macro pathfinding implementation

docs/src/progress/renderertodo.md

@@ -2086,6 +2086,7 @@ Skybox reflects time of day
 Standardize data sourcing in MacroTemporalData
 Macro pathfinding scaffolding
 Macro pathfinding work
+Actual macro pathfinding implementation
 
 
 

src/main/java/electrosphere/server/ai/nodes/meta/collections/SequenceNode.java

@@ -15,13 +15,18 @@ public class SequenceNode implements CollectionNode {
     /**
      * The child nodes of the sequence
      */
-    List<AITreeNode> children;
+    private List<AITreeNode> children;
+
+    /**
+     * The name associated with this node
+     */
+    private String name;
 
     /**
      * Constructor
      * @param children All the children of the sequence
      */
-    public SequenceNode(List<AITreeNode> children){
+    public SequenceNode(String name, List<AITreeNode> children){
         if(children == null){
             throw new IllegalArgumentException("Trying to create sequence node with no children!");
         }
@@ -29,13 +34,14 @@ public class SequenceNode implements CollectionNode {
             throw new IllegalArgumentException("Trying to create sequence node with no children!");
         }
         this.children = children;
+        this.name = name;
     }
 
     /**
      * Constructor
      * @param children All the children of the sequence
      */
-    public SequenceNode(AITreeNode ... children){
+    public SequenceNode(String name, AITreeNode ... children){
         if(children == null){
             throw new IllegalArgumentException("Trying to create sequence node with no children!");
         }
@@ -43,14 +49,19 @@ public class SequenceNode implements CollectionNode {
             throw new IllegalArgumentException("Trying to create sequence node with no children!");
         }
         this.children = Arrays.asList(children);
+        this.name = name;
     }
 
     @Override
     public AITreeNodeResult evaluate(Entity entity, Blackboard blackboard) {
         for(AITreeNode child : children){
-            AITreeNodeResult result = child.evaluate(entity, blackboard);
+            try {
-            if(result != AITreeNodeResult.SUCCESS){
+                AITreeNodeResult result = child.evaluate(entity, blackboard);
-                return result;
+                if(result != AITreeNodeResult.SUCCESS){
+                    return result;
+                }
+            } catch(Throwable e){
+                throw new Error(this.name, e);
             }
         }
         return AITreeNodeResult.SUCCESS;

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

@@ -10,6 +10,7 @@ import electrosphere.server.ai.blackboard.Blackboard;
 import electrosphere.server.ai.nodes.AITreeNode;
 import electrosphere.server.datacell.Realm;
 import electrosphere.server.macro.MacroData;
+import electrosphere.server.macro.region.MacroRegion;
 import electrosphere.server.macro.spatial.MacroAreaObject;
 import electrosphere.server.macro.spatial.path.MacroPathNode;
 import electrosphere.server.macro.structure.VirtualStructure;
@@ -40,8 +41,8 @@ public class MacroPathfindingNode implements AITreeNode {
      * 
      * @param targetEntityKey
      */
-    public static PathfindingNode createPathEntity(String targetEntityKey){
+    public static MacroPathfindingNode createPathEntity(String targetEntityKey){
-        PathfindingNode rVal = new PathfindingNode();
+        MacroPathfindingNode rVal = new MacroPathfindingNode();
         rVal.targetEntityKey = targetEntityKey;
         return rVal;
     }
@@ -58,8 +59,8 @@ public class MacroPathfindingNode implements AITreeNode {
             if(targetRaw == null){
                 throw new Error("Target undefined!");
             }
-            if(targetRaw instanceof MacroPathNode macroNode){
+            if(targetRaw instanceof MacroRegion macroRegion){
-                targetPos = macroNode.getPosition();
+                targetPos = macroRegion.getPos();
             } else {
                 throw new Error("Unsupported target type " + targetRaw);
             }

src/main/java/electrosphere/server/ai/trees/character/StandardCharacterTree.java

@@ -25,6 +25,7 @@ public class StandardCharacterTree {
      */
     public static AITreeNode create(StandardCharacterTreeData data){
         return new SequenceNode(
+            "StandardCharacter",
             new PublishStatusNode("StandardCharacter"),
             //check that dependencies exist
             new SelectorNode(

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

@@ -27,6 +27,7 @@ public class CharacterGoalTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "CharacterGoalTree",
             //check if we have goals
             MacroCharacterGoalNode.createAny(),
             //select based on the type of goals the character has
@@ -34,6 +35,7 @@ public class CharacterGoalTree {
 
                 //character's goal is to leave sim range
                 new SequenceNode(
+                    "CharacterGoalTree",
                     MacroCharacterGoalNode.create(CharacterGoalType.LEAVE_SIM_RANGE),
                     new PublishStatusNode("Leaving simulation range"),
                     new FaceTargetNode(BlackboardKeys.POINT_TARGET),
@@ -42,6 +44,7 @@ public class CharacterGoalTree {
 
                 //character's goal is to build a structure
                 new SequenceNode(
+                    "CharacterGoalTree",
                     MacroCharacterGoalNode.create(CharacterGoalType.BUILD_STRUCTURE),
                     new PublishStatusNode("Construct a shelter"),
                     new BeginStructureNode(),
@@ -50,6 +53,7 @@ public class CharacterGoalTree {
 
                 //character's goal is to acquire an item
                 new SequenceNode(
+                    "CharacterGoalTree",
                     MacroCharacterGoalNode.create(CharacterGoalType.ACQUIRE_ITEM),
                     new PublishStatusNode("Acquire building material"),
                     //try to find building materials
@@ -58,6 +62,7 @@ public class CharacterGoalTree {
 
                 //character's goal is to move to a macro virtual structure
                 new SequenceNode(
+                    "CharacterGoalTree",
                     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/AttackerAITree.java

@@ -21,6 +21,7 @@ public class AttackerAITree {
      */
     public static AITreeNode create(AttackerTreeData attackerTreeData){
         return new SequenceNode(
+            "AttackerAITree",
             MeleeAITree.create(attackerTreeData)
         );
     }

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

@@ -12,6 +12,7 @@ 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.MacroPathfindingNode;
 import electrosphere.server.ai.nodes.plan.PathfindingNode;
 
 /**
@@ -50,8 +51,9 @@ public class MacroMoveToTree {
         }
         return new SelectorNode(
             new SequenceNode(
+                "MacroMoveToTree",
                 //check if in range of target
-                new TargetRangeCheckNode(dist, targetKey),
+            new TargetRangeCheckNode(dist, targetKey),
                 new DataDeleteNode(BlackboardKeys.PATHFINDING_POINT),
                 new DataDeleteNode(BlackboardKeys.PATHFINDING_DATA),
                 //if in range, stop moving fowards and return SUCCESS
@@ -60,7 +62,8 @@ public class MacroMoveToTree {
 
             //not in range of target, keep moving towards it
             new SequenceNode(
-                PathfindingNode.createPathEntity(targetKey),
+                "MacroMoveToTree",
+                MacroPathfindingNode.createPathEntity(targetKey),
                 new FaceTargetNode(BlackboardKeys.PATHFINDING_POINT),
                 new RunnerNode(new MoveStartNode(MovementRelativeFacing.FORWARD))
             )

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

@@ -50,6 +50,7 @@ public class MoveToTree {
         }
         return new SelectorNode(
             new SequenceNode(
+                "MoveToTree",
                 //check if in range of target
                 new TargetRangeCheckNode(dist, targetKey),
                 new DataDeleteNode(BlackboardKeys.PATHFINDING_POINT),
@@ -60,6 +61,7 @@ public class MoveToTree {
 
             //not in range of target, keep moving towards it
             new SequenceNode(
+                "MoveToTree",
                 PathfindingNode.createPathEntity(targetKey),
                 new FaceTargetNode(BlackboardKeys.PATHFINDING_POINT),
                 new RunnerNode(new MoveStartNode(MovementRelativeFacing.FORWARD))

src/main/java/electrosphere/server/ai/trees/creature/explore/ExploreTree.java

@@ -24,6 +24,7 @@ public class ExploreTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "Explore",
             new PublishStatusNode("Explore"),
             //resolve point to explore towards
             new TargetExploreNode(BlackboardKeys.MOVE_TO_TARGET),

src/main/java/electrosphere/server/ai/trees/creature/inventory/EquipToolbarTree.java

@@ -25,6 +25,7 @@ public class EquipToolbarTree {
      */
     public static AITreeNode create(String targetKey){
         return new SequenceNode(
+            "EquipToolbar",
             new PublishStatusNode("Equip an item"),
             //check that we have this type of item
             new DataTransferNode(targetKey, BlackboardKeys.INVENTORY_CHECK_TYPE),

src/main/java/electrosphere/server/ai/trees/creature/melee/MeleeAITree.java

@@ -44,6 +44,7 @@ public class MeleeAITree {
     public static AITreeNode create(AttackerTreeData attackerTreeData){
 
         return new SequenceNode(
+            "MeleeAITree",
             //preconditions here
             new HasWeaponNode(),
             new MeleeTargetingNode(attackerTreeData.getAggroRange()),
@@ -53,6 +54,7 @@ public class MeleeAITree {
 
                 //in attack range
                 new SequenceNode(
+                    "MeleeAITree",
                     //check prior to performing action
                     new MeleeRangeCheckNode(attackerTreeData,MeleeRangeCheckType.ATTACK),
 
@@ -66,18 +68,21 @@ public class MeleeAITree {
                     new RandomizerNode(
                         //wait
                         new SequenceNode(
+                            "MeleeAITree",
                             new PublishStatusNode("Waiting"),
                             new FaceTargetNode(BlackboardKeys.ENTITY_TARGET),
                             new TimerNode(new SucceederNode(null), 600)
                         ),
                         //wait
                         new SequenceNode(
+                            "MeleeAITree",
                             new PublishStatusNode("Waiting"),
                             new FaceTargetNode(BlackboardKeys.ENTITY_TARGET),
                             new TimerNode(new SucceederNode(null), 300)
                         ),
                         //attack
                         new SequenceNode(
+                            "MeleeAITree",
                             new PublishStatusNode("Attacking"),
                             new FaceTargetNode(BlackboardKeys.ENTITY_TARGET),
                             new AttackStartNode(),
@@ -88,6 +93,7 @@ public class MeleeAITree {
 
                 //in aggro range
                 new SequenceNode(
+                    "MeleeAITree",
                     //check prior to performing action
                     new MeleeRangeCheckNode(attackerTreeData,MeleeRangeCheckType.AGGRO),
 
@@ -96,6 +102,7 @@ public class MeleeAITree {
 
                         //wait
                         new SequenceNode(
+                            "MeleeAITree",
                             new PublishStatusNode("Waiting"),
                             new FaceTargetNode(BlackboardKeys.ENTITY_TARGET),
                             new TimerNode(new SucceederNode(null), 1200)
@@ -103,6 +110,7 @@ public class MeleeAITree {
 
                         //strafe to the right
                         new SequenceNode(
+                            "MeleeAITree",
                             new PublishStatusNode("Strafing right"),
                             new WalkStartNode(),
                             new InverterNode(new OnFailureNode(
@@ -117,6 +125,7 @@ public class MeleeAITree {
 
                         //strafe to the left
                         new SequenceNode(
+                            "MeleeAITree",
                             new PublishStatusNode("Strafing left"),
                             new WalkStartNode(),
                             new InverterNode(new OnFailureNode(
@@ -132,6 +141,7 @@ public class MeleeAITree {
                         //approach target
                         //move towards target and attack
                         new SequenceNode(
+                            "MeleeAITree",
                             new PublishStatusNode("Move into attack range"),
                             new FaceTargetNode(BlackboardKeys.ENTITY_TARGET),
                             new SucceederNode(new MoveStartNode(MovementRelativeFacing.FORWARD)),

src/main/java/electrosphere/server/ai/trees/creature/resource/AcquireItemTree.java

@@ -35,11 +35,13 @@ public class AcquireItemTree {
      */
     public static AITreeNode create(String blackboardKey){
         return new SequenceNode(
+            "AcquireItemTree",
             new PublishStatusNode("Acquire an item"),
             //solve how we're going to get this top level item
             new SolveSourcingTreeNode(blackboardKey),
             new SelectorNode(
                 new SequenceNode(
+                    "AcquireItemTree",
                     new PublishStatusNode("Pick up an item"),
                     //check if we should be sourcing this item by picking it up
                     new SourcingTypeNode(SourcingType.PICKUP, BlackboardKeys.ITEM_TARGET_CATEGORY),
@@ -50,6 +52,7 @@ public class AcquireItemTree {
                     new RunnerNode(null)
                 ),
                 new SequenceNode(
+                    "AcquireItemTree",
                     new PublishStatusNode("Craft an item"),
                     //check if we should be sourcing this from a recipe
                     new SourcingTypeNode(SourcingType.RECIPE, blackboardKey),
@@ -57,6 +60,7 @@ public class AcquireItemTree {
                     new RunnerNode(null)
                 ),
                 new SequenceNode(
+                    "AcquireItemTree",
                     new PublishStatusNode("Harvest an item"),
                     //check if we should be sourcing this from harvesting foliage
                     new SourcingTypeNode(SourcingType.HARVEST, blackboardKey),
@@ -66,6 +70,7 @@ public class AcquireItemTree {
                     new RunnerNode(null)
                 ),
                 new SequenceNode(
+                    "AcquireItemTree",
                     new PublishStatusNode("Fell a tree"),
                     //check if we should be sourcing this from felling a tree
                     new SourcingTypeNode(SourcingType.TREE, blackboardKey),
@@ -74,6 +79,7 @@ public class AcquireItemTree {
                     new RunnerNode(null)
                 ),
                 new SequenceNode(
+                    "AcquireItemTree",
                     new PublishStatusNode("Explore new chunks for resources"),
                     //Failed to find sources of material in existing chunks, must move for new chunks
                     ExploreTree.create()

src/main/java/electrosphere/server/ai/trees/creature/resource/FellTree.java

@@ -42,6 +42,7 @@ public class FellTree {
     public static AITreeNode create(String targetKey){
 
         return new SequenceNode(
+            "FellTree",
             //preconditions here
             new DataStorageNode(BlackboardKeys.INVENTORY_CHECK_TYPE, ItemIdStrings.ITEM_STONE_AXE),
             EquipToolbarTree.create(BlackboardKeys.INVENTORY_CHECK_TYPE),
@@ -51,6 +52,7 @@ public class FellTree {
 
                 //in attack range
                 new SequenceNode(
+                    "FellTree",
                     //check if in range of target
                     new TargetRangeCheckNode(FellTree.FELL_RANGE, targetKey),
                     //stop walking now that we're in range
@@ -60,6 +62,7 @@ public class FellTree {
 
                     //attack
                     new SequenceNode(
+                        "FellTree",
                         new PublishStatusNode("Attacking"),
                         new FaceTargetNode(BlackboardKeys.ENTITY_TARGET),
                         new AttackStartNode(),

src/main/java/electrosphere/server/ai/trees/hierarchy/MaslowTree.java

@@ -23,8 +23,10 @@ public class MaslowTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "MaslowTree",
             //check that dependencies exist
             new SequenceNode(
+                "MaslowTree",
                 new PublishStatusNode("Checking dependencies for maslow tree.."),
                 new MacroDataExists(),
                 new IsCharacterNode()

src/main/java/electrosphere/server/ai/trees/hierarchy/safety/CombatTree.java

@@ -21,6 +21,7 @@ public class CombatTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "CombatTree",
             new PublishStatusNode("Engaged in mortal combat"),
             new SucceederNode(null)
         );

src/main/java/electrosphere/server/ai/trees/hierarchy/safety/FleeTree.java

@@ -21,6 +21,7 @@ public class FleeTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "FleeTree",
             new PublishStatusNode("Flee!"),
             new SucceederNode(null)
         );

src/main/java/electrosphere/server/ai/trees/hierarchy/safety/MaslowSafetyTree.java

@@ -21,6 +21,7 @@ public class MaslowSafetyTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "MaslowSafetyTree",
             new PublishStatusNode("Evaluate safety"),
             new SelectorNode(
                 FleeTree.create(),

src/main/java/electrosphere/server/ai/trees/hierarchy/safety/shelter/ConstructShelterTree.java

@@ -23,6 +23,7 @@ public class ConstructShelterTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "ConstructShelter",
             new PublishStatusNode("Construct a shelter"),
             new BeginStructureNode(),
             BuildStructureTree.create(),

src/main/java/electrosphere/server/ai/trees/hierarchy/safety/shelter/ShelterTree.java

@@ -23,22 +23,27 @@ public class ShelterTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "ShelterTree",
             new PublishStatusNode("Evaluate shelter"),
             //make sure that this entity actually cares about shelter
             new SequenceNode(
+                "ShelterTree",
                 //if this is a character
                 new IsCharacterNode()
             ),
             //now that we know the entity cares about shelter, check if they have shelter
             new SequenceNode(
+                "ShelterTree",
                 //if has shelter..
                 new SelectorNode(
                     new SequenceNode(
+                        "ShelterTree",
                         new HasShelter()
                         //already has shelter
                         //TODO: check environment (ie time of day) to see if we should return to shelter
                     ),
                     new SequenceNode(
+                        "ShelterTree",
                         //does not have shelter
                         ConstructShelterTree.create()
                     )

src/main/java/electrosphere/server/ai/trees/jobs/ForageTree.java

@@ -19,6 +19,7 @@ public class ForageTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "ForageTree"
         );
     }
 

src/main/java/electrosphere/server/ai/trees/struct/BuildStructureTree.java

@@ -32,18 +32,22 @@ public class BuildStructureTree {
      */
     public static AITreeNode create(){
         return new SequenceNode(
+            "BuildStructureTree",
             new PublishStatusNode("Construct a structure"),
             //figure out current task
             new SelectorNode(
                 //make sure we know what material we need to build with currently
                 new SequenceNode(
+                    "BuildStructureTree",
                     new SolveBuildMaterialNode(),
                     new PublishStatusNode("Trying to place block in structure"),
                     //if has building materials
                     new SequenceNode(
+                        "BuildStructureTree",
                         new InventoryContainsNode(BlackboardKeys.BUILDING_MATERIAL_CURRENT),
                         //if we're within range to place the material
                         new SequenceNode(
+                            "BuildStructureTree",
                             //not in range, move to within range
                             MoveToTree.create(CollisionEngine.DEFAULT_INTERACT_DISTANCE, BlackboardKeys.STRUCTURE_TARGET),
                             //equip the type of block to place
@@ -55,6 +59,7 @@ public class BuildStructureTree {
                 ),
                 //does not have building materials
                 new SequenceNode(
+                    "BuildStructureTree",
                     new InverterNode(new InventoryContainsNode(BlackboardKeys.BUILDING_MATERIAL_CURRENT)),
                     new RunnerNode(new PublishStatusNode("Waiting on macro character to set goal to find materials to build with"))
                 ),

src/main/java/electrosphere/server/ai/trees/test/BlockerAITree.java

@@ -24,6 +24,7 @@ public class BlockerAITree {
      */
     public static AITreeNode create(BlockerTreeData data){
         return new SequenceNode(
+            "BlockerAITree",
             new BlockStartNode(),
             new MeleeTargetingNode(5.0f),
             new FaceTargetNode(BlackboardKeys.ENTITY_TARGET)

src/main/java/electrosphere/server/macro/spatial/path/MacroPathNode.java

@@ -200,6 +200,14 @@ public class MacroPathNode {
         return this.neighborNodes.stream().map((Long neighborId) -> cache.getNodeById(neighborId)).collect(Collectors.toList());
     }
 
+    /**
+     * Gets the list of neighbor ids
+     * @return The list of neighbor ids
+     */
+    public List<Long> getNeighborIds(){
+        return this.neighborNodes;
+    }
+
     /**
      * Adds a neighbor to this node
      * @param neighbor The neighbor

src/main/java/electrosphere/server/service/MacroPathingService.java

@@ -1,6 +1,10 @@
 package electrosphere.server.service;
 
+import java.util.HashMap;
+import java.util.LinkedList;
 import java.util.List;
+import java.util.Map;
+import java.util.PriorityQueue;
 import java.util.concurrent.ExecutorService;
 
 import org.joml.Vector3d;
@@ -11,6 +15,7 @@ import electrosphere.engine.signal.SignalServiceImpl;
 import electrosphere.engine.threads.ThreadCounts;
 import electrosphere.server.datacell.Realm;
 import electrosphere.server.macro.MacroData;
+import electrosphere.server.macro.spatial.path.MacroPathCache;
 import electrosphere.server.macro.spatial.path.MacroPathNode;
 import electrosphere.server.pathfinding.recast.PathingProgressiveData;
 
@@ -75,7 +80,120 @@ public class MacroPathingService extends SignalServiceImpl {
      * @return The path
      */
     private List<Vector3d> findPath(MacroData macroData, MacroPathNode start, MacroPathNode end){
-        throw new Error("Not implemented yet!");
+        List<Vector3d> rVal = null;
+        //tracks whether we've found the goal or not
+        boolean foundGoal = false;
+        int countConsidered = 0;
+        MacroPathCache pathCache = macroData.getPathCache();
+
+        //create sets
+        PriorityQueue<PathfinderNode> openSet = new PriorityQueue<PathfinderNode>();
+        Map<Long,PathfinderNode> openSetLookup = new HashMap<Long,PathfinderNode>();
+        Map<Long,PathfinderNode> closetSet = new HashMap<Long,PathfinderNode>();
+
+        //add start node
+        PathfinderNode node = new PathfinderNode(start, 0, start.getId());
+        openSet.add(node);
+        openSetLookup.put(node.graphNode.getId(),node);
+
+        //search
+        while(openSet.size() > 0 && !foundGoal){
+
+            //pull from open set
+            PathfinderNode currentNode = openSet.poll();
+            long currentCost = currentNode.cost;
+            openSetLookup.remove(currentNode.graphNode.getId());
+            closetSet.put(currentNode.graphNode.getId(), currentNode);
+            countConsidered++;
+
+
+            //iterate along neighbors
+            for(Long neighborId : currentNode.graphNode.getNeighborIds()){
+                //goal check
+                if(end.getId() == neighborId){
+                    foundGoal = true;
+                    break;
+                }
+                //add-to-set check
+                if(!closetSet.containsKey(neighborId) && !openSetLookup.containsKey(neighborId)){
+                    MacroPathNode neighborGraphNode = pathCache.getNodeById(neighborId);
+                    long newCost = currentCost + neighborGraphNode.getCost();
+                    PathfinderNode newNode = new PathfinderNode(
+                        neighborGraphNode,
+                        newCost, currentNode.graphNode.getId()
+                    );
+                    openSet.add(newNode);
+                    openSetLookup.put(neighborGraphNode.getId(), newNode);
+                }
+            }
+
+            //if found goal
+            if(foundGoal){
+                //reverse up the chain from here
+                rVal = new LinkedList<Vector3d>();
+                rVal.add(end.getPosition());
+                while(currentNode.prevNode != currentNode.graphNode.getId()){
+                    rVal.add(0,currentNode.getPosition());
+                    currentNode = closetSet.get(currentNode.prevNode);
+                }
+                rVal.add(0,start.getPosition());
+                break;
+            }
+
+            //error check
+            if(openSet.size() < 1){
+                throw new Error("Open set ran out of nodes! " + countConsidered);
+            }
+        }
+
+        if(!foundGoal){
+            throw new Error("Failed to find goal " + countConsidered);
+        }
+        return rVal;
+    }
+
+
+    /**
+     * A node to use during searching
+     */
+    protected static class PathfinderNode implements Comparable<PathfinderNode> {
+
+        /**
+         * The corresponding graph node
+         */
+        MacroPathNode graphNode;
+
+        /**
+         * Cost to get to this node
+         */
+        long cost = 0;
+
+        /**
+         * The previous node
+         */
+        long prevNode = 0;
+
+        public PathfinderNode(
+            MacroPathNode graphNode,
+            long cost, long prevNode
+        ){
+            this.graphNode = graphNode;
+            this.cost = cost;
+            this.prevNode = prevNode;
+        }
+
+        @Override
+        public int compareTo(PathfinderNode o) {
+            return (int)(this.cost - o.cost);
+        }
+
+        /**
+         * Gets the position of the node
+         * @return The position of the node
+         */
+        public Vector3d getPosition(){
+            return graphNode.getPosition();
+        }
     }
     
 }

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

@@ -42,13 +42,13 @@ public class CharaSimulation {
             return;
         }
         //send a character on a walk
-        // if(chara.getId() == 3){
+        if(chara.getId() == 3){
-        //     Town hometown = CharacterUtils.getHometown(realm.getMacroData(), chara);
+            Town hometown = CharacterUtils.getHometown(realm.getMacroData(), chara);
-        //     if(hometown != null){
+            if(hometown != null){
-        //         MacroRegion target = hometown.getFarmPlots(realm.getMacroData()).get(0);
+                MacroRegion target = hometown.getFarmPlots(realm.getMacroData()).get(0);
-        //         CharacterGoal.setCharacterGoal(chara, new CharacterGoal(CharacterGoalType.MOVE_TO_MACRO_STRUCT, target));
+                CharacterGoal.setCharacterGoal(chara, new CharacterGoal(CharacterGoalType.MOVE_TO_MACRO_STRUCT, target));
-        //     }
+            }
-        // }
+        }
     }
     
     /**