TD-5: A* Implementation

src/main/java/de/towerdefence/server/game/Enemy.java

@@ -1,5 +1,7 @@
 package de.towerdefence.server.game;
 
+import org.joml.Vector2i;
+
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
@@ -7,6 +9,5 @@ import lombok.Getter;
 @AllArgsConstructor
 public class Enemy {
     protected int id;
-    protected int x;
-    protected int y;
+    protected Vector2i pos;
 }

src/main/java/de/towerdefence/server/game/GameSession.java

@@ -11,6 +11,9 @@ import de.towerdefence.server.game.callbacks.PlayerHitpointsCallback;
 import de.towerdefence.server.game.exeptions.InvalidPlacementException;
 import de.towerdefence.server.game.exeptions.InvalidPlacementReason;
 import de.towerdefence.server.game.exeptions.WaveInProgressException;
+import de.towerdefence.server.game.pathfinding.AStar;
+import de.towerdefence.server.game.pathfinding.NoPathException;
+import de.towerdefence.server.game.pathfinding.OutOfBoundsException;
 import de.towerdefence.server.player.Player;
 import lombok.Getter;
 import org.joml.Vector2i;
@@ -82,20 +85,37 @@ public class GameSession {
     }
 
     private List<Enemy> moveEnemies() {
-        // List<Enemy> changedEnemies = moveEnemies();
+        List<Enemy> changedEnemies = moveEnemies();
 
-        // TODO: Implement Moving of Enemies (possibly through A*)
-        throw new RuntimeException("NOT IMPLEMENTED");
-
-        // return changedEnemies;
-
-    }
-
-    /**
-     * @return the next position to go to
-     */
-    private Vector2i pathfinding(Vector2i start, Vector2i target) {
+        for (int x = 0; x < enemies.length; x++) {
+            Enemy[] column = enemies[x];
+            for (int y = 0; y < column.length; y++) {
+                Enemy enemy = column[y];
+                if (changedEnemies.contains(enemy)) {
+                    continue;
+                }
+                AStar a = new AStar((Vector2i pos) -> {
+                    return pos.x >= 0
+                            && pos.x < MAP_SIZE.x
+                            && pos.y >= 0
+                            && pos.y < MAP_SIZE.y
+                            && (towers[pos.x] == null || towers[pos.x][pos.y] == null)
+                            && (enemies[pos.x] == null || enemies[pos.x][pos.y] != null);
+                });
+                Vector2i next;
+                try {
+                    next = a.next(enemy.pos, WAVE_TARGET);
+                } catch (NoPathException | OutOfBoundsException exceptionO) {
+                    throw new RuntimeException("TODO: Implement");
+                }
+                enemy.pos = next;
+                enemies[x][y] = null;
+                enemies[next.x][next.y] = enemy;
+                changedEnemies.add(enemy);
+            }
+        }
 
+        return changedEnemies;
     }
 
     public void placeTower(Tower tower, int x, int y) throws InvalidPlacementException {

src/main/java/de/towerdefence/server/game/pathfinding/AStar.java

@@ -1,5 +1,100 @@
 package de.towerdefence.server.game.pathfinding;
 
-public class AStar {
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
 
+import org.joml.Vector2i;
+
+import lombok.AllArgsConstructor;
+
+@AllArgsConstructor
+public class AStar {
+    private final WalkableCallback walkable;
+
+    public Vector2i next(Vector2i current, Vector2i target) throws NoPathException, OutOfBoundsException {
+        if (!walkable.call(current) || !walkable.call(target)) {
+            throw new OutOfBoundsException();
+        }
+
+        if (current.equals(target)) {
+            return target;
+        }
+
+        Map<Vector2i, PathNode> remaining = new HashMap<>();
+        Set<Vector2i> evaluated = new HashSet<>();
+        Map<Vector2i, Vector2i> takenPath = new HashMap<>();
+
+        PathNode origin = new PathNode(current, 0, current.gridDistance(target));
+        remaining.put(current, origin);
+
+        while (!remaining.isEmpty()) {
+            PathNode currentNode = getLowestEstimate(remaining);
+            Vector2i currentPos = currentNode.pos;
+
+            if (currentPos.equals(target)) {
+                return reconstructPath(takenPath, current);
+            }
+
+            remaining.remove(currentPos);
+            evaluated.add(currentPos);
+
+            long nextCost = currentNode.cost + 1;
+            for (PathNode neighbor : getNeighbors(currentPos, nextCost, target)) {
+                if (evaluated.contains(neighbor.pos)) {
+                    continue;
+                }
+                if (!remaining.containsKey(neighbor.pos) || nextCost < remaining.get(neighbor.pos).cost) {
+                    takenPath.put(neighbor.pos, currentPos);
+                    remaining.put(neighbor.pos, neighbor);
+                }
+            }
+        }
+
+        throw new NoPathException();
+    }
+
+    private Vector2i reconstructPath(Map<Vector2i, Vector2i> takenPath, Vector2i origin) {
+        Vector2i current = takenPath.keySet().stream().reduce((first, second) -> second).orElse(null);
+        if (current == null)
+            return null;
+        while (takenPath.get(current) != null && !takenPath.get(current).equals(origin)) {
+            current = takenPath.get(current);
+        }
+        return current;
+    }
+
+    private PathNode getLowestEstimate(Map<Vector2i, PathNode> openSet) {
+        PathNode lowestNode = null;
+        for (PathNode node : openSet.values()) {
+            if (lowestNode == null || node.estimate < lowestNode.estimate) {
+                lowestNode = node;
+            }
+        }
+        return lowestNode;
+    }
+
+    private List<PathNode> getNeighbors(Vector2i pos, long nextCost, Vector2i target) {
+        List<PathNode> neighbors = new ArrayList<>();
+
+        addNeighbor(neighbors, new Vector2i(pos.x + 1, pos.y), nextCost, target);
+        addNeighbor(neighbors, new Vector2i(pos.x - 1, pos.y), nextCost, target);
+        addNeighbor(neighbors, new Vector2i(pos.x, pos.y + 1), nextCost, target);
+        addNeighbor(neighbors, new Vector2i(pos.x, pos.y - 1), nextCost, target);
+        return neighbors;
+    }
+
+    private void addNeighbor(List<PathNode> accumulator, Vector2i pos, long nextCost, Vector2i target) {
+        Vector2i right = new Vector2i(pos.x + 1, pos.y);
+        if (!walkable.call(pos)) {
+            return;
+        }
+        accumulator.add(new PathNode(
+                right,
+                nextCost,
+                right.gridDistance(target) + nextCost));
+    }
 }

src/main/java/de/towerdefence/server/game/pathfinding/OutOfBoundsException.java

@@ -0,0 +1,4 @@
+package de.towerdefence.server.game.pathfinding;
+
+public class OutOfBoundsException extends RuntimeException {
+}

src/main/java/de/towerdefence/server/game/pathfinding/PathNode.java

@@ -0,0 +1,12 @@
+package de.towerdefence.server.game.pathfinding;
+
+import org.joml.Vector2i;
+
+import lombok.AllArgsConstructor;
+
+@AllArgsConstructor
+final class PathNode {
+    protected final Vector2i pos;
+    protected final long cost; // This is the cost to this Node
+    protected final long estimate; // This is the estimated remaining cost to the Target
+}

src/main/java/de/towerdefence/server/game/pathfinding/WalkableCallback.java

@@ -0,0 +1,8 @@
+package de.towerdefence.server.game.pathfinding;
+
+import org.joml.Vector2i;
+
+@FunctionalInterface
+public interface WalkableCallback {
+    boolean call(Vector2i pos);
+}