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Extend pathfinding API with heuristics, multi-root Dijkstra, and FLEE primitives; refs #315

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Phase A (Python surface):
- New mcrfpy.Heuristic IntEnum: EUCLIDEAN, MANHATTAN, CHEBYSHEV, DIAGONAL, ZERO
- Grid.find_path() accepts heuristic= and weight= kwargs (weighted A*)
- Grid.get_dijkstra_map() accepts roots= (list of positions or DiscreteMap mask)

Phase B (FLEE primitives):
- DijkstraMap.invert() returns a new map with inverted distance field
- DijkstraMap.descent_step(pos) returns steepest-descent neighbor or None

DijkstraMap internally switched from the C++ TCODDijkstra wrapper to the C API
(TCOD_dijkstra_*) because multi-root compute and invert/get_descent are not
exposed on the wrapper. Single-root Dijkstra cache is preserved for backward
compatibility; multi-root and mask paths bypass the cache since cache keys
would be ill-defined.

New tests: heuristic_enum_test, find_path_heuristic_test, multi_root_dijkstra_test,
dijkstra_flee_test. Baseline JSONs for dijkstra_bench and gridview_render_bench
refreshed against the new implementation.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
John McCardle 2026-04-18 09:18:49 -04:00
commit 767d0d4b0f
11 changed files with 860 additions and 98 deletions
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28
tests/benchmarks/baseline/phase5_2/dijkstra_bench.json
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@ -4,82 +4,82 @@
"grid": "100x100",
"kind": "multi_root",
"roots": 1,
"mean_ms": 0.7709094556048512
"mean_ms": 0.6948539987206459
},
{
"grid": "100x100",
"kind": "multi_root",
"roots": 2,
"mean_ms": 0.7632468361407518
"mean_ms": 0.8002225775271654
},
{
"grid": "100x100",
"kind": "multi_root",
"roots": 5,
"mean_ms": 1.200081780552864
"mean_ms": 1.1821302119642496
},
{
"grid": "100x100",
"kind": "multi_root",
"roots": 20,
"mean_ms": 2.137616788968444
"mean_ms": 2.0206935703754425
},
{
"grid": "100x100",
"kind": "mask",
"roots": 500,
"mean_ms": 30.424197972752154
"mean_ms": 24.073211615905166
},
{
"grid": "100x100",
"kind": "invert",
"mean_ms": 1.0323396185413003
"mean_ms": 0.7887090090662241
},
{
"grid": "100x100",
"kind": "descent_step_per_call",
"mean_us": 0.4075700417160988,
"mean_us": 0.3262499812990427,
"valid_per_trial": 100
},
{
"grid": "500x500",
"kind": "multi_root",
"roots": 1,
"mean_ms": 26.075413217768073
"mean_ms": 20.39959062822163
},
{
"grid": "500x500",
"kind": "multi_root",
"roots": 2,
"mean_ms": 25.83242394030094
"mean_ms": 22.81180394347757
},
{
"grid": "500x500",
"kind": "multi_root",
"roots": 5,
"mean_ms": 33.73005616012961
"mean_ms": 29.194996040314436
},
{
"grid": "500x500",
"kind": "multi_root",
"roots": 20,
"mean_ms": 78.58918677084148
"mean_ms": 67.84450197592378
},
{
"grid": "500x500",
"kind": "mask",
"roots": 12500,
"mean_ms": 18658.679087948985
"mean_ms": 19711.241053813137
},
{
"grid": "500x500",
"kind": "invert",
"mean_ms": 25.918347598053515
"mean_ms": 27.875673002563417
},
{
"grid": "500x500",
"kind": "descent_step_per_call",
"mean_us": 0.3717193566262722,
"mean_us": 0.3495373670011759,
"valid_per_trial": 2500
}
]

30
tests/benchmarks/baseline/phase5_2/gridview_render_bench.json
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@ -4,31 +4,31 @@
"views": 1,
"frames": 60,
"warmup_frames": 5,
"total_sec": 4.710599604761228,
"mean_frame_ms": 78.50999341268714,
"p95_frame_ms": 90.47448402270675,
"implied_fps": 12.737231994702995,
"per_view_frame_ms": 78.50999341268714
"total_sec": 4.731390134897083,
"mean_frame_ms": 78.85650224828473,
"p95_frame_ms": 86.92639297805727,
"implied_fps": 12.681262438593032,
"per_view_frame_ms": 78.85650224828473
},
{
"views": 2,
"frames": 60,
"warmup_frames": 5,
"total_sec": 4.6525509969796985,
"mean_frame_ms": 77.54251661632831,
"p95_frame_ms": 91.92000096663833,
"implied_fps": 12.896150958678424,
"per_view_frame_ms": 38.77125830816416
"total_sec": 4.975782633875497,
"mean_frame_ms": 82.92971056459162,
"p95_frame_ms": 91.40842803753912,
"implied_fps": 12.058404559619538,
"per_view_frame_ms": 41.46485528229581
},
{
"views": 4,
"frames": 60,
"warmup_frames": 5,
"total_sec": 4.727940998389386,
"mean_frame_ms": 78.7990166398231,
"p95_frame_ms": 99.88687501754612,
"implied_fps": 12.690513697281654,
"per_view_frame_ms": 19.699754159955774
"total_sec": 4.861755113233812,
"mean_frame_ms": 81.0292518872302,
"p95_frame_ms": 90.46144201420248,
"implied_fps": 12.341222172354708,
"per_view_frame_ms": 20.25731297180755
}
],
"config": {