Simplify and fix various issues with pathfinding.
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1108e3e75e
commit
08d4d7429c
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@ -1,5 +1,3 @@
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use std::marker::PhantomData;
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use bevy::{
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use bevy::{
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ecs::entity::Entities,
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ecs::entity::Entities,
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prelude::*,
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prelude::*,
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@ -55,7 +53,7 @@ impl CostMap {
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}
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}
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}
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}
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pub fn modifier(&self, x: usize, y: usize) -> Option<&f32> {
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pub fn modifier(&self, x: i32, y: i32) -> Option<&f32> {
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let idx = (y as usize) * self.width + (x as usize);
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let idx = (y as usize) * self.width + (x as usize);
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self.costs.get(idx)
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self.costs.get(idx)
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}
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}
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@ -81,7 +79,8 @@ pub fn find_path<D: 'static + Clone + Default + Send + Sync>(
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for tile in map.get_available_exits(p.0 as usize, p.1 as usize) {
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for tile in map.get_available_exits(p.0 as usize, p.1 as usize) {
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let mut cost = tile.2 * 100.;
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let mut cost = tile.2 * 100.;
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if let Some(cost_map) = cost_map {
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if let Some(cost_map) = cost_map {
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if let Some(modifier) = cost_map.modifier(tile.0, tile.1) {
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if let Some(modifier) = cost_map.modifier(tile.0 as i32, tile.1 as i32)
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{
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cost *= modifier;
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cost *= modifier;
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}
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}
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}
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}
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@ -96,11 +95,10 @@ pub fn find_path<D: 'static + Clone + Default + Send + Sync>(
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)
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)
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}
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}
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fn find_path_for_shape<D: 'static + Clone + Default + Send + Sync>(
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fn find_path_for_shape(
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initiator: ColliderHandle,
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initiator: ColliderHandle,
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start: Transform,
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start: Transform,
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destination: Destination,
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destination: Destination,
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map: Map<D>,
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cost_map: &Option<CostMap>,
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cost_map: &Option<CostMap>,
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query_pipeline: QueryPipeline,
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query_pipeline: QueryPipeline,
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collider_set: ColliderSet,
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collider_set: ColliderSet,
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@ -111,14 +109,22 @@ fn find_path_for_shape<D: 'static + Clone + Default + Send + Sync>(
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&start.i32(),
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&start.i32(),
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|p| {
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|p| {
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let mut successors: Vec<((i32, i32), u32)> = vec![];
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let mut successors: Vec<((i32, i32), u32)> = vec![];
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if let Some(tile) = map.at(p.0 as usize, p.1 as usize) {
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let x = p.0 as i32;
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if tile.is_walkable() {
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let y = p.1 as i32;
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for tile in map.get_available_exits(p.0 as usize, p.1 as usize) {
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let exits = vec![
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((x - 1, y), 1.),
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((x + 1, y), 1.),
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((x, y - 1), 1.),
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((x, y + 1), 1.),
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((x - 1, y - 1), 1.5),
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((x + 1, y - 1), 1.5),
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((x - 1, y + 1), 1.5),
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((x + 1, y + 1), 1.5),
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];
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for exit in &exits {
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let mut should_push = true;
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let mut should_push = true;
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let shape_pos = Isometry2::new(
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let shape_pos =
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Vector2::new(tile.0 as f32 + 0.5, tile.1 as f32 + 0.5),
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Isometry2::new(Vector2::new(exit.0 .0 as f32, exit.0 .1 as f32), 0.);
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0.,
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);
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query_pipeline.intersections_with_shape(
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query_pipeline.intersections_with_shape(
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&rigid_body_set,
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&rigid_body_set,
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&collider_set,
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&collider_set,
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@ -132,15 +138,13 @@ fn find_path_for_shape<D: 'static + Clone + Default + Send + Sync>(
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},
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},
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);
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);
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if should_push {
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if should_push {
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let mut cost = tile.2 * 100.;
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let mut cost = exit.1 * 100.;
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if let Some(cost_map) = cost_map {
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if let Some(cost_map) = cost_map {
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if let Some(modifier) = cost_map.modifier(tile.0, tile.1) {
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if let Some(modifier) = cost_map.modifier(exit.0 .0, exit.0 .1) {
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cost *= modifier;
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cost *= modifier;
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}
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}
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}
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}
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successors.push(((tile.0 as i32, tile.1 as i32), cost as u32));
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successors.push((exit.0, cost as u32));
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}
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}
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}
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}
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}
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}
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successors
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successors
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@ -155,7 +159,7 @@ fn find_path_for_shape<D: 'static + Clone + Default + Send + Sync>(
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}
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}
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}
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}
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fn calculate_path<D: 'static + Clone + Default + Send + Sync>(
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fn calculate_path(
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mut commands: Commands,
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mut commands: Commands,
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rapier_context: Res<RapierContext>,
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rapier_context: Res<RapierContext>,
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obstructions: Query<&RapierColliderHandle, With<MapObstruction>>,
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obstructions: Query<&RapierColliderHandle, With<MapObstruction>>,
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@ -170,7 +174,6 @@ fn calculate_path<D: 'static + Clone + Default + Send + Sync>(
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),
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),
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Changed<Destination>,
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Changed<Destination>,
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>,
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>,
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map: Query<&Map<D>>,
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) {
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) {
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for (entity, handle, destination, coordinates, shape, cost_map) in &query {
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for (entity, handle, destination, coordinates, shape, cost_map) in &query {
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if coordinates.i32() == **destination {
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if coordinates.i32() == **destination {
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@ -183,11 +186,9 @@ fn calculate_path<D: 'static + Clone + Default + Send + Sync>(
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.remove::<Speed>();
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.remove::<Speed>();
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continue;
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continue;
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}
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}
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if let Ok(map) = map.get_single() {
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let coordinates_clone = *coordinates;
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let coordinates_clone = *coordinates;
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let destination_clone = *destination;
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let destination_clone = *destination;
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let query_pipeline = rapier_context.query_pipeline.clone();
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let query_pipeline = rapier_context.query_pipeline.clone();
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let map_clone = map.clone();
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let cost_map_clone = cost_map.cloned();
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let cost_map_clone = cost_map.cloned();
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let handle_clone = *handle;
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let handle_clone = *handle;
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let mut collider_set = rapier_context.colliders.clone();
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let mut collider_set = rapier_context.colliders.clone();
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@ -205,13 +206,18 @@ fn calculate_path<D: 'static + Clone + Default + Send + Sync>(
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}
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}
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}
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}
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let shape_clone = (*shape).clone();
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let shape_clone = (*shape).clone();
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trace!(
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"{:?}: path: calculating from {:?} to {:?}",
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entity,
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coordinates.i32(),
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destination
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);
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let pool = AsyncComputeTaskPool::get();
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let pool = AsyncComputeTaskPool::get();
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let task = pool.spawn(async move {
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let task = pool.spawn(async move {
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find_path_for_shape(
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find_path_for_shape(
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handle_clone.0,
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handle_clone.0,
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coordinates_clone,
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coordinates_clone,
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destination_clone,
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destination_clone,
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map_clone,
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&cost_map_clone,
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&cost_map_clone,
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query_pipeline,
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query_pipeline,
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collider_set,
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collider_set,
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@ -226,14 +232,15 @@ fn calculate_path<D: 'static + Clone + Default + Send + Sync>(
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});
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});
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}
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}
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}
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}
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}
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fn poll_tasks(mut commands: Commands, mut query: Query<(Entity, &mut Calculating)>) {
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fn poll_tasks(mut commands: Commands, mut query: Query<(Entity, &mut Calculating)>) {
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for (entity, mut calculating) in query.iter_mut() {
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for (entity, mut calculating) in query.iter_mut() {
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if let Some(result) = future::block_on(future::poll_once(&mut **calculating)) {
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if let Some(result) = future::block_on(future::poll_once(&mut **calculating)) {
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if let Some(path) = result {
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if let Some(path) = result {
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trace!("{:?}: path: result: {:?}", entity, path);
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commands.entity(entity).insert(path);
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commands.entity(entity).insert(path);
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} else {
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} else {
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trace!("{:?}: path: no path", entity);
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commands.entity(entity).insert(NoPath);
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commands.entity(entity).insert(NoPath);
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}
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}
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commands.entity(entity).remove::<Calculating>();
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commands.entity(entity).remove::<Calculating>();
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@ -264,53 +271,63 @@ fn negotiate_path(
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Option<&RotationSpeed>,
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Option<&RotationSpeed>,
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)>,
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)>,
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) {
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) {
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for (entity, mut path, mut transform, mut velocity, speed, rotation_speed) in query.iter_mut() {
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for (entity, mut path, mut transform, mut velocity, speed, rotation_speed) in &mut query {
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let start_i32 = (transform.translation.x, transform.translation.y).i32();
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let start_i32 = (transform.translation.x, transform.translation.y).i32();
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let mut new_path = path
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let mut cleanup = false;
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.iter()
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if let Some(last) = path.last() {
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.cloned()
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if last == &start_i32 {
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.skip_while(|v| *v == start_i32)
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trace!("{:?}: path: at destination", entity);
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.collect::<Vec<(i32, i32)>>();
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cleanup = true;
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new_path.retain(|v| *v != start_i32);
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}
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**path = new_path;
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}
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if !cleanup {
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if let Some(position) = path.iter().position(|v| v == &start_i32) {
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trace!("{:?}: Path contains start", entity);
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let (_, new_path) = path.split_at(position + 1);
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**path = new_path.to_vec();
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}
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if let Some(next) = path.first() {
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if let Some(next) = path.first() {
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let start = Vec2::new(transform.translation.x, transform.translation.y);
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trace!(
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"{:?}: path: moving from {:?} to {:?}",
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entity,
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start_i32,
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next
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);
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let start = transform.translation.truncate();
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let next = Vec2::new(next.0 as f32 + 0.5, next.1 as f32 + 0.5);
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let next = Vec2::new(next.0 as f32 + 0.5, next.1 as f32 + 0.5);
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let mut direction = next - start;
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let mut direction = next - start;
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direction = direction.normalize();
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direction = direction.normalize();
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trace!("{:?}: path: direction: {:?}", entity, direction);
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direction *= **speed;
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direction *= **speed;
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velocity.linvel = direction;
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velocity.linvel = direction;
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trace!("{:?}: path: velocity: {:?}", entity, velocity.linvel);
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if rotation_speed.is_some() {
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if rotation_speed.is_some() {
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let v = next - start;
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let v = next - start;
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let angle = v.y.atan2(v.x);
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let angle = v.y.atan2(v.x);
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transform.rotation = Quat::from_rotation_z(angle);
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transform.rotation = Quat::from_rotation_z(angle);
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}
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}
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continue;
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} else {
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} else {
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cleanup = true;
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}
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}
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if cleanup {
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commands
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commands
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.entity(entity)
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.entity(entity)
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.remove::<Path>()
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.remove::<Path>()
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.remove::<NoPath>()
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.remove::<NoPath>()
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.remove::<Destination>()
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.remove::<Destination>()
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.remove::<Speed>();
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.remove::<Speed>();
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velocity.linvel = Vec2::ZERO;
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}
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}
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}
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}
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}
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}
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pub struct PathfindingPlugin<D: 'static + Clone + Default + Send + Sync>(PhantomData<D>);
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pub struct PathfindingPlugin;
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impl<D: 'static + Clone + Default + Send + Sync> Default for PathfindingPlugin<D> {
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impl Plugin for PathfindingPlugin {
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fn default() -> Self {
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Self(Default::default())
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}
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}
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impl<D: 'static + Clone + Default + Send + Sync> Plugin for PathfindingPlugin<D> {
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fn build(&self, app: &mut App) {
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fn build(&self, app: &mut App) {
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app.add_system(calculate_path::<D>)
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app.add_system(calculate_path)
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.add_system_to_stage(CoreStage::PostUpdate, remove_destination)
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.add_system_to_stage(CoreStage::PostUpdate, remove_destination)
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.add_system(poll_tasks)
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.add_system(poll_tasks)
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.add_system(negotiate_path.after(crate::navigation::limit_speed));
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.add_system_to_stage(CoreStage::PostUpdate, negotiate_path);
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}
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}
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}
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}
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