Fixed freezes on controller calling MarkPath() to invalid locations

AdventureMap.cpp

@@ -7,6 +7,7 @@
 #include "AdventurePlayerController.h"
 #include "Kismet/GameplayStatics.h"
 #include "Algo/Reverse.h"
+#include "Util/IndexPriorityQueue.h"
 
 // Sets default values
 AAdventureMap::AAdventureMap()
@@ -85,12 +86,12 @@ AHexTile* AAdventureMap::RandomHex()
 TArray<AHexTile*> AAdventureMap::Neighbors(AHexTile* OfHex, bool bFreeOnly = false)
 {
 	TArray<AHexTile*> Results;
-	for (auto& V : UnitVectors) {
+	for (FHexVector NeighborVector : UnitVectors) {
-		int32 I = GridIndex(OfHex->Q + V.Q, OfHex->R + V.R);
+		int32 Index = GridIndex(OfHex->Q + NeighborVector.Q, OfHex->R + NeighborVector.R);
-		if (Grid.IsValidIndex(I)) { 
+		if (Grid.IsValidIndex(Index)) {
-			AHexTile* H = Grid[I];
+			AHexTile* Hex = Grid[Index];
-			if (bFreeOnly && !H->bFree) { continue; }
+			if (bFreeOnly && !Hex->bFree) { continue; }
-			if (H->Distance(OfHex) == 1) { Results.Add(H); }
+			if (Hex->Distance(OfHex) == 1) { Results.Add(Hex); }
 		}
 	}
 	return Results;
@@ -120,66 +121,66 @@ TArray<AHexTile*> AAdventureMap::FreeDiagonals(AHexTile* OfHex)
 TSet<AHexTile*> AAdventureMap::BreadthFirstSearch(AHexTile* Start, int32 Radius)
 {
 	TSet<AHexTile*> Results;
-	TArray<AHexTile*> ToExamine;
+	TArray<AHexTile*> Frontier;
 	TSet<AHexTile*> Processed;
 	Results.Add(Start);
-	ToExamine.Add(Start);
+	Frontier.Add(Start);
 
-	while (!ToExamine.IsEmpty()) {
+	while (!Frontier.IsEmpty()) {
-		AHexTile* Candidate = ToExamine[0];
+		AHexTile* Current = Frontier[0];
-		Processed.Add(Candidate);
+		Processed.Add(Current);
-		ToExamine.Remove(Candidate);
+		Frontier.Remove(Current);
 
-		for (AHexTile* Neighbor : Neighbors(Candidate)) {
+		for (AHexTile* Neighbor : Neighbors(Current)) {
-			if (Neighbor->Distance(Candidate) > 1)	{ continue; }
+			if (Neighbor->Distance(Current) > 1)	{ continue; }
 			if (Processed.Contains(Neighbor))		{ continue; }
 			if (Neighbor->Distance(Start) > Radius)	{ continue; }
 
-			ToExamine.Add(Neighbor);
+			Frontier.Add(Neighbor);
 			Results.Add(Neighbor);
 		}
 	}
 	return Results;
 }
 
+/* // Faulty implementation which uses an actual PriorityQueue
 TArray<AHexTile*> AAdventureMap::FindPathAStar(AHexTile* Start, AHexTile* Goal, bool bDiags)
 {
-	TArray<AHexTile*> ToExamine;
+
 	TSet<AHexTile*> Processed;
-	ToExamine.Add(Start);
+	TSet<AHexTile*> ToSearch;
+	TPriorityQueue<AHexTile*> Frontier;
 
-	while (!ToExamine.IsEmpty()) {
+	Start->GCost = 0;
-		AHexTile* Candidate = ToExamine[0];
+	Frontier.Push(Start, .0f);
-		ToExamine.Remove(Candidate);
+	ToSearch.Add(Start);
-		// find Hex with lower estimatet F-cost
-		for (AHexTile* t : ToExamine) {
-			t->FCost = t->GCost + t->HCost;
-			if (t->FCost < Candidate->FCost || t->FCost == Candidate->FCost && t->HCost < Candidate->HCost) { Candidate = t; }
-		}
 
-		Processed.Add(Candidate);
+	while (!Frontier.IsEmpty()) {
-		// exit
+		AHexTile* Current = Frontier.Pop();
-		if (Candidate == Goal) { break; }
+		ToSearch.Remove(Current);
 
-		// expand frontier & adjust path data
+		if (Current == Goal) { break; }
-		for (AHexTile* Neighbor : Neighbors(Candidate, true)) {
+		Processed.Add(Current);
-			if (!Neighbor->bFree) { continue; }
+
+		for (AHexTile* Neighbor : Neighbors(Current, true)) {
 			if (Processed.Contains(Neighbor)) { continue; }
+			bool bInToSearch = ToSearch.Contains(Start);
 
-			bool bInToExamine = ToExamine.Contains(Neighbor);
+			int32 NewGCost = Current->GCost + Neighbor->MoveCost;
-			float NewGCost = Candidate->GCost + Neighbor->MoveCost;
 
-			if (NewGCost < Neighbor->GCost || !bInToExamine) {
+			if (!bInToSearch || NewGCost < Neighbor->GCost)	{
 				Neighbor->GCost = NewGCost;
-				Neighbor->CameFrom = Candidate; // chain
+				Neighbor->CameFrom = Current;
-				Neighbor->bDiagMove = false;
 
-				if (!bInToExamine) {
+				if (!bInToSearch) {
 					Neighbor->HCost = Neighbor->Distance(Goal);
-					ToExamine.Add(Neighbor);
+					Frontier.Push(Neighbor, NewGCost + Neighbor->HCost);
-			}	}
+					ToSearch.Add(Neighbor);
+				}
+			}
 		}
 	}
+
 	TArray<AHexTile*> Path;
 	if (!IsValid(Goal->CameFrom)) { return Path; }
 	AHexTile* iPathNode = Goal;
@@ -188,10 +189,62 @@ TArray<AHexTile*> AAdventureMap::FindPathAStar(AHexTile* Start, AHexTile* Goal,
 		iPathNode = iPathNode->CameFrom;
 	}
 	Algo::Reverse(Path);
+	return Path;
+}
+*/
 
-	if (bDiags) { // DO NOT USE
+TArray<AHexTile*> AAdventureMap::FindPathAStar(AHexTile * Start, AHexTile * Goal, bool bDiags)
-		Path = ShortcutAStar(Path);
+{
+	TArray<AHexTile*> Frontier;
+	TSet<AHexTile*> Processed;
+	Frontier.Add(Start);
+	while (!Frontier.IsEmpty()) {
+		// Pop
+		AHexTile* Candidate = Frontier[0];
+
+		// Exit
+		if (Candidate == Goal) { break; }
+
+		// Find contender with an even lower F-cost
+		for (AHexTile* Other : Frontier) {
+			if (Other->FCost < Candidate->FCost 
+				|| Other->FCost == Candidate->FCost && Other->HCost < Candidate->HCost) 
+			{ Candidate = Other; }
+		}
+
+		Frontier.Remove(Candidate);
+		Processed.Add(Candidate);
+		// Expand frontier, make connections when appropriate
+		for (AHexTile* Neighbor : Neighbors(Candidate, true)) {
+			if (Processed.Contains(Neighbor)) { continue; }
+
+			bool bInFrontier = Frontier.Contains(Neighbor);
+			int32 NewGCost = Candidate->GCost + Neighbor->MoveCost;
+
+			if (NewGCost < Neighbor->GCost || !bInFrontier) {
+				Neighbor->GCost = NewGCost;
+				Neighbor->HCost = Neighbor->Distance(Goal);
+				Neighbor->FCost = Neighbor->GCost + Neighbor->HCost;
+				Neighbor->CameFrom = Candidate; // chain
+				if (!bInFrontier) {
+					Frontier.Add(Neighbor);
+				}
+			}
+		}
 	}
+
+	// Build and return path
+	TArray<AHexTile*> Path;
+	AHexTile* iPathNode = Goal;
+	while (iPathNode != Start) {
+		if (!IsValid(iPathNode->CameFrom) || !iPathNode->bFree) {
+			Path.Empty();
+			return Path; 
+		}
+		Path.Emplace(iPathNode);
+		iPathNode = iPathNode->CameFrom;
+	}
+	Algo::Reverse(Path);
 	return Path;
 }
 
@@ -246,11 +299,11 @@ TArray<AHexTile*> AAdventureMap::ShortcutAStar(TArray<AHexTile*> Path)
 		if (DiagIsReachable(CurrentHex, UnitDiag)) {
 			int32 CanIndex = GridIndex(CurrentHex->Q + UnitDiag.Q, CurrentHex->R + UnitDiag.R);
 			if (Grid.IsValidIndex(CanIndex)) {
-				AHexTile* Candidate = Grid[CanIndex];
+				AHexTile* Current = Grid[CanIndex];
-				if (Candidate->bFree) {
+				if (Current->bFree) {
-					Shortcut.Add(Candidate);
+					Shortcut.Add(Current);
 					bDiagAdded = true;
-					CurrentHex = Candidate;
+					CurrentHex = Current;
 					NumDiags--;
 					continue;
 		}	}	}
@@ -298,4 +351,5 @@ bool AAdventureMap::DiagIsReachable(AHexTile* InStart, FHexVector InDiagUnitVec)
 	AHexTile* HexA = Grid[IndexA];
 	AHexTile* HexB = Grid[IndexB];
 	return (HexA->bFree && HexB->bFree);
-}
+}
+

AdventureMap.h

@@ -106,3 +106,63 @@ protected:
 	// Called when the game starts or when spawned
 	virtual void BeginPlay() override;
 };
+
+
+// only used for an experimental implementation of A*
+template <typename InElementType>
+struct TPriorityQueueNode {
+    InElementType Element;
+    float Priority;
+
+    TPriorityQueueNode()
+    {
+    }
+
+    TPriorityQueueNode(InElementType InElement, float InPriority)
+    {
+        Element = InElement;
+        Priority = InPriority;
+    }
+
+    bool operator<(const TPriorityQueueNode<InElementType> Other) const
+    {
+        return Priority < Other.Priority;
+    }
+};
+template <typename InElementType>
+class TPriorityQueue {
+public:
+    TPriorityQueue()
+    {
+        Array.Heapify();
+    }
+
+public:
+    // Always check if IsEmpty() before Pop-ing!
+    InElementType Pop()
+    {
+        TPriorityQueueNode<InElementType> Node;
+        Array.HeapPop(Node);
+        return Node.Element;
+    }
+
+    TPriorityQueueNode<InElementType> PopNode()
+    {
+        TPriorityQueueNode<InElementType> Node;
+        Array.HeapPop(Node);
+        return Node;
+    }
+
+    void Push(InElementType Element, float Priority)
+    {
+        Array.HeapPush(TPriorityQueueNode<InElementType>(Element, Priority));
+    }
+
+    bool IsEmpty() const
+    {
+        return Array.Num() == 0;
+    }
+
+public: // make private later on
+    TArray<TPriorityQueueNode<InElementType>> Array;
+};

AdventurePlayerController.cpp

@@ -59,7 +59,6 @@ TArray<AHexTile*> AAdventurePlayerController::Vision(int32 Radius)
 {
     TArray<AHexTile*> Results;
     TSet<AHexTile*> Visible;
-    if (CurrentHex->bDiagMove) { Radius = FMath::FloorToInt(float(Radius) * (2.f / 3.f)); }
     Visible = MapRef->BreadthFirstSearch(CurrentHex, Radius);
     for (auto& Hex : Visible) {
         if (ExploredHexes.Contains(Hex)) { continue; }
@@ -71,6 +70,10 @@ TArray<AHexTile*> AAdventurePlayerController::Vision(int32 Radius)
 
 void AAdventurePlayerController::MarkPath(TArray<AHexTile*> Path)
 {
+    if (Path.IsEmpty()) { return; }
+    else if (!IsValid(Path[0])) { return; }
+    else if (CurrentHex->Distance(Path[0])>1) { return; }
+
     FHexVector DirA = FHexVector(Path[0]->Q - CurrentHex->Q, Path[0]->R - CurrentHex->R);
     FHexVector DirB;
     for (int32 i = 0; i < Path.Num() - 1; i++)

HexTile.h

@@ -48,19 +48,15 @@ public:
 
 	// Pathfinding
 	UPROPERTY(BlueprintReadWrite)
-		float MoveCost = 10;
+		int32 MoveCost = 1;
+	UPROPERTY()
+		int32 FCost;
+	UPROPERTY()
+		int32 GCost = 9999;
+	UPROPERTY()
+		int32 HCost;
 	UPROPERTY(BlueprintReadWrite, VisibleInstanceOnly, Category = "Runtime")
 		AHexTile* CameFrom;
-	UPROPERTY(BlueprintReadWrite, VisibleInstanceOnly, Category = "Runtime")
-		AHexTile* LeadsTo;
-	UPROPERTY(BlueprintReadWrite, VisibleInstanceOnly, Category = "Runtime")
-		bool bDiagMove = false;
-	UPROPERTY()
-		float FCost;
-	UPROPERTY()
-		float GCost;
-	UPROPERTY()
-		float HCost = 9999;
 
 	// MapObject Placement
 	UPROPERTY(BlueprintReadWrite, VisibleAnywhere)

MovementArrow.cpp

@@ -26,60 +26,51 @@ AMovementArrow::AMovementArrow()
 }
 
 void AMovementArrow::SetVariant(FHexVector InVector, FHexVector OutVector) {
-
 	int32 InVectorIndex = MapRef->UnitVectors.Find(InVector);
 	int32 OutVectorIndex = MapRef->UnitVectors.Find(OutVector);
 	int32 VariantIndex;
-
+	if (InVectorIndex == 0)	{
-	if (InVectorIndex == 0)
-	{
 		if (OutVectorIndex == 0) { VariantIndex = 0; }
 		if (OutVectorIndex == 1) { VariantIndex = 1; }
 		if (OutVectorIndex == 2) { VariantIndex = 2; }
 		if (OutVectorIndex == 4) { VariantIndex = 3; }
 		if (OutVectorIndex == 5) { VariantIndex = 4; }
 	}
-	if (InVectorIndex == 1)
+	if (InVectorIndex == 1)	{
-	{
 		if (OutVectorIndex == 0) { VariantIndex = 4; }
 		if (OutVectorIndex == 1) { VariantIndex = 0; }
 		if (OutVectorIndex == 2) { VariantIndex = 1; }
 		if (OutVectorIndex == 3) { VariantIndex = 2; }
 		if (OutVectorIndex == 5) { VariantIndex = 3; }
 	}
-	if (InVectorIndex == 2)
+	if (InVectorIndex == 2)	{
-	{
 		if (OutVectorIndex == 0) { VariantIndex = 3; }
 		if (OutVectorIndex == 1) { VariantIndex = 4; }
 		if (OutVectorIndex == 2) { VariantIndex = 0; }
 		if (OutVectorIndex == 3) { VariantIndex = 1; }
 		if (OutVectorIndex == 4) { VariantIndex = 2; }
 	}
-	if (InVectorIndex == 3)
+	if (InVectorIndex == 3)	{
-	{
 		if (OutVectorIndex == 1) { VariantIndex = 3; }
 		if (OutVectorIndex == 2) { VariantIndex = 4; }
 		if (OutVectorIndex == 3) { VariantIndex = 0; }
 		if (OutVectorIndex == 4) { VariantIndex = 1; }
 		if (OutVectorIndex == 5) { VariantIndex = 2; }
 	}
-	if (InVectorIndex == 4)
+	if (InVectorIndex == 4) {
-	{
 		if (OutVectorIndex == 0) { VariantIndex = 2; }
 		if (OutVectorIndex == 2) { VariantIndex = 3; }
 		if (OutVectorIndex == 3) { VariantIndex = 4; }
 		if (OutVectorIndex == 4) { VariantIndex = 0; }
 		if (OutVectorIndex == 5) { VariantIndex = 1; }
 	}
-	if (InVectorIndex == 5)
+	if (InVectorIndex == 5)	{
-	{
 		if (OutVectorIndex == 0) { VariantIndex = 1; }
 		if (OutVectorIndex == 1) { VariantIndex = 2; }
 		if (OutVectorIndex == 3) { VariantIndex = 3; }
 		if (OutVectorIndex == 4) { VariantIndex = 4; }
 		if (OutVectorIndex == 5) { VariantIndex = 0; }
 	}
-
 	SceneComponent->SetRelativeRotation(FRotator(0, InVectorIndex * 60.f, 0));
 	MeshVariants[VariantIndex]->ToggleVisibility();
 }