1 files changed, 21 insertions, 10 deletions

diff --git a/server/bot/src/pathfinding.rs b/server/bot/src/pathfinding.rs
index e6457cff..593b5900 100644
--- a/server/bot/src/pathfinding.rs
+++ b/server/bot/src/pathfinding.rs
@@ -23,14 +23,19 @@ use std::{
 };
 
 #[derive(Debug, Clone)]
-pub struct Path(Vec<Vec2>);
+pub struct Path {
+    segments: Vec<Vec2>,
+    seg_time: f32,
+}
 
 impl Path {
-    pub fn next_direction(&mut self, position: Vec2) -> Vec2 {
-        if let Some(next) = self.0.last().copied() {
+    pub fn next_direction(&mut self, position: Vec2, dt: f32) -> Vec2 {
+        if let Some(next) = self.segments.last().copied() {
             trace!("next {next}");
-            if next.distance(position) < if self.0.len() == 1 { 0.1 } else { 0.6 } {
-                self.0.pop();
+            self.seg_time += dt;
+            if next.distance(position) < if self.segments.len() == 1 { 0.1 } else { 0.6 } {
+                self.seg_time = 0.;
+                self.segments.pop();
             }
             (next - position).normalize_or_zero()
         } else {
@@ -38,7 +43,10 @@ impl Path {
         }
     }
     pub fn is_done(&self) -> bool {
-        self.0.is_empty()
+        self.segments.is_empty()
+    }
+    pub fn is_stuck(&self) -> bool {
+        self.seg_time > 5.
     }
 }
 
@@ -52,7 +60,7 @@ pub fn find_path_to_neighbour(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2)
             }
         }
     }
-    paths.into_iter().min_by_key(|p| p.0.len())
+    paths.into_iter().min_by_key(|p| p.segments.len())
 }
 pub fn find_path(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Path> {
     #[derive(Debug, PartialEq, Eq)]
@@ -94,15 +102,18 @@ pub fn find_path(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Pa
         }
     }
 
-    let mut path = Vec::new();
+    let mut segments = Vec::new();
     let mut c = to;
     loop {
-        path.push(c.as_vec2() + 0.5);
+        segments.push(c.as_vec2() + 0.5);
         let cn = visited[&c];
         if cn == c {
             break;
         }
         c = cn
     }
-    Some(Path(path))
+    Some(Path {
+        segments,
+        seg_time: 0.,
+    })
 }