) += ss * Δu;
(*v)++;
steps += Δu;
Δug2 = rot ? b->y - y : b->x - x;
if(ofs != nil)
*ofs = steps;
if(end && Δug2 == 0)
return nil;
if(Δvg == 0 && (Δug == 0 || (Δug < 0) ^ (Δug2 < 0))){
b->Δg = steps - abs(Δug2);
b->Δlen = b->Δg;
return b;
}
if(end)
return nil;
assert(x < mapwidth && y < mapheight);
n = map + y * mapwidth + x;
n->x = x;
n->y = y;
n->Δg = steps;
n->Δlen = steps;
return n;
}
static Node *
jumpdiag(int x, int y, int w, int h, Node *b, int dir)
{
int left1, ofs1, left2, ofs2, Δx, Δy, steps;
Node *n;
steps = 0;
left1 = left2 = Δx = Δy = 0;
switch(dir){
case θNE: left1 = 1; left2 = 0; Δx = 1; Δy = -1; break;
case θSW: left1 = 0; left2 = 1; Δx = -1; Δy = 1; break;
case θNW: left1 = 1; left2 = 1; Δx = -1; Δy = -1; break;
case θSE: left1 = 0; left2 = 0; Δx = 1; Δy = 1; break;
}
for(;;){
steps++;
x += Δx;
y += Δy;
if(*bload(Pt(x, y), Pt(w, h), ZP, 0, 0) & 1ULL << 63)
return nil;
if(jumpeast(x, y, w, h, b, &ofs1, left1, 1) != nil
|| jumpeast(x, y, w, h, b, &ofs2, left2, 0) != nil)
break;
if(ofs1 == 0 || ofs2 == 0)
return nil;
}
assert(x < mapwidth && y < mapheight);
n = map + y * mapwidth + x;
n->x = x;
n->y = y;
n->Δg = steps;
n->Δlen = steps * SQRT2;
return n;
}
static Node *
jump(int x, int y, int w, int h, Node *b, int dir)
{
Node *n;
switch(dir){
case θE: n = jumpeast(x, y, w, h, b, nil, 0, 0); break;
case θW: n = jumpeast(x, y, w, h, b, nil, 1, 0); break;
case θS: n = jumpeast(x, y, w, h, b, nil, 0, 1); break;
case θN: n = jumpeast(x, y, w, h, b, nil, 1, 1); break;
default: n = jumpdiag(x, y, w, h, b, dir); break;
}
return n;
}
/* 2012, harabor and grastien: disabling corner cutting implies that only moves in
* a cardinal direction may produce forced neighbors */
static int
forced(int n, int dir)
{
int m;
m = 0;
switch(dir){
case θN:
if((n & (1<<8 | 1<<5)) == 1<<8) m |= 1<<5 | 1<<2;
if((n & (1<<6 | 1<<3)) == 1<<6) m |= 1<<3 | 1<<0;
break;
case θE:
if((n & (1<<2 | 1<<1)) == 1<<2) m |= 1<<1 | 1<<0;
if((n & (1<<8 | 1<<7)) == 1<<8) m |= 1<<7 | 1<<6;
break;
case θS:
if((n & (1<<2 | 1<<5)) == 1<<2) m |= 1<<5 | 1<<8;
if((n & (1<<0 | 1<<3)) == 1<<0) m |= 1<<3 | 1<<6;
break;
case θW:
if((n & (1<<0 | 1<<1)) == 1<<0) m |= 1<<1 | 1<<2;
if((n & (1<<6 | 1<<7)) == 1<<6) m |= 1<<7 | 1<<8;
break;
}
return m;
}
static int
natural(int n, int dir)
{
int m;
switch(dir){
/* disallow corner coasting on the very first move */
default:
if((n & (1<<1 | 1<<3)) != 0)
n |= 1<<0;
if((n & (1<<7 | 1<<3)) != 0)
n |= 1<<6;
if((n & (1<<7 | 1<<5)) != 0)
n |= 1<<8;
if((n & (1<<1 | 1<<5)) != 0)
n |= 1<<2;
return n;
case θN: return n | ~(1<<1);
case θE: return n | ~(1<<3);
case θS: return n | ~(1<<7);
case θW: return n | ~(1<<5);
case θNE: m = 1<<1 | 1<<3; return (n & m) == 0 ? n | ~(1<<0 | m) : n | 1<<0;
case θSE: m = 1<<7 | 1<<3; return (n & m) == 0 ? n | ~(1<<6 | m) : n | 1<<6;
case θSW: m = 1<<7 | 1<<5; return (n & m) == 0 ? n | ~(1<<8 | m) : n | 1<<8;
case θNW: m = 1<<1 | 1<<5; return (n & m) == 0 ? n | ~(1<<2 | m) : n | 1<<2;
}
}
static int
prune(int n, int dir)
{
return natural(n, dir) & ~forced(n, dir);
}
static int
neighbors(int x, int y, int w, int h)
{
u64int *row;
row = bload(Pt(x-1,y-1), Pt(w,h), Pt(2,2), 1, 0);
return (row[2] & 7) << 6 | (row[1] & 7) << 3 | row[0] & 7;
}
/* FIXME: this is super broken (see notes + sshots) */
Node **
jpsbsuccessors(Mobj *mo, Node *n, Node *goal)
{
static Node *dir[8+1];
static dtab[2*(nelem(dir)-1)]={
1<<1, θN, 1<<3, θE, 1<<7, θS, 1<<5, θW,
1<<0, θNE, 1<<6, θSE, 1<<8, θSW, 1<<2, θNW
};
int i, ns;
Node *s, **p;
ns = neighbors(n->x, n->y, mo->o->w, mo->o->h);
ns = prune(ns, n->dir);
memset(dir, 0, sizeof dir);
for(i=0, p=dir; i<nelem(dtab); i+=2){
if(ns & dtab[i])
continue;
if((s = jump(n->x, n->y, mo->o->w, mo->o->h, goal, dtab[i+1])) != nil){
s->dir = dtab[i+1];
*p++ = s;
}
}
return dir;
}
/* FIXME: clean all this garbage out once map reimplemented */
static Node *nearest;
static Node **
nearestsuccessors(Mobj *mo, Node *n, Node *goal)
{
static Node *dir[8+1];
static dtab[2*(nelem(dir)-1)]={
-1,-1, 0,-1, 1,-1,
-1,0, 1,0,
-1,1, 0,1, 1,1,
};
int i;
double d;
Node *s, **p;
d = octdist(nearest->Point, goal->Point);
memset(dir, 0, sizeof dir);
for(i=0, p=dir; i<nelem(dtab); i+=2){
s = n + dtab[i+1] * mapwidth + dtab[i];
if(s >= map && s < map + mapwidth * mapheight){
s->Point = addpt(n->Point, Pt(dtab[i], dtab[i+1]));
if(octdist(s->Point, goal->Point) > d || isblocked(s->Point, mo->o))
continue;
s->Δg = 1;
s->Δlen = dtab[i] != 0 && dtab[i+1] != 0 ? SQRT2 : 1;
// UGHHHHh
s->x = (s - map) % mapwidth;
s->y = (s - map) / mapwidth;
*p++ = s;
}
}
return dir;
}
Node *
jpsbnearestnonjump(Mobj *mo, Node *nearestjump, Node *goal)
{
nearest = nearestjump;
return a∗(mo, nearestjump, goal, nearestsuccessors);
}