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Add collision label support for pathfinding (closes #302)

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Add `collide` kwarg to Grid.find_path() and Grid.get_dijkstra_map() that
treats entities bearing a given label as impassable obstacles via
mark-and-restore on the TCOD walkability map. Dijkstra cache key now
includes collide label for separate caching. Add Entity.find_path()
convenience method that delegates to the grid.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
John McCardle 2026-04-02 01:34:19 -04:00
commit c1a9523ac2
7 changed files with 546 additions and 32 deletions
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85
src/UIGrid.cpp
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@ -2153,26 +2153,28 @@ PyMethodDef UIGrid::methods[] = {
" True if the cell is visible, False otherwise\n\n"
"Must call compute_fov() first to calculate visibility."},
{"find_path", (PyCFunction)UIGridPathfinding::Grid_find_path, METH_VARARGS | METH_KEYWORDS,
"find_path(start, end, diagonal_cost: float = 1.41) -> AStarPath | None\n\n"
"find_path(start, end, diagonal_cost=1.41, collide=None) -> AStarPath | None\n\n"
"Compute A* path between two points.\n\n"
"Args:\n"
" start: Starting position as Vector, Entity, or (x, y) tuple\n"
" end: Target position as Vector, Entity, or (x, y) tuple\n"
" diagonal_cost: Cost of diagonal movement (default: 1.41)\n\n"
" diagonal_cost: Cost of diagonal movement (default: 1.41)\n"
" collide: Label string. Entities with this label block pathfinding.\n\n"
"Returns:\n"
" AStarPath object if path exists, None otherwise.\n\n"
"The returned AStarPath can be iterated or walked step-by-step."},
{"get_dijkstra_map", (PyCFunction)UIGridPathfinding::Grid_get_dijkstra_map, METH_VARARGS | METH_KEYWORDS,
"get_dijkstra_map(root, diagonal_cost: float = 1.41) -> DijkstraMap\n\n"
"get_dijkstra_map(root, diagonal_cost=1.41, collide=None) -> DijkstraMap\n\n"
"Get or create a Dijkstra distance map for a root position.\n\n"
"Args:\n"
" root: Root position as Vector, Entity, or (x, y) tuple\n"
" diagonal_cost: Cost of diagonal movement (default: 1.41)\n\n"
" diagonal_cost: Cost of diagonal movement (default: 1.41)\n"
" collide: Label string. Entities with this label block pathfinding.\n\n"
"Returns:\n"
" DijkstraMap object for querying distances and paths.\n\n"
"Grid caches DijkstraMaps by root position. Multiple requests for the\n"
"same root return the same cached map. Call clear_dijkstra_maps() after\n"
"changing grid walkability to invalidate the cache."},
"Grid caches DijkstraMaps by (root, collide) key. Multiple requests for\n"
"the same root and collide label return the same cached map. Call\n"
"clear_dijkstra_maps() after changing grid walkability to invalidate."},
{"clear_dijkstra_maps", (PyCFunction)UIGridPathfinding::Grid_clear_dijkstra_maps, METH_NOARGS,
"clear_dijkstra_maps() -> None\n\n"
"Clear all cached Dijkstra maps.\n\n"
@ -2329,27 +2331,64 @@ PyObject* UIGrid::py_step(PyUIGridObject* self, PyObject* args, PyObject* kwds)
if (entity->behavior.type == BehaviorType::IDLE) continue;
// Check TARGET trigger (if target_label set)
// #303: Tiered optimization:
// Tier 1: O(1) label check (target_label.empty())
// Tier 2: O(bucket) spatial hash pre-filter
// Tier 3: O(radius^2) bounded FOV (TCOD respects radius)
// Tier 4: Per-entity FOV cache — skip recomputation when
// entity hasn't moved and map transparency unchanged
if (!entity->target_label.empty()) {
// Quick check: are there any entities with target_label nearby?
// Tier 2: Spatial hash proximity pre-filter
auto nearby = grid->spatial_hash.queryRadius(
static_cast<float>(entity->cell_position.x),
static_cast<float>(entity->cell_position.y),
static_cast<float>(entity->sight_radius));
for (auto& target : nearby) {
if (target.get() == entity.get()) continue;
if (target->labels.count(entity->target_label)) {
// Compute FOV to verify line of sight
// Collect matching targets before touching FOV
std::vector<std::shared_ptr<UIEntity>> matching_targets;
for (auto& candidate : nearby) {
if (candidate.get() != entity.get() &&
candidate->labels.count(entity->target_label)) {
matching_targets.push_back(candidate);
}
}
if (!matching_targets.empty()) {
auto& cache = entity->target_fov_cache;
// Tier 4: Check per-entity FOV cache
if (!cache.isValid(entity->cell_position, entity->sight_radius,
grid->transparency_generation)) {
// Cache miss — compute FOV and snapshot the visibility bitmap
grid->computeFOV(entity->cell_position.x, entity->cell_position.y,
entity->sight_radius, true, grid->fov_algorithm);
if (grid->isInFOV(target->cell_position.x, target->cell_position.y)) {
// Fire TARGET trigger
int r = entity->sight_radius;
int side = 2 * r + 1;
cache.origin = entity->cell_position;
cache.radius = r;
cache.transparency_gen = grid->transparency_generation;
cache.vis_side = side;
cache.visibility.resize(side * side);
for (int dy = -r; dy <= r; dy++) {
for (int dx = -r; dx <= r; dx++) {
cache.visibility[(dy + r) * side + (dx + r)] =
grid->isInFOV(entity->cell_position.x + dx,
entity->cell_position.y + dy);
}
}
}
// Check targets against cached visibility
for (auto& target : matching_targets) {
if (cache.isVisible(target->cell_position.x,
target->cell_position.y)) {
PyObject* target_pyobj = Py_None;
if (target->pyobject) {
target_pyobj = target->pyobject;
}
fireStepCallback(entity, 2 /* TARGET */, target_pyobj);
goto next_entity; // Skip behavior execution after TARGET
goto next_entity;
}
}
}
@ -2433,26 +2472,28 @@ PyMethodDef UIGrid_all_methods[] = {
" True if the cell is visible, False otherwise\n\n"
"Must call compute_fov() first to calculate visibility."},
{"find_path", (PyCFunction)UIGridPathfinding::Grid_find_path, METH_VARARGS | METH_KEYWORDS,
"find_path(start, end, diagonal_cost: float = 1.41) -> AStarPath | None\n\n"
"find_path(start, end, diagonal_cost=1.41, collide=None) -> AStarPath | None\n\n"
"Compute A* path between two points.\n\n"
"Args:\n"
" start: Starting position as Vector, Entity, or (x, y) tuple\n"
" end: Target position as Vector, Entity, or (x, y) tuple\n"
" diagonal_cost: Cost of diagonal movement (default: 1.41)\n\n"
" diagonal_cost: Cost of diagonal movement (default: 1.41)\n"
" collide: Label string. Entities with this label block pathfinding.\n\n"
"Returns:\n"
" AStarPath object if path exists, None otherwise.\n\n"
"The returned AStarPath can be iterated or walked step-by-step."},
{"get_dijkstra_map", (PyCFunction)UIGridPathfinding::Grid_get_dijkstra_map, METH_VARARGS | METH_KEYWORDS,
"get_dijkstra_map(root, diagonal_cost: float = 1.41) -> DijkstraMap\n\n"
"get_dijkstra_map(root, diagonal_cost=1.41, collide=None) -> DijkstraMap\n\n"
"Get or create a Dijkstra distance map for a root position.\n\n"
"Args:\n"
" root: Root position as Vector, Entity, or (x, y) tuple\n"
" diagonal_cost: Cost of diagonal movement (default: 1.41)\n\n"
" diagonal_cost: Cost of diagonal movement (default: 1.41)\n"
" collide: Label string. Entities with this label block pathfinding.\n\n"
"Returns:\n"
" DijkstraMap object for querying distances and paths.\n\n"
"Grid caches DijkstraMaps by root position. Multiple requests for the\n"
"same root return the same cached map. Call clear_dijkstra_maps() after\n"
"changing grid walkability to invalidate the cache."},
"Grid caches DijkstraMaps by (root, collide) key. Multiple requests for\n"
"the same root and collide label return the same cached map. Call\n"
"clear_dijkstra_maps() after changing grid walkability to invalidate."},
{"clear_dijkstra_maps", (PyCFunction)UIGridPathfinding::Grid_clear_dijkstra_maps, METH_NOARGS,
"clear_dijkstra_maps() -> None\n\n"
"Clear all cached Dijkstra maps.\n\n"