From f8d95d074c36ec35eee8def73b8d9f2b83c922cb Mon Sep 17 00:00:00 2001
From: metamuffin <metamuffin@disroot.org>
Date: Mon, 20 Oct 2025 00:56:32 +0200
Subject: Pathfinding avoids chairs

---
 server/bot/src/pathfinding.rs | 24 +++++++++++++++++-------
 1 file changed, 17 insertions(+), 7 deletions(-)

(limited to 'server/bot/src/pathfinding.rs')

diff --git a/server/bot/src/pathfinding.rs b/server/bot/src/pathfinding.rs
index a32442b1..e17ca80c 100644
--- a/server/bot/src/pathfinding.rs
+++ b/server/bot/src/pathfinding.rs
@@ -15,11 +15,12 @@
     along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 */
+use hurrycurry_game_core::Game;
 use hurrycurry_protocol::glam::{IVec2, Vec2};
 use log::{debug, trace};
 use std::{
     cmp::Ordering,
-    collections::{BinaryHeap, HashMap, HashSet},
+    collections::{BinaryHeap, HashMap},
     time::Instant,
 };
 
@@ -54,19 +55,19 @@ impl Path {
     }
 }
 
-pub fn find_path_to_neighbour(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Path> {
+pub fn find_path_to_neighbour(game: &Game, from: IVec2, to: IVec2) -> Option<Path> {
     let mut paths = Vec::new();
     for xo in -1..=1 {
         for yo in -1..=1 {
             let to = to + IVec2::new(xo, yo);
-            if walkable.contains(&to) {
-                paths.extend(find_path(walkable, from, to))
+            if game.walkable.contains(&to) {
+                paths.extend(find_path(game, from, to))
             }
         }
     }
     paths.into_iter().min_by_key(|p| p.segments.len())
 }
-pub fn find_path(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Path> {
+pub fn find_path(game: &Game, from: IVec2, to: IVec2) -> Option<Path> {
     #[derive(Debug, PartialEq, Eq)]
     struct Open {
         heuristic: i32,
@@ -87,6 +88,7 @@ pub fn find_path(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Pa
 
     debug!("planning route from {from} to {to}");
     let start = Instant::now();
+    let chair = game.data.get_tile_by_name("chair");
     let mut visited = HashMap::new();
     let mut open = BinaryHeap::new();
     open.push(Open {
@@ -112,12 +114,20 @@ pub fn find_path(walkable: &HashSet<IVec2>, from: IVec2, to: IVec2) -> Option<Pa
         }
         for dir in [IVec2::NEG_X, IVec2::NEG_Y, IVec2::X, IVec2::Y] {
             let next = pos + dir;
-            if walkable.contains(&next) {
+            if game.walkable.contains(&next) {
+                let penalty = if let Some(chair) = chair
+                    && let Some(set) = game.tile_index.get(&chair)
+                    && set.contains(&next)
+                {
+                    8
+                } else {
+                    0
+                };
                 open.push(Open {
                     heuristic: -(distance + next.distance_squared(to).isqrt()),
                     pos: next,
                     prev_pos: pos,
-                    distance: distance + 1,
+                    distance: distance + penalty + 1,
                 });
             }
         }
-- 
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