More readable pathfinding code

1 files changed, 36 insertions, 12 deletions

diff --git a/server/bot/src/pathfinding.rs b/server/bot/src/pathfinding.rs
index f4cf36d4..a32442b1 100644
--- a/server/bot/src/pathfinding.rs
+++ b/server/bot/src/pathfinding.rs
@@ -16,10 +16,11 @@
 
 */
 use hurrycurry_protocol::glam::{IVec2, Vec2};
-use log::trace;
+use log::{debug, trace};
 use std::{
     cmp::Ordering,
     collections::{BinaryHeap, HashMap, HashSet},
+    time::Instant,
 };
 
 #[derive(Debug, Clone)]
@@ -67,7 +68,12 @@ pub fn find_path_to_neighbour(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2)
 }
 pub fn find_path(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Path> {
     #[derive(Debug, PartialEq, Eq)]
-    struct Open(i32, IVec2, IVec2, i32);
+    struct Open {
+        heuristic: i32,
+        pos: IVec2,
+        prev_pos: IVec2,
+        distance: i32,
+    }
     impl PartialOrd for Open {
         fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
             Some(self.cmp(other))
@@ -75,32 +81,44 @@ pub fn find_path(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Pa
     }
     impl Ord for Open {
         fn cmp(&self, other: &Self) -> Ordering {
-            self.0.cmp(&other.0)
+            self.heuristic.cmp(&other.heuristic)
         }
     }
 
+    debug!("planning route from {from} to {to}");
+    let start = Instant::now();
     let mut visited = HashMap::new();
     let mut open = BinaryHeap::new();
-    open.push(Open(1, from, from, 0));
+    open.push(Open {
+        heuristic: 1,
+        pos: from,
+        prev_pos: from,
+        distance: 0,
+    });
 
     loop {
-        let Open(_, pos, f, distance) = open.pop()?;
+        let Open {
+            pos,
+            prev_pos,
+            distance,
+            ..
+        } = open.pop()?;
         if visited.contains_key(&pos) {
             continue;
         }
-        visited.insert(pos, f);
+        visited.insert(pos, prev_pos);
         if pos == to {
             break;
         }
         for dir in [IVec2::NEG_X, IVec2::NEG_Y, IVec2::X, IVec2::Y] {
             let next = pos + dir;
             if walkable.contains(&next) {
-                open.push(Open(
-                    -(distance + next.distance_squared(to).isqrt()),
-                    next,
-                    pos,
-                    distance + 1,
-                ));
+                open.push(Open {
+                    heuristic: -(distance + next.distance_squared(to).isqrt()),
+                    pos: next,
+                    prev_pos: pos,
+                    distance: distance + 1,
+                });
             }
         }
     }
@@ -115,6 +133,12 @@ pub fn find_path(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Pa
         }
         c = cn
     }
+
+    debug!(
+        "done in {:?} (distance={})",
+        start.elapsed(),
+        segments.len()
+    );
     Some(Path {
         segments,
         seg_time: 0.,