Implement custom path finding

I found the path finding code highly complicated and also inefficient, since we allocated on the heap multiple times, without amortising the allocations.

This implementation provides a struct that implements the A* and also line of sight path finding in a way, that is compatible with the server implementations. We also re-use the heap allocations.

The A* algorithm is a basic implementation that uses a binary heap. Moved the code in korangar_utils, so that it can be properly optimized and also tested.

Cargo.toml

@@ -3,6 +3,7 @@ resolver = "2"
 members = ["korangar", "ragnarok_*", "korangar_*"]
 
 [workspace.dependencies]
+arrayvec = "0.7"
 bitflags = "2.6"
 bumpalo = "3.16"
 bytemuck = "1.20"
@@ -27,7 +28,6 @@ lunify = "1.1"
 mlua = "0.10"
 num = "0.4"
 option-ext = "0.2"
-pathfinding = "4.11"
 pcap = "2.2"
 pollster = "0.4"
 proc-macro2 = "1.0"

korangar/Cargo.toml

@@ -4,6 +4,7 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+arrayvec = { workspace = true }
 bumpalo = { workspace = true, features = ["allocator_api"] }
 bytemuck = { workspace = true, features = ["derive", "extern_crate_std", "min_const_generics"] }
 cgmath = { workspace = true, features = ["mint", "serde"] }
@@ -23,7 +24,6 @@ lunify = { workspace = true }
 mlua = { workspace = true, features = ["lua51", "vendored"] }
 num = { workspace = true }
 option-ext = { workspace = true }
-pathfinding = { workspace = true }
 pollster = { workspace = true }
 ragnarok_bytes = { workspace = true, features = ["derive", "cgmath"] }
 ragnarok_formats = { workspace = true, features = ["interface"] }

korangar/src/main.rs

@@ -62,6 +62,7 @@ use korangar_networking::{
     DisconnectReason, HotkeyState, LoginServerLoginData, MessageColor, NetworkEvent, NetworkEventBuffer, NetworkingSystem, SellItem,
     ShopItem,
 };
+use korangar_util::pathing::PathFinder;
 #[cfg(feature = "debug")]
 use korangar_util::texture_atlas::AtlasAllocation;
 #[cfg(not(feature = "debug"))]
@@ -252,6 +253,7 @@ struct Client {
     player_inventory: Inventory,
     player_skill_tree: SkillTree,
     hotbar: Hotbar,
+    path_finder: PathFinder,
 
     point_light_set_buffer: ResourceSetBuffer<LightSourceKey>,
     directional_shadow_object_set_buffer: ResourceSetBuffer<ObjectKey>,
@@ -510,6 +512,7 @@ impl Client {
             let player_inventory = Inventory::default();
             let player_skill_tree = SkillTree::default();
             let hotbar = Hotbar::default();
+            let path_finder = PathFinder::default();
 
             let point_light_set_buffer = ResourceSetBuffer::default();
             let directional_shadow_object_set_buffer = ResourceSetBuffer::default();
@@ -658,6 +661,7 @@ impl Client {
             player_inventory,
             player_skill_tree,
             hotbar,
+            path_finder,
             point_light_set_buffer,
             directional_shadow_object_set_buffer,
             point_shadow_object_set_buffer,
@@ -956,6 +960,7 @@ impl Client {
                         &mut self.animation_loader,
                         &self.script_loader,
                         &self.map,
+                        &mut self.path_finder,
                         saved_login_data.account_id,
                         character_information,
                         WorldPosition { x: 0, y: 0 },
@@ -1023,6 +1028,7 @@ impl Client {
                         &mut self.animation_loader,
                         &self.script_loader,
                         &self.map,
+                        &mut self.path_finder,
                         entity_appeared_data,
                         client_tick,
                     );
@@ -1060,15 +1066,15 @@ impl Client {
                         let position_from = Vector2::new(position_from.x, position_from.y);
                         let position_to = Vector2::new(position_to.x, position_to.y);
 
-                        entity.move_from_to(&self.map, position_from, position_to, starting_timestamp);
+                        entity.move_from_to(&self.map, &mut self.path_finder, position_from, position_to, starting_timestamp);
                         #[cfg(feature = "debug")]
                         entity.generate_pathing_mesh(&self.device, &self.queue, &self.map, &self.pathing_texture_mapping);
                     }
                 }
                 NetworkEvent::PlayerMove(position_from, position_to, starting_timestamp) => {
                     let position_from = Vector2::new(position_from.x, position_from.y);
                     let position_to = Vector2::new(position_to.x, position_to.y);
-                    self.entities[0].move_from_to(&self.map, position_from, position_to, starting_timestamp);
+                    self.entities[0].move_from_to(&self.map, &mut self.path_finder, position_from, position_to, starting_timestamp);
 
                     #[cfg(feature = "debug")]
                     self.entities[0].generate_pathing_mesh(&self.device, &self.queue, &self.map, &self.pathing_texture_mapping);