macro pathfinding scaffolding

docs/src/progress/renderertodo.md

@@ -2084,6 +2084,7 @@ Remove potential collision engine footgun
 Synchronized time-of-day between server and client
 Skybox reflects time of day
 Standardize data sourcing in MacroTemporalData
+Macro pathfinding scaffolding
 
 
 

src/main/java/electrosphere/server/ai/blackboard/BlackboardKeys.java

@@ -45,6 +45,11 @@ public class BlackboardKeys {
      */
     public static final String BUILDING_MATERIAL_CURRENT = "buildingMaterialCurrent";
 
+    /**
+     * The macro object that is being targeted
+     */
+    public static final String MACRO_TARGET = "macroTarget";
+
     /**
      * The type of item to try to acquire
      */

src/main/java/electrosphere/server/ai/nodes/checks/spatial/TargetRangeCheckNode.java

@@ -6,7 +6,7 @@ import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
 import electrosphere.server.ai.blackboard.Blackboard;
 import electrosphere.server.ai.nodes.AITreeNode;
-import electrosphere.server.macro.structure.VirtualStructure;
+import electrosphere.server.macro.spatial.MacroObject;
 
 /**
  * Checks if the target is inside a given range of the entity
@@ -44,8 +44,8 @@ public class TargetRangeCheckNode implements AITreeNode {
             targetPos = (Vector3d)targetRaw;
         } else if(targetRaw instanceof Entity){
             targetPos = EntityUtils.getPosition((Entity)targetRaw);
-        } else if(targetRaw instanceof VirtualStructure){
-            targetPos = ((VirtualStructure)targetRaw).getPos();
+        } else if(targetRaw instanceof MacroObject macroObject){
+            targetPos = macroObject.getPos();
         } else {
             throw new Error("Unsupported target type " + targetRaw);
         }

src/main/java/electrosphere/server/ai/nodes/macro/MacroCharacterGoalNode.java

@@ -12,6 +12,8 @@ import electrosphere.server.ai.nodes.checks.spatial.BeginStructureNode;
 import electrosphere.server.macro.character.Character;
 import electrosphere.server.macro.character.goal.CharacterGoal;
 import electrosphere.server.macro.character.goal.CharacterGoal.CharacterGoalType;
+import electrosphere.server.macro.region.MacroRegion;
+import electrosphere.server.macro.spatial.MacroObject;
 import electrosphere.server.macro.structure.VirtualStructure;
 
 /**
@@ -84,6 +86,13 @@ public class MacroCharacterGoalNode implements AITreeNode {
                 }
                 blackboard.put(BlackboardKeys.GOAL_ITEM_ACQUISITION_TARGET, targetRaw);
             } break;
+            case MOVE_TO_MACRO_STRUCT: {
+                Object targetRaw = goal.getTarget();
+                if(!(targetRaw instanceof VirtualStructure) && !(targetRaw instanceof MacroRegion)){
+                    throw new Error("Unsupported type! " + targetRaw);
+                }
+                MacroCharacterGoalNode.setMacroTarget(blackboard, (MacroObject)goal.getTarget());
+            } break;
         }
         if(type == goal.getType()){
             return AITreeNodeResult.SUCCESS;
@@ -91,4 +100,30 @@ public class MacroCharacterGoalNode implements AITreeNode {
         return AITreeNodeResult.FAILURE;
     }
 
+    /**
+     * Sets the macro object target for the entity
+     * @param blackboard The blackboard
+     * @param object The macro object to target
+     */
+    public static void setMacroTarget(Blackboard blackboard, MacroObject object){
+        blackboard.put(BlackboardKeys.MACRO_TARGET, object);
+    }
+
+    /**
+     * Checks if the blackboard has a object target
+     * @param blackboard The blackboard
+     */
+    public static boolean hasMacroTarget(Blackboard blackboard){
+        return blackboard.has(BlackboardKeys.MACRO_TARGET);
+    }
+
+    /**
+     * Gets the object target in the blackboard
+     * @param blackboard The blackboard
+     * @return The object if it exists, null otherwise
+     */
+    public static MacroObject getMacroTarget(Blackboard blackboard){
+        return (MacroObject)blackboard.get(BlackboardKeys.MACRO_TARGET);
+    }
+
 }

src/main/java/electrosphere/server/ai/nodes/plan/MacroPathfindingNode.java

@@ -0,0 +1,155 @@
+package electrosphere.server.ai.nodes.plan;
+
+import org.joml.Vector3d;
+
+import electrosphere.engine.Globals;
+import electrosphere.entity.Entity;
+import electrosphere.entity.EntityUtils;
+import electrosphere.server.ai.AI;
+import electrosphere.server.ai.blackboard.Blackboard;
+import electrosphere.server.ai.nodes.AITreeNode;
+import electrosphere.server.datacell.Realm;
+import electrosphere.server.datacell.interfaces.PathfindingManager;
+import electrosphere.server.macro.spatial.path.MacroPathNode;
+import electrosphere.server.macro.structure.VirtualStructure;
+import electrosphere.server.pathfinding.recast.PathingProgressiveData;
+
+/**
+ * A node that uses macro pathfinding structures to accelerate calculating the pathfinding 
+ */
+public class MacroPathfindingNode implements AITreeNode {
+
+
+    /**
+     * The value used to check if the entity is close to a pathing point horizontally
+     */
+    public static final double CLOSENESS_CHECK_BOUND_HORIZONTAL = 0.3f;
+
+    /**
+     * The value used to check if the entity is close to a pathing point vertically
+     */
+    public static final double CLOSENESS_CHECK_BOUND_VERTICAL = 0.7f;
+
+    /**
+     * The blackboard key to lookup the target entity under
+     */
+    private String targetEntityKey;
+
+    /**
+     * 
+     * @param targetEntityKey
+     */
+    public static PathfindingNode createPathEntity(String targetEntityKey){
+        PathfindingNode rVal = new PathfindingNode();
+        rVal.targetEntityKey = targetEntityKey;
+        return rVal;
+    }
+
+
+    @Override
+    public AITreeNodeResult evaluate(Entity entity, Blackboard blackboard){
+        //make sure that the solved pathfinding data is for the point we want
+        if(PathfindingNode.hasPathfindingData(blackboard)){
+            PathingProgressiveData pathingProgressiveData = PathfindingNode.getPathfindingData(blackboard);
+            Vector3d actualPoint = pathingProgressiveData.getGoal();
+            Object targetRaw = blackboard.get(this.targetEntityKey);
+            Vector3d targetPos = null;
+            if(targetRaw == null){
+                throw new Error("Target undefined!");
+            }
+            if(targetRaw instanceof MacroPathNode macroNode){
+                targetPos = macroNode.getPosition();
+            } else {
+                throw new Error("Unsupported target type " + targetRaw);
+            }
+            if(actualPoint.distance(targetPos) > CLOSENESS_CHECK_BOUND_HORIZONTAL){
+                PathfindingNode.clearPathfindingData(blackboard);
+                PathfindingNode.clearPathfindingPoint(blackboard);
+            }
+        }
+
+        //create a path if we don't already have one
+        if(!PathfindingNode.hasPathfindingData(blackboard)){
+            Object targetRaw = blackboard.get(this.targetEntityKey);
+            Vector3d targetPos = null;
+            if(targetRaw == null){
+                throw new Error("Target undefined!");
+            }
+            if(targetRaw instanceof Vector3d){
+                targetPos = (Vector3d)targetRaw;
+            } else if(targetRaw instanceof Entity){
+                targetPos = EntityUtils.getPosition((Entity)targetRaw);
+            } else if(targetRaw instanceof VirtualStructure){
+                targetPos = ((VirtualStructure)targetRaw).getPos();
+            } else {
+                throw new Error("Unsupported target type " + targetRaw);
+            }
+
+            Realm realm = Globals.serverState.realmManager.getEntityRealm(entity);
+            PathfindingManager pathfindingManager = realm.getPathfindingManager();
+
+            Vector3d entityPos = EntityUtils.getPosition(entity);
+
+            PathingProgressiveData pathingProgressiveData = pathfindingManager.findPathAsync(entityPos, targetPos);
+            PathfindingNode.setPathfindingData(blackboard, pathingProgressiveData);
+        }
+
+        if(!PathfindingNode.hasPathfindingData(blackboard)){
+            throw new Error("Failed to find path! Unhandled");
+        }
+
+        //check if the path has been found
+        PathingProgressiveData pathingProgressiveData = PathfindingNode.getPathfindingData(blackboard);
+        if(!pathingProgressiveData.isReady()){
+            AI.getAI(entity).setStatus("Thinking about pathing");
+            return AITreeNodeResult.RUNNING;
+        }
+
+
+        Vector3d entityPos = EntityUtils.getPosition(entity);
+        
+        Vector3d currentPathPos = null;
+        if(pathingProgressiveData.getCurrentPoint() < pathingProgressiveData.getPoints().size()){
+            currentPathPos = pathingProgressiveData.getPoints().get(pathingProgressiveData.getCurrentPoint());
+        }
+        double vertDist = Math.abs(currentPathPos.y - entityPos.y);
+        double horizontalDist = Math.sqrt((currentPathPos.x - entityPos.x) * (currentPathPos.x - entityPos.x) + (currentPathPos.z - entityPos.z) * (currentPathPos.z - entityPos.z));
+        while(
+            currentPathPos != null &&
+            vertDist < CLOSENESS_CHECK_BOUND_VERTICAL &&
+            horizontalDist < CLOSENESS_CHECK_BOUND_HORIZONTAL &&
+            pathingProgressiveData.getCurrentPoint() < pathingProgressiveData.getPoints().size() - 1
+        ){
+            pathingProgressiveData.setCurrentPoint(pathingProgressiveData.getCurrentPoint() + 1);
+            currentPathPos = pathingProgressiveData.getPoints().get(pathingProgressiveData.getCurrentPoint());
+        }
+
+        //if we're close enough to the final pathing point, always path to actual final point
+        if(
+            vertDist < CLOSENESS_CHECK_BOUND_VERTICAL &&
+            horizontalDist < CLOSENESS_CHECK_BOUND_HORIZONTAL &&
+            pathingProgressiveData.getCurrentPoint() == pathingProgressiveData.getPoints().size() - 1
+        ){
+            Object targetRaw = blackboard.get(this.targetEntityKey);
+            Vector3d targetPos = null;
+            if(targetRaw == null){
+                throw new Error("Target undefined!");
+            }
+            if(targetRaw instanceof Vector3d){
+                targetPos = (Vector3d)targetRaw;
+            } else if(targetRaw instanceof Entity){
+                targetPos = EntityUtils.getPosition((Entity)targetRaw);
+            } else if(targetRaw instanceof VirtualStructure){
+                targetPos = ((VirtualStructure)targetRaw).getPos();
+            } else {
+                throw new Error("Unsupported target type " + targetRaw);
+            }
+            currentPathPos = targetPos;
+        }
+
+        PathfindingNode.setPathfindingPoint(blackboard, currentPathPos);
+
+        return AITreeNodeResult.SUCCESS;
+    }
+
+}

src/main/java/electrosphere/server/ai/trees/character/goals/CharacterGoalTree.java

@@ -11,6 +11,7 @@ import electrosphere.server.ai.nodes.meta.collections.SelectorNode;
 import electrosphere.server.ai.nodes.meta.collections.SequenceNode;
 import electrosphere.server.ai.nodes.meta.debug.PublishStatusNode;
 import electrosphere.server.ai.nodes.meta.decorators.RunnerNode;
+import electrosphere.server.ai.trees.creature.MacroMoveToTree;
 import electrosphere.server.ai.trees.creature.resource.AcquireItemTree;
 import electrosphere.server.ai.trees.struct.BuildStructureTree;
 import electrosphere.server.macro.character.goal.CharacterGoal.CharacterGoalType;
@@ -53,6 +54,13 @@ public class CharacterGoalTree {
                     new PublishStatusNode("Acquire building material"),
                     //try to find building materials
                     AcquireItemTree.create(BlackboardKeys.GOAL_ITEM_ACQUISITION_TARGET)
+                ),
+
+                //character's goal is to move to a macro virtual structure
+                new SequenceNode(
+                    MacroCharacterGoalNode.create(CharacterGoalType.MOVE_TO_MACRO_STRUCT),
+                    new PublishStatusNode("Move to macro structure"),
+                    MacroMoveToTree.create(BlackboardKeys.MACRO_TARGET)
                 )
             )
         );

src/main/java/electrosphere/server/ai/trees/creature/MacroMoveToTree.java

@@ -0,0 +1,69 @@
+package electrosphere.server.ai.trees.creature;
+
+import electrosphere.entity.state.movement.groundmove.ClientGroundMovementTree.MovementRelativeFacing;
+import electrosphere.server.ai.blackboard.BlackboardKeys;
+import electrosphere.server.ai.nodes.AITreeNode;
+import electrosphere.server.ai.nodes.actions.move.FaceTargetNode;
+import electrosphere.server.ai.nodes.actions.move.MoveStartNode;
+import electrosphere.server.ai.nodes.actions.move.MoveStopNode;
+import electrosphere.server.ai.nodes.checks.spatial.TargetRangeCheckNode;
+import electrosphere.server.ai.nodes.meta.DataDeleteNode;
+import electrosphere.server.ai.nodes.meta.collections.SelectorNode;
+import electrosphere.server.ai.nodes.meta.collections.SequenceNode;
+import electrosphere.server.ai.nodes.meta.decorators.RunnerNode;
+import electrosphere.server.ai.nodes.meta.decorators.SucceederNode;
+import electrosphere.server.ai.nodes.plan.PathfindingNode;
+
+/**
+ * Tree that moves an entity to a macro structure
+ */
+public class MacroMoveToTree {
+
+    /**
+     * Name of the tree
+     */
+    public static final String TREE_NAME = "MacroMoveTo";
+
+    /**
+     * Default distance to be within
+     */
+    static final double DEFAULT_DIST = 0.5f;
+
+    /**
+     * Creates a move-to-target tree
+     * @param targetKey The key to lookup the target under
+     * @return The root node of the move-to-target tree
+     */
+    public static AITreeNode create(String targetKey){
+        return MacroMoveToTree.create(DEFAULT_DIST, targetKey);
+    }
+
+    /**
+     * Creates a move-to-target tree
+     * @param dist The target distance to be within
+     * @param targetKey The key to lookup the target under
+     * @return The root node of the move-to-target tree
+     */
+    public static AITreeNode create(double dist, String targetKey){
+        if(dist < PathfindingNode.CLOSENESS_CHECK_BOUND_HORIZONTAL){
+            throw new Error("Dist less than minimal amount! " + dist);
+        }
+        return new SelectorNode(
+            new SequenceNode(
+                //check if in range of target
+                new TargetRangeCheckNode(dist, targetKey),
+                new DataDeleteNode(BlackboardKeys.PATHFINDING_POINT),
+                new DataDeleteNode(BlackboardKeys.PATHFINDING_DATA),
+                //if in range, stop moving fowards and return SUCCESS
+                new SucceederNode(new MoveStopNode())
+            ),
+
+            //not in range of target, keep moving towards it
+            new SequenceNode(
+                PathfindingNode.createPathEntity(targetKey),
+                new FaceTargetNode(BlackboardKeys.PATHFINDING_POINT),
+                new RunnerNode(new MoveStartNode(MovementRelativeFacing.FORWARD))
+            )
+        );
+    }
+}

src/main/java/electrosphere/server/macro/character/goal/CharacterGoal.java

@@ -26,6 +26,10 @@ public class CharacterGoal extends CharacterData {
          * Acquire an item
          */
         ACQUIRE_ITEM,
+        /**
+         * Move to a macro structure
+         */
+        MOVE_TO_MACRO_STRUCT,
     }
 
     /**

src/main/java/electrosphere/server/simulation/chara/CharaSimulation.java

@@ -13,6 +13,7 @@ import electrosphere.server.macro.character.data.CharacterDataStrings;
 import electrosphere.server.macro.character.goal.CharacterGoal;
 import electrosphere.server.macro.character.goal.CharacterGoal.CharacterGoalType;
 import electrosphere.server.macro.civilization.town.Town;
+import electrosphere.server.macro.region.MacroRegion;
 import electrosphere.server.macro.structure.VirtualStructure;
 import electrosphere.server.macro.utils.StructurePlacementUtils;
 import electrosphere.server.macro.utils.StructureRepairUtils;
@@ -40,6 +41,14 @@ public class CharaSimulation {
         if(CharaSimulation.checkTownGoals(realm, chara)){
             return;
         }
+        //send a character on a walk
+        // if(chara.getId() == 3){
+        //     Town hometown = CharacterUtils.getHometown(realm.getMacroData(), chara);
+        //     if(hometown != null){
+        //         MacroRegion target = hometown.getFarmPlots(realm.getMacroData()).get(0);
+        //         CharacterGoal.setCharacterGoal(chara, new CharacterGoal(CharacterGoalType.MOVE_TO_MACRO_STRUCT, target));
+        //     }
+        // }
     }
     
     /**