Pathfinding: Implement navigation along paths for characters

AGENTS.md

@@ -82,7 +82,7 @@
 		abc == 2 ?
 		something :
 		else
-	;
+	; // take care to always have the ; a separate line!!!
 
 	/*
 		For multi-line boolean expressions and assignments,
@@ -96,12 +96,20 @@
 	if (long_clause
 		&& other_long_clause
 		&& another_long_clause
-	) {
+	) { // take care to always have these two characters in a separate line!!!
 
 	}
 	else {
 
 	}
+
+	/*
+		Long initialization:
+	*/
+	pathfinding.rerouting = pathfinding_progress {
+		std::move(*new_rerouting),
+		0
+	};
 	```
 
 - If the initial variable value depends on several conditions, you can sometimes employ this trick to make the variable const:
@@ -293,6 +301,8 @@
 
 - When implementing new functionality in the `augs/` folder, always put it in the `augs::` namespace.
 
+- Separate generic algorithmic logic (BFS, A*, sorting, etc.) into `augs/algorithm/` headers. Game-specific code should call these generic functions with appropriate parameters. This keeps algorithms reusable and testable independent of game code.
+
 ## Common vec2 and ltrb functions (from augs/math/vec2.h and augs/math/rects.h)
 
 - `float vec2::length()` - get the length of a vector

CMakeLists.txt

@@ -398,7 +398,6 @@ set(HYPERSOMNIA_BOX2D_CPPS
 # Test scene sources whose inclusion is conditional on the value of BUILD_TEST_SCENES.
 
 set(HYPERSOMNIA_TEST_SCENES_CPPS
-	"src/test_scenes/ingredients/artificial_life.cpp"
 	"src/test_scenes/ingredients/backpack.cpp"
 	"src/test_scenes/ingredients/car.cpp"
 	"src/test_scenes/ingredients/guns.cpp"
@@ -704,7 +703,6 @@ set(HYPERSOMNIA_CODEBASE_CPPS
 	"src/game/stateless_systems/melee_system.cpp"
 	"src/game/stateless_systems/particles_existence_system.cpp"
 	"src/game/stateless_systems/sound_existence_system.cpp"
-	"src/game/stateless_systems/behaviour_tree_system.cpp"
 	"src/game/stateless_systems/car_system.cpp"
 	"src/game/stateless_systems/crosshair_system.cpp"
 	"src/game/stateless_systems/missile_system.cpp"
@@ -716,7 +714,6 @@ set(HYPERSOMNIA_CODEBASE_CPPS
 	"src/game/stateless_systems/intent_contextualization_system.cpp"
 	"src/game/stateless_systems/item_system.cpp"
 	"src/game/stateless_systems/movement_system.cpp"
-	"src/game/stateless_systems/pathfinding_system.cpp"
 	"src/game/stateless_systems/sentience_system.cpp"
 	"src/game/stateless_systems/trace_system.cpp"
 	"src/game/stateless_systems/visibility_system.cpp"
@@ -737,7 +734,6 @@ set(HYPERSOMNIA_CODEBASE_CPPS
 	"src/augs/string/typesafe_sprintf.cpp"
 	"src/augs/string/typesafe_sscanf.cpp"
 	"src/game/assets/animation.cpp"
-	"src/game/assets/behaviour_tree.cpp"
 	"src/game/assets/physical_material.cpp"
 	"src/game/components/flags_component.cpp"
 	"src/game/components/light_component.cpp"
@@ -757,7 +753,6 @@ set(HYPERSOMNIA_CODEBASE_CPPS
 	"src/game/enums/attitude_type.cpp"
 	"src/game/enums/item_category.cpp"
 	"src/game/enums/slot_physical_behaviour.cpp"
-	"src/game/detail/ai/create_standard_behaviour_trees.cpp"
 	"src/game/inferred_caches/physics_world_cache.cpp"
 	"src/game/inferred_caches/tree_of_npo_cache.cpp"
 	"src/game/other_unit_tests.cpp"
@@ -770,16 +765,8 @@ set(HYPERSOMNIA_CODEBASE_CPPS
 	"src/game/components/container_component.cpp"
 	"src/game/components/missile_component.cpp"
 	"src/game/components/movement_component.cpp"
-	"src/game/components/pathfinding_component.cpp"
 	"src/game/cosmos/cosmos.cpp"
-	"src/game/detail/ai/behaviours.cpp"
-	"src/game/detail/ai/behaviours/explore_in_search_for_last_seen_target.cpp"
-	"src/game/detail/ai/behaviours/immediate_evasion.cpp"
-	"src/game/detail/ai/behaviours/minimize_recoil_through_movement.cpp"
-	"src/game/detail/ai/behaviours/navigate_to_last_seen_position_of_target.cpp"
-	"src/game/detail/ai/behaviours/pull_trigger.cpp"
-	"src/game/detail/ai/behaviours/target_closest_enemy.cpp"
-	"src/game/modes/arena_mode_ai.cpp"
+	"src/game/modes/ai/arena_mode_ai.cpp"
 	"src/game/detail/entity_scripts.cpp"
 	"src/game/enums/filters.cpp"
 	"src/game/cosmos/cosmos_solvable_significant.cpp"

src/application/arena/arena_playtesting_context.h

@@ -1,11 +1,16 @@
 #pragma once
+#include <optional>
 #include "augs/math/vec2.h"
 #include "game/enums/faction_type.h"
+#include "game/cosmos/entity_id.h"
 
 struct arena_playtesting_context {
 	// GEN INTROSPECTOR struct arena_playtesting_context
 	vec2 initial_spawn_pos;
 	faction_type first_player_faction = faction_type::SPECTATOR;
+
+	std::optional<vec2> debug_pathfinding_end;
+	entity_id debug_pathfinding_bomb_target;
 	// END GEN INTROSPECTOR
 
 	bool operator==(const arena_playtesting_context&) const = default;

src/application/main/draw_debug_lines.cpp

@@ -30,6 +30,7 @@ void draw_debug_lines(
 
 	renderer.draw_debug_lines(
 		DEBUG_LOGIC_STEP_LINES,
+		DEBUG_LOGIC_STEP_RECTS,
 		DEBUG_PERSISTENT_LINES,
 		DEBUG_FRAME_LINES,
 
@@ -38,6 +39,7 @@ void draw_debug_lines(
 	);
 
 	renderer.call_and_clear_lines();
+	renderer.call_and_clear_triangles();
 
 	DEBUG_FRAME_LINES.clear();
 

src/application/setups/editor/editor_setup.cpp

@@ -72,6 +72,7 @@
 #include "game/cosmos/for_each_entity.h"
 #include "game/detail/passes_filter.h"
 #include "game/detail/pathfinding.h"
+#include "game/detail/explosive/like_explosive.h"
 #include "application/setups/client/https_file_uploader.h"
 #include "augs/misc/readable_bytesize.h"
 #include "application/setups/editor/editor_rebuild_prefab_nodes.hpp"
@@ -395,6 +396,31 @@ bool editor_setup::handle_input_before_game(
 	}
 
 	if (is_playtesting()) {
+		/*
+			Handle numpad speed control during playtesting.
+		*/
+		const auto& e = in.e;
+
+		if (e.was_any_key_pressed()) {
+			const auto k = e.data.key.key;
+
+			auto set_speed = [&](const double s) {
+				playtest_speed = s;
+			};
+
+			switch (k) {
+				case key::NUMPAD0: set_speed(1.0); return true;
+				case key::NUMPAD1: set_speed(0.01); return true;
+				case key::NUMPAD2: set_speed(0.05); return true;
+				case key::NUMPAD3: set_speed(0.1); return true;
+				case key::NUMPAD4: set_speed(0.5); return true;
+				case key::NUMPAD5: set_speed(2.0); return true;
+				case key::NUMPAD6: set_speed(4.0); return true;
+				case key::NUMPAD7: set_speed(10.0); return true;
+				default: break;
+			}
+		}
+
 		return false;
 	}
 
@@ -3573,10 +3599,52 @@ const editor_official_resource_map& editor_setup::get_official_resource_map() co
 }
 
 arena_playtesting_context editor_setup::make_playtesting_context() const {
-	return { 
-		get_camera_eye().transform.pos,
-		project.playtesting.starting_faction
-	};
+	arena_playtesting_context ctx;
+	ctx.initial_spawn_pos = get_camera_eye().transform.pos;
+	ctx.first_player_faction = project.playtesting.starting_faction;
+
+	/*
+		Look for DEBUG_PATHFINDING_START and DEBUG_PATHFINDING_END markers.
+		If DEBUG_PATHFINDING_START exists, spawn at that position.
+		If DEBUG_PATHFINDING_END exists, store it for AI pathfinding testing.
+	*/
+	std::optional<vec2> pathfinding_start;
+	std::optional<vec2> pathfinding_end;
+
+	scene.world.for_each_having<invariants::point_marker>(
+		[&](const auto& typed_handle) {
+			const auto& marker = typed_handle.template get<invariants::point_marker>();
+
+			if (marker.type == point_marker_type::DEBUG_PATHFINDING_START) {
+				pathfinding_start = typed_handle.get_logic_transform().pos;
+			}
+			else if (marker.type == point_marker_type::DEBUG_PATHFINDING_END) {
+				pathfinding_end = typed_handle.get_logic_transform().pos;
+			}
+		}
+	);
+
+	if (pathfinding_start.has_value()) {
+		ctx.initial_spawn_pos = *pathfinding_start;
+	}
+
+	if (pathfinding_end.has_value()) {
+		ctx.debug_pathfinding_end = pathfinding_end;
+	}
+	else {
+		/*
+			Check if there's a planted bomb on the ground to use as pathfinding target.
+		*/
+		scene.world.for_each_having<invariants::hand_fuse>(
+			[&](const auto& typed_handle) {
+				if (::is_like_plantable_bomb(typed_handle)) {
+					ctx.debug_pathfinding_bomb_target = typed_handle.get_id();
+				}
+			}
+		);
+	}
+
+	return ctx;
 }
 
 #include "application/main/game_frame_buffer.h"

src/application/setups/editor/editor_setup.h

@@ -132,6 +132,7 @@ class editor_setup : public default_setup_settings, public arena_gui_mixin<edito
 	mode_player_id local_player_id;
 
 	bool playtesting = false;
+	double playtest_speed = 1.0;
 
 	scene_entity_to_node_map scene_entity_to_node;
 
@@ -610,7 +611,7 @@ class editor_setup : public default_setup_settings, public arena_gui_mixin<edito
 	/*********************************************************/
 
 	auto get_audiovisual_speed() const {
-		return 1.0;
+		return is_playtesting() ? playtest_speed : 1.0;
 	}
 
 	const auto& get_viewed_cosmos() const {
@@ -647,9 +648,10 @@ class editor_setup : public default_setup_settings, public arena_gui_mixin<edito
 		const setup_advance_input& in,
 		const C& callbacks
 	) {
-		global_time_seconds += in.frame_delta.in_seconds();
-
-		timer.advance(in.frame_delta);
+		auto dt = in.frame_delta;
+		dt *= playtest_speed;
+		global_time_seconds += dt.in_seconds();
+		timer.advance(dt);
 
 		auto steps = timer.extract_num_of_logic_steps(get_inv_tickrate());
 

src/application/setups/editor/project/editor_project_paths.cpp

@@ -115,7 +115,7 @@ editor_project_paths::editor_project_paths(const augs::path_type& target_folder)
 	};
 
 	project_json = in_folder(arena_name + ".json");
-	project_nav = in_folder(arena_name + ".nav");
+	project_nav = in_folder("navmesh.nav");
 	legacy_autosave_json = in_folder("autosave.json");
 	last_saved_json = in_folder("last_saved.json");
 	editor_view = in_folder("editor_view.json");

src/application/tests_of_traits.cpp

@@ -24,7 +24,6 @@
 
 #include "augs/templates/traits/container_traits.h"
 #include "augs/templates/traits/is_enum_map.h"
-#include "game/components/pathfinding_component.h"
 #include "game/organization/for_each_entity_type.h"
 #include "game/organization/for_each_component_type.h"
 #include "game/cosmos/entity_handle.h"
@@ -302,7 +301,6 @@ struct tests_of_traits {
 	static_assert(is_container_v<std::vector<int>>, "Trait has failed");
 	static_assert(is_container_v<std::vector<vec2>>, "Trait has failed");
 	static_assert(is_container_v<std::vector<cosmos>>, "Trait has failed");
-	static_assert(is_container_v<std::vector<pathfinding_session>>, "Trait has failed");
 
 	static_assert(can_access_data_v<std::string>, "Trait has failed");
 	static_assert(can_access_data_v<std::vector<int>>, "Trait has failed");

src/augs/algorithm/bfs.hpp

@@ -111,3 +111,81 @@ namespace augs {
 	}
 
 } /* namespace augs */
+
+namespace augs {
+
+	/*
+		Generic BFS traversal with predicate-based target detection.
+		Calls a callback for each node matching IsTarget predicate.
+		Supports early abort via callback return value.
+		Named "full" because it can potentially iterate the entire graph.
+
+		Template parameters:
+			Id - The type of node identifier
+			GetVisited - Lambda: (Id) -> bool, returns true if node was visited
+			SetVisited - Lambda: (Id) -> void, marks node as visited
+			SetParent - Lambda: (Id child, Id parent) -> void, records parent for path reconstruction
+			ForEachNeighbor - Lambda: (Id, Callback) -> void, calls callback with each neighbor's Id
+			IsTarget - Lambda: (Id) -> bool, returns true if node matches the search criteria
+			OnMatch - Lambda: (Id) -> callback_result, called when a matching node is found.
+			          Return ABORT to stop traversal, CONTINUE to keep searching.
+
+		Returns: nothing (results are handled via OnMatch callback)
+	*/
+
+	template <
+		class Id,
+		class GetVisited,
+		class SetVisited,
+		class SetParent,
+		class ForEachNeighbor,
+		class IsTarget,
+		class OnMatch
+	>
+	void bfs_full(
+		const Id start,
+		GetVisited&& get_visited,
+		SetVisited&& set_visited,
+		SetParent&& set_parent,
+		ForEachNeighbor&& for_each_neighbor,
+		IsTarget&& is_target,
+		OnMatch&& on_match
+	) {
+		std::queue<Id> queue;
+		bool should_abort = false;
+
+		set_visited(start);
+		queue.push(start);
+
+		while (!queue.empty() && !should_abort) {
+			const auto current = queue.front();
+			queue.pop();
+
+			for_each_neighbor(current, [&](const Id neighbor) {
+				if (should_abort) {
+					return callback_result::ABORT;
+				}
+
+				if (get_visited(neighbor)) {
+					return callback_result::CONTINUE;
+				}
+
+				set_visited(neighbor);
+				set_parent(neighbor, current);
+
+				if (is_target(neighbor)) {
+					if (on_match(neighbor) == callback_result::ABORT) {
+						should_abort = true;
+						return callback_result::ABORT;
+					}
+				}
+				else {
+					queue.push(neighbor);
+				}
+
+				return callback_result::CONTINUE;
+			});
+		}
+	}
+
+}