v0.8.0: AI improvements (primarily pathfinding):

- removed path lookaheads, characters now only check the next tile for validity
- the hero is now interrupted if their path is broken and replaced by a much longer one
- added pathfinding functionality to ignore characters
- significantly improved hunting enemy pathfinding when a route is blocked
- improved enemy logic for switching targets if current one is unreachable

core/src/main/java/com/shatteredpixel/shatteredpixeldungeon/Dungeon.java

@@ -808,7 +808,7 @@ public class Dungeon {
 			BArray.setFalse(passable);
 	}
 
-	public static PathFinder.Path findPath(Char ch, int from, int to, boolean pass[], boolean[] visible ) {
+	public static PathFinder.Path findPath(Char ch, int to, boolean[] pass, boolean[] vis, boolean chars) {
 
 		setupPassable();
 		if (ch.flying || ch.buff( Amok.class ) != null) {
@@ -821,19 +821,21 @@ public class Dungeon {
 			BArray.and( pass, Dungeon.level.openSpace, passable );
 		}
 
-		for (Char c : Actor.chars()) {
+		if (chars) {
-			if (visible[c.pos]) {
+			for (Char c : Actor.chars()) {
-				passable[c.pos] = false;
+				if (vis[c.pos]) {
+					passable[c.pos] = false;
+				}
 			}
 		}
 
-		return PathFinder.find( from, to, passable );
+		return PathFinder.find( ch.pos, to, passable );
 
 	}
 	
-	public static int findStep(Char ch, int from, int to, boolean pass[], boolean[] visible ) {
+	public static int findStep(Char ch, int to, boolean[] pass, boolean[] visible, boolean chars ) {
 
-		if (Dungeon.level.adjacent( from, to )) {
+		if (Dungeon.level.adjacent( ch.pos, to )) {
 			return Actor.findChar( to ) == null && (pass[to] || Dungeon.level.avoid[to]) ? to : -1;
 		}
 
@@ -847,18 +849,20 @@ public class Dungeon {
 		if (Char.hasProp(ch, Char.Property.LARGE)){
 			BArray.and( pass, Dungeon.level.openSpace, passable );
 		}
-		
+
-		for (Char c : Actor.chars()) {
+		if (chars){
-			if (visible[c.pos]) {
+			for (Char c : Actor.chars()) {
-				passable[c.pos] = false;
+				if (visible[c.pos]) {
+					passable[c.pos] = false;
+				}
 			}
 		}
 		
-		return PathFinder.getStep( from, to, passable );
+		return PathFinder.getStep( ch.pos, to, passable );
 
 	}
 	
-	public static int flee( Char ch, int cur, int from, boolean pass[], boolean[] visible ) {
+	public static int flee( Char ch, int from, boolean[] pass, boolean[] visible, boolean chars ) {
 
 		setupPassable();
 		if (ch.flying) {
@@ -870,15 +874,17 @@ public class Dungeon {
 		if (Char.hasProp(ch, Char.Property.LARGE)){
 			BArray.and( pass, Dungeon.level.openSpace, passable );
 		}
-		
+
-		for (Char c : Actor.chars()) {
+		if (chars) {
-			if (visible[c.pos]) {
+			for (Char c : Actor.chars()) {
-				passable[c.pos] = false;
+				if (visible[c.pos]) {
+					passable[c.pos] = false;
+				}
 			}
 		}
-		passable[cur] = true;
+		passable[ch.pos] = true;
 		
-		return PathFinder.getStepBack( cur, from, passable );
+		return PathFinder.getStepBack( ch.pos, from, passable );
 		
 	}
 

core/src/main/java/com/shatteredpixel/shatteredpixeldungeon/actors/hero/Hero.java

@@ -1156,15 +1156,8 @@ public class Hero extends Char {
 			else if (path.getLast() != target)
 				newPath = true;
 			else {
-				//looks ahead for path validity, up to length-1 or 2.
+				if (!Dungeon.level.passable[path.get(0)] || Actor.findChar(path.get(0)) != null) {
-				//Note that this is shorter than for mobs, so that mobs usually yield to the hero
+					newPath = true;
-				int lookAhead = (int) GameMath.gate(0, path.size()-1, 2);
-				for (int i = 0; i < lookAhead; i++){
-					int cell = path.get(i);
-					if (!Dungeon.level.passable[cell] || (fieldOfView[cell] && Actor.findChar(cell) != null)) {
-						newPath = true;
-						break;
-					}
 				}
 			}
 
@@ -1179,7 +1172,12 @@ public class Hero extends Char {
 					passable[i] = p[i] && (v[i] || m[i]);
 				}
 
-				path = Dungeon.findPath(this, pos, target, passable, fieldOfView);
+				PathFinder.Path newpath = Dungeon.findPath(this, target, passable, fieldOfView, true);
+				if (newpath != null && path != null && newpath.size() > 2*path.size()){
+					path = null;
+				} else {
+					path = newpath;
+				}
 			}
 
 			if (path == null) return false;

core/src/main/java/com/shatteredpixel/shatteredpixeldungeon/actors/mobs/Ghoul.java

@@ -49,7 +49,6 @@ public class Ghoul extends Mob {
 		
 		SLEEPING = new Sleeping();
 		WANDERING = new Wandering();
-		HUNTING = new Hunting();
 		state = SLEEPING;
 		
 		properties.add(Property.UNDEAD);
@@ -203,54 +202,6 @@ public class Ghoul extends Mob {
 		}
 	}
 
-	//TODO currently very similar to super.Hunting and is largely a stop-gap, need to refactor
-	private class Hunting extends Mob.Hunting {
-
-		@Override
-		public boolean act( boolean enemyInFOV, boolean justAlerted ) {
-			enemySeen = enemyInFOV;
-			if (enemyInFOV && !isCharmedBy( enemy ) && canAttack( enemy )) {
-
-				return doAttack( enemy );
-
-			} else {
-
-				if (enemyInFOV) {
-					target = enemy.pos;
-				} else if (enemy == null) {
-					state = WANDERING;
-					target = Dungeon.level.randomDestination( Ghoul.this );
-					return true;
-				}
-
-				int oldPos = pos;
-				if (target != -1 && getCloser( target )) {
-
-					spend( 1 / speed() );
-					return moveSprite( oldPos,  pos );
-
-				} else {
-
-					Ghoul partner = (Ghoul) Actor.findById( partnerID );
-					if (!enemyInFOV) {
-						spend( TICK );
-						sprite.showLost();
-						state = WANDERING;
-						target = Dungeon.level.randomDestination( Ghoul.this );
-
-					//try to move closer to partner if they can't move to hero
-					} else if (partner != null && getCloser(partner.pos)) {
-						spend( 1 / speed() );
-						return moveSprite( oldPos,  pos );
-					} else {
-						spend( TICK );
-					}
-					return true;
-				}
-			}
-		}
-	}
-
 	public static class GhoulLifeLink extends Buff{
 
 		private Ghoul ghoul;

core/src/main/java/com/shatteredpixel/shatteredpixeldungeon/actors/mobs/Mob.java

@@ -377,21 +377,21 @@ public abstract class Mob extends Char {
 						//shorten for a closer one
 						if (Dungeon.level.adjacent(target, pos)) {
 							path.add(target);
-							//extend the path for a further target
+						//extend the path for a further target
 						} else {
 							path.add(last);
 							path.add(target);
 						}
 
-					} else if (!path.isEmpty()) {
+					} else {
 						//if the new target is simply 1 earlier in the path shorten the path
 						if (path.getLast() == target) {
 
-							//if the new target is closer/same, need to modify end of path
+						//if the new target is closer/same, need to modify end of path
 						} else if (Dungeon.level.adjacent(target, path.getLast())) {
 							path.add(target);
 
-							//if the new target is further away, need to extend the path
+						//if the new target is further away, need to extend the path
 						} else {
 							path.add(last);
 							path.add(target);
@@ -404,39 +404,65 @@ public abstract class Mob extends Char {
 
 			}
 
-
+			//checks if the next cell along the current path can be stepped into
 			if (!newPath) {
-				//looks ahead for path validity, up to length-1 or 4, but always at least 1.
+				int nextCell = path.removeFirst();
-				int lookAhead = (int)GameMath.gate(1, path.size()-1, 4);
+				if (!Dungeon.level.passable[nextCell]
-				for (int i = 0; i < lookAhead; i++) {
+						|| (!flying && Dungeon.level.avoid[nextCell])
-					int cell = path.get(i);
+						|| (Char.hasProp(this, Char.Property.LARGE) && !Dungeon.level.openSpace[nextCell])
-					if (!Dungeon.level.passable[cell]
+						|| Actor.findChar(nextCell) != null) {
-							|| (!flying && Dungeon.level.avoid[target])
+
-							|| (Char.hasProp(this, Char.Property.LARGE) && !Dungeon.level.openSpace[cell])
+					newPath = true;
-							|| (fieldOfView[cell] && Actor.findChar(cell) != null)) {
+					//If the next cell on the path can't be moved into, see if there is another cell that could replace it
-						newPath = true;
+					if (!path.isEmpty()) {
-						break;
+						for (int i : PathFinder.NEIGHBOURS8) {
+							if (Dungeon.level.adjacent(pos, nextCell + i) && Dungeon.level.adjacent(nextCell + i, path.getFirst())) {
+								if (Dungeon.level.passable[nextCell+i]
+										&& (flying || !Dungeon.level.avoid[nextCell+i])
+										&& (!Char.hasProp(this, Char.Property.LARGE) || Dungeon.level.openSpace[nextCell+i])
+										&& Actor.findChar(nextCell+i) == null){
+									path.addFirst(nextCell+i);
+									newPath = false;
+									break;
+								}
+							}
+						}
+					}
+				} else {
+					path.addFirst(nextCell);
+				}
+			}
+
+			//generate a new path
+			if (newPath) {
+				//If we aren't hunting, always take a full path
+				PathFinder.Path full = Dungeon.findPath(this, target, Dungeon.level.passable, fieldOfView, true);
+				if (state != HUNTING){
+					path = full;
+				} else {
+					//otherwise, check if other characters are forcing us to take a very slow route
+					// and don't try to go around them yet in response, basically assume their blockage is temporary
+					PathFinder.Path ignoreChars = Dungeon.findPath(this, target, Dungeon.level.passable, fieldOfView, false);
+					if (full == null || full.size() > 2*ignoreChars.size()){
+						//check if first cell of shorter path is valid. If it is, use new shorter path. Otherwise do nothing and wait.
+						path = ignoreChars;
+						if (!Dungeon.level.passable[ignoreChars.getFirst()]
+								|| (!flying && Dungeon.level.avoid[ignoreChars.getFirst()])
+								|| (Char.hasProp(this, Char.Property.LARGE) && !Dungeon.level.openSpace[ignoreChars.getFirst()])
+								|| Actor.findChar(ignoreChars.getFirst()) != null) {
+							return false;
+						}
+					} else {
+						path = full;
 					}
 				}
 			}
 
-			if (newPath) {
+			if (path != null) {
-				path = Dungeon.findPath(this, pos, target,
+				step = path.removeFirst();
-						Dungeon.level.passable,
+			} else {
-						fieldOfView);
-			}
-
-			//if hunting something, don't follow a path that is extremely inefficient
-			//FIXME this is fairly brittle, primarily it assumes that hunting mobs can't see through
-			// permanent terrain, such that if their path is inefficient it's always because
-			// of a temporary blockage, and therefore waiting for it to clear is the best option.
-			if (path == null ||
-					(state == HUNTING && path.size() > Math.max(9, 2*Dungeon.level.distance(pos, target)))) {
-				//
 				return false;
 			}
-
-			step = path.removeFirst();
 		}
 		if (step != -1) {
 			move( step );
@@ -451,9 +477,7 @@ public abstract class Mob extends Char {
 			return false;
 		}
 		
-		int step = Dungeon.flee( this, pos, target,
+		int step = Dungeon.flee( this, target, Dungeon.level.passable, fieldOfView, true );
-			Dungeon.level.passable,
-			fieldOfView );
 		if (step != -1) {
 			move( step );
 			return true;
@@ -845,6 +869,17 @@ public abstract class Mob extends Char {
 					return moveSprite( oldPos,  pos );
 
 				} else {
+
+					//if moving towards an enemy isn't possible, try to switch targets to another enemy that is closer
+					Char oldEnemy = enemy;
+					enemy = null;
+					enemy = chooseEnemy();
+					if (enemy != null && enemy != oldEnemy){
+						return act(enemyInFOV, justAlerted);
+					} else {
+						enemy = oldEnemy;
+					}
+
 					spend( TICK );
 					if (!enemyInFOV) {
 						sprite.showLost();

core/src/main/java/com/shatteredpixel/shatteredpixeldungeon/actors/mobs/NewDM300.java

@@ -170,13 +170,13 @@ public class NewDM300 extends Mob {
 				if (Dungeon.level.adjacent(pos, Dungeon.hero.pos)){
 					canReach = true;
 				} else {
-					canReach = (Dungeon.findStep(this, pos, Dungeon.hero.pos, Dungeon.level.openSpace, fieldOfView) != -1);
+					canReach = (Dungeon.findStep(this, Dungeon.hero.pos, Dungeon.level.openSpace, fieldOfView, true) != -1);
 				}
 			} else {
 				if (Dungeon.level.adjacent(pos, enemy.pos)){
 					canReach = true;
 				} else {
-					canReach = (Dungeon.findStep(this, pos, enemy.pos, Dungeon.level.openSpace, fieldOfView) != -1);
+					canReach = (Dungeon.findStep(this, enemy.pos, Dungeon.level.openSpace, fieldOfView, true) != -1);
 				}
 			}
 

core/src/main/java/com/shatteredpixel/shatteredpixeldungeon/actors/mobs/Piranha.java

@@ -121,9 +121,7 @@ public class Piranha extends Mob {
 			return false;
 		}
 		
-		int step = Dungeon.findStep( this, pos, target,
+		int step = Dungeon.findStep( this, target, Dungeon.level.water, fieldOfView, true );
-			Dungeon.level.water,
-			fieldOfView );
 		if (step != -1) {
 			move( step );
 			return true;
@@ -134,9 +132,7 @@ public class Piranha extends Mob {
 	
 	@Override
 	protected boolean getFurther( int target ) {
-		int step = Dungeon.flee( this, pos, target,
+		int step = Dungeon.flee( this, target, Dungeon.level.water, fieldOfView, true );
-			Dungeon.level.water,
-			fieldOfView );
 		if (step != -1) {
 			move( step );
 			return true;