Develop Reference

A* Pathfinding really slow

I have an A* pathfinding algorithm that I've used for a Spigot plugin which worked fine. I then added a requirements system so it won't try and pathfind through places it shouldn't. Now it seems REALLY slow, and it looks like it has nothing to do with the requirements code itself, and more to do with the algorithm having many more incorrect paths when calculating. I seem to be getting 1500ms+ on this, which is definitely not good xD
Here is the pathfinder code:
public Path calculate(PathfinderGoal goal, PathScorer scorer, List<PathRequirement> requirements, int maxNodes) {
PathNode start = toNode(npc.getLocation());
PathNode end = toNode(goal.getLocation());
List<PathNode> open = new ArrayList<>() {{ add(start); }};
List<PathNode> navigated = new ArrayList<>();
start.setF(scorer.computeCost(start, end));
Timer timer = new Timer().start();
while (!open.isEmpty()) {
PathNode current = null;
for (PathNode node : open) {
if (current == null || node.getH() < current.getH()) {
current = node;
}
}
if (scorer.computeCost(current, end) < 1 || (navigated.size() >= maxNodes && maxNodes != -1)) {
navigated.add(navigated.size() < maxNodes ? end : current);
return reconstruct(navigated, navigated.size() - 1);
}
open.remove(current);
current.close();
for (PathNode node : current.getNeighbors()) {
if (node.isClosed()) {
continue;
}
double tentG = current.getG() + scorer.computeCost(current, node);
if (!open.contains(node) || tentG < node.getG()) {
boolean requirementsMet = true;
for (PathRequirement requirement : requirements) {
requirement.setNavigated(navigated);
if (!navigated.isEmpty() && !requirement.canMoveToNewNode(navigated.get(navigated.size() - 1), node)) {
requirementsMet = false;
break;
}
}
if (!navigated.contains(current)) {
navigated.add(current);
}
node.setG(tentG);
node.setH(scorer.computeCost(node, end));
node.setF(tentG + node.getH());
if (!open.contains(node) && requirementsMet) {
open.add(node);
}
}
}
Bukkit.broadcastMessage("Open Set Size: " + open.size());
Bukkit.broadcastMessage(timer.stop() + "ms");
}
return null;
}
private Path reconstruct(List<PathNode> navigated, int index) {
final PathNode current = navigated.get(index);
Path withCurrent = new Path(new ArrayList<>() {{ add(current); }});
if (index > 0 && navigated.contains(current)) {
return reconstruct(navigated, index - 1).append(withCurrent);
}
return withCurrent;
}
And here is the PathNode class:
public PathNode(Pathfinder pathfinder, int x, int y, int z) {
this.pathfinder = pathfinder;
this.x = x;
this.y = y;
this.z = z;
}
#Override
public boolean equals(Object other) {
if (!(other instanceof PathNode otherNode)) {
return false;
}
return otherNode.x == x && otherNode.y == y && otherNode.z == z;
}
public List<PathNode> getNeighbors() {
return new ArrayList<>() {
{
for (int x = -1; x <= 1; x++) {
for (int y = -1; y <= 1; y++) {
for (int z = -1; z <= 1; z++) {
add(new PathNode(pathfinder, PathNode.this.x + x, PathNode.this.y + y, PathNode.this.z + z));
}
}
}
}
};
}
public Location getLocation() {
return new Location(pathfinder.getNPC().getLocation().getWorld(), x, y, z);
}
public double getF() {
return F;
}
public void setF(double f) {
this.F = f;
}
public double getG() {
return G;
}
public void setG(double g) {
this.G = g;
}
public double getH() {
return H;
}
public void setH(double h) {
this.H = h;
}
public boolean isClosed() {
return closed;
}
public void close() {
this.closed = true;
}
Valid Requirements Class:
public class ValidPathRequirement extends PathRequirement {
#Override
public boolean canMoveToNewNode(PathNode from, PathNode to) {
Block fromBlock = from.getLocation().getBlock();
Block toBlock = to.getLocation().getBlock();
boolean validHeight = toBlock.getType().isAir() && toBlock.getRelative(BlockFace.UP).getType().isAir(); // checks if is player height
boolean validGround = toBlock.getRelative(BlockFace.DOWN).getType().isSolid(); // is there a block underneath that they can stand on?
boolean validFromPrev = toBlock.getLocation().subtract(fromBlock.getLocation()).getY() <= 1; // is it max one block higher than the last one?
// is this one causing issues?
Location fromLocDist = from.getLocation().clone();
Location toLocDist = to.getLocation().clone();
toLocDist.setY(fromLocDist.getY());
boolean validDistance = fromLocDist.distance(toLocDist) <= 1;
return validHeight && validGround && validFromPrev;
}
}

Without looking at the rest of the algorithm, the first thing that stands out is that your data structures are incorrect. The "open" list needs to be a Priority Queue, and "closed" (or "navigated") should be a set.

BukkitRunnable gives me a NPE

Basically, this code works as I need it to, perfectly fine, however, If I move even the slightest bit or get out of the water, my console gets SPAMMED with NPE's... What have I done wrong with my code? What I'm trying to do is, if a player is in a specific location, inside of water, it will start a countdown, in this case, of 5 seconds. And after the 5 seconds, it's meant to say "Testing", etc. That part works, just not when I move or step out of the water. And yes, I'm aware that the code is sloppy and a bunch of junk but I don't want to create a whole class for cuboid for just one event.
private HashMap<UUID, Integer> afkCountdown;
private HashMap<UUID, BukkitRunnable> afkCountdownTask;
#EventHandler
public void onPlayerMoveEvent(PlayerMoveEvent e) {
afkCountdown = new HashMap<UUID, Integer>();
afkCountdownTask = new HashMap<UUID, BukkitRunnable>();
Player p = e.getPlayer();
int x = 52;
int y = 80;
int z = 255;
int x1 = 72;
int y1 = 100;
int z1 = 275;
Location l1 = new Location(Bukkit.getWorld("Void"), x, y, z);
Location l2 = new Location(Bukkit.getWorld("Void"), x1, y1, z1);
Location loc = new Location(Bukkit.getWorld("Void"), p.getLocation().getBlockX(), p.getLocation().getBlockY(), p.getLocation().getBlockZ());
if (p.getWorld().equals(loc.getWorld())) {
if (Objects.requireNonNull(e.getTo()).getBlock().isLiquid()) {
if (loc.getX() > l1.getX() && loc.getX() < l2.getX()) {
if (loc.getY() > l1.getY() && loc.getY() < l2.getY()) {
if (loc.getZ() > l1.getZ() && loc.getZ() < l2.getZ()) {
if (!afkCountdown.containsKey(p.getUniqueId())) {
afkCountdown.put(p.getUniqueId(), 5);
afkCountdownTask.put(p.getUniqueId(), new BukkitRunnable() {
#Override
public void run() {
afkCountdown.put(p.getUniqueId(), afkCountdown.get(p.getUniqueId()) - 1);
if (afkCountdown.get(p.getUniqueId()) == 0) {
p.sendMessage("Testing");
afkCountdown.remove(p.getUniqueId());
afkCountdownTask.remove(p.getUniqueId());
afkCountdown.put(p.getUniqueId(), 5);
} else if (!afkCountdown.containsKey(p.getUniqueId())) {
cancel();
}
}
});
afkCountdownTask.get(p.getUniqueId()).runTaskTimer(plugin, 20, 20);
} else {
return;
}
} else {
if (afkCountdown.containsKey(p.getUniqueId())) {
afkCountdown.remove(p.getUniqueId());
afkCountdownTask.remove(p.getUniqueId());
} else {
return;
}
}
} else {
if (afkCountdown.containsKey(p.getUniqueId())) {
afkCountdown.remove(p.getUniqueId());
afkCountdownTask.remove(p.getUniqueId());
} else {
return;
}
}
} else {
if (afkCountdown.containsKey(p.getUniqueId())) {
afkCountdown.remove(p.getUniqueId());
afkCountdownTask.remove(p.getUniqueId());
} else {
return;
}
}
} else {
if (afkCountdown.containsKey(p.getUniqueId())) {
afkCountdown.remove(p.getUniqueId());
afkCountdownTask.remove(p.getUniqueId());
} else {
return;
}
}
} else {
if (afkCountdown.containsKey(p.getUniqueId())) {
afkCountdown.remove(p.getUniqueId());
afkCountdownTask.remove(p.getUniqueId());
} else {
return;
}
}
}

I have multiple things to say about this code :
The value of e.getTo() will never be null. So the Objects.requireNonNull code is a useless import.
You get multiple time the same world instance with Bukkit.getWorld("Void"), but only one time is better.
Instead of create Location's object, you can check directly the x/y/z values that are given just before.
For the issue :
When you left liquid, all task will remove the value linked with the player's uuid. So, you will not be able to get id with afkCountdown.get() or afkCountdownTask.get(). To fix it, you should use afkCountdown.getOrDefault(p.getUniqueId(), 0).
For timers, you never stop already started timer. So, your server with crash because of overflow. When you do afkCountdownTask.remove() you should do :
BukkitRunnable task = afkCountdownTask.remove(p.getUniqueId()); // return the removed one, or null if nothing removed
if(task != null) // if was existing
task.cancel(); // cancel task
You are creating and resetting hashmap EACH move with afkCountdown = new HashMap<UUID, Integer>(). You should do it only one time.
Finally, this is the code that I propose to fix everything :
private final HashMap<UUID, Integer> afkCountdown = new HashMap<>();
private final HashMap<UUID, BukkitRunnable> afkCountdownTask = new HashMap<>();
#EventHandler
public void onPlayerMoveEvent(PlayerMoveEvent e) {
Player p = e.getPlayer();
int x = 52;
int y = 80;
int z = 255;
int x1 = 72;
int y1 = 100;
int z1 = 275;
Location loc = e.getTo();
if (p.getWorld().getName().equals("Void")) {
if (loc.getBlock().isLiquid()) {
if (loc.getX() > x && loc.getX() < x1) {
if (loc.getY() > y && loc.getY() < y1) {
if (loc.getZ() > z && loc.getZ() < z1) {
if (!afkCountdown.containsKey(p.getUniqueId())) {
afkCountdown.put(p.getUniqueId(), 5);
afkCountdownTask.put(p.getUniqueId(), new BukkitRunnable() {
#Override
public void run() {
int amount = afkCountdown.getOrDefault(p.getUniqueId(), 0) - 1;
afkCountdown.put(p.getUniqueId(), amount);
if (amount <= 0) {
p.sendMessage("Testing");
afkCountdown.put(p.getUniqueId(), 5);
} else if (!afkCountdown.containsKey(p.getUniqueId())) {
cancel();
}
}
});
afkCountdownTask.get(p.getUniqueId()).runTaskTimer(Main.getInstance(), 20, 20);
}
return; // don't want to remove, so end method now
}
}
}
}
}
if (afkCountdown.containsKey(p.getUniqueId())) {
afkCountdown.remove(p.getUniqueId());
BukkitRunnable task = afkCountdownTask.remove(p.getUniqueId());
if(task != null)
task.cancel();
}
}

A* Pathfinding - Weird Bug in Multi-Floored Maps

I'm attempting to create a game "dungeon" map generator in Java in the style of roguelike etc. games. I generate rooms randomly, and then connect them with corridors. I'm trying to use A* pathfinding in corridor creation. I currently am creating just one corridor between rooms in the indices 1 and 2, if there is more than one room.
For some reason, the corridor creation seems to fail when I try to generate more than 1 maps ("floors"). The amount of floors is specified as a command-line parameter. Thus far, when I've generated just one floor, everything works perfectly. My gut feeling says that there's something about the floors that messes up my algorithm.
I thought that maybe an outside view of the project could help. There is quite a lot of code, but I'd be very grateful if someone took the time to review it. I can provide more information if it's needed.
THE RESULTS
The result, when correct, should look like this:
Map 1
# wall
. floor
+ door
$ corridor
..............................
..............................
..............................
..............................
..............................
..............................
..............................
..............................
...........$$$$$$$$$$.........
...........$......##+#######..
.....######$......#........#..
.....#....#$......#........#..
.....#....#$......#........#..
.....#....#$......#........#..
.....#....#$......#........#..
.....#....#$......#........#..
.....#....#$......#........#..
.....##+###$......##########..
.......$$$$$..................
..............................
The buggy result looks like this (the corridor does not go door-to-door, it just ends in a random location):
...........$$$...#########....
...........$#+##.#.......#....
...........$#..#.#.......#....
...........$#..#.#.......+....
###+###....$#..#.#.......#....
#.....#....$#..#.#.......#....
#.....#....$#..#.#.......#....
#.....#....$#..#.#########....
#.....#....$####..............
#.....#....$..................
#.....#....$..................
#######....$..................
...........$..................
...........$..................
...........$..................
...........$..................
...........$..................
...........$..................
.......$$$$$..................
..............................
THE CODE
AStar.java:
/**
* See https://www.raywenderlich.com/4946/introduction-to-a-pathfinding
*/
public class AStar {
private List<AStarSquare> openList;
private List<AStarSquare> closedList;
private Exporter debugExporter;
private static final Coords[] squareOffsetsToCheck = new Coords[] {
new Coords(0, 1),
new Coords(1, 0),
new Coords(0, -1),
new Coords(-1, 0)
};
public AStar() {
openList = new ArrayList<>();
closedList = new ArrayList<>();
debugExporter = new Exporter();
}
public List<Coords> findPath(Coords start, Coords end, Map map) {
List<Coords> path = new ArrayList<>(); // each square on the generated path
AStarSquare currentSquare = new AStarSquare(start, null); // current square around which possible squares are evaluated - start point
closedList.add(currentSquare); // add start point to closed list
createUpdateOpenSquares(currentSquare, start, end, map); // create open squares for first iteration
calculateScores(start, end, map); // calculate scores for first iteration
int loopGuard = 0;
// loop until break
while(true) {
if(openList.size() == 0) {
break;
}
currentSquare = getLowestOpenSquare(); // get the square with the lowest score
if(isAdjacentToDoor(currentSquare.getCoords(), end) /*|| currentSquare.getCoords().equalz(end) || loopGuard >= 1000*/) // end point reached or no possible next squares
break; // - exclude last square (door)
openList.remove(currentSquare);
closedList.add(currentSquare);
createUpdateOpenSquares(currentSquare, start, end, map); // create and/or update squares next to the current square
calculateScores(start, end, map);
map.setDebugCorridor(formulatePath(currentSquare));
loopGuard++;
}
path = formulatePath(currentSquare);
return path;
}
private void createUpdateOpenSquares(AStarSquare currentSquare, Coords start, Coords end, Map map) {
for(Coords squareOffsetToCheck : squareOffsetsToCheck) {
Coords coordsToCheck = currentSquare.getCoords().vectorAdd(squareOffsetToCheck);
if(map.isFloor(coordsToCheck)
&& !map.isInsideRoom(coordsToCheck)
&& isWithinMap(map, coordsToCheck)
&& !isClosed(coordsToCheck)) {
AStarSquare openSquare = getOpen(coordsToCheck);
if(openSquare == null)
openList.add(new AStarSquare(coordsToCheck, currentSquare));
else // is open
openSquare.setPrevious(currentSquare);
}
}
}
private boolean isClosed(Coords coords) {
for(AStarSquare closed : closedList) {
if(closed.getCoords().equalz(coords))
return true;
}
return false;
}
private AStarSquare getOpen(Coords coords) {
for(AStarSquare open : openList) {
if(open.getCoords().equalz(coords))
return open;
}
return null;
}
private boolean isWithinMap(Map map, Coords coords) {
if(coords.getX() < 0
|| coords.getY() < 0
|| coords.getX() >= map.getW()
|| coords.getY() >= map.getH())
return false;
return true;
}
private boolean isAdjacentToDoor(Coords coords, Coords end) {
for(Coords squareOffset : squareOffsetsToCheck) {
Coords offsetSquare = coords.vectorAdd(squareOffset);
if(offsetSquare.equalz(end))
return true;
}
return false;
}
private void calculateScores(Coords start, Coords end, Map map) {
for(AStarSquare square : openList) {
square.calculateScores(map, start, end);
}
}
private AStarSquare getLowestOpenSquare() {
AStarSquare lowestScore = null;
for(AStarSquare square : openList) {
// if lowestScore not set or if square.f is lower than lowestScore.f, set square to lowestScore
if(lowestScore == null || lowestScore.getF() > square.getF())
lowestScore = square;
}
return lowestScore;
}
// exclude first square (door)
private List<Coords> formulatePath(AStarSquare currentSquare) {
List<Coords> path = new ArrayList<>();
while(currentSquare.getPrevious() != null) {
path.add(currentSquare.getCoords());
currentSquare = currentSquare.getPrevious();
}
return path;
}
}
AStarSquare.java:
/**
* See https://www.raywenderlich.com/4946/introduction-to-a-pathfinding
*/
public class AStarSquare {
private Coords coords;
private AStarSquare previous;
private int g, h;
private boolean calculated;
public AStarSquare() {
g = h = 0;
calculated = false;
}
public AStarSquare(Coords coords) {
this();
this.coords = coords;
previous = null;
}
public AStarSquare(Coords coords, AStarSquare previous) {
this();
this.coords = coords;
this.previous = previous;
}
public void calculateScores(Map map, Coords start, Coords destination) {
g = previous.getG() + 1; // g = distance from start point
h = destination.getDistance(coords); // h = estimated (=shortest) distance from the current location to the destination
calculated = true;
}
}
Main class:
public class DungeonMapGenerator {
public static void main(String[] args) {
List<String> argsList = Arrays.asList(args);
if(!argsList.contains("-w")
|| !argsList.contains("-h")
|| !argsList.contains("-f")) {
System.out.println("Usage: java -jar DungeonMapGenerator.jar -w [width] -h [height] -f [floors] -[export option]");
System.exit(1);
}
int width = 0, height = 0, floors = 0;
for(int i = 0; i < args.length; i++) {
if(args[i].equalsIgnoreCase("-w"))
width = tryParseInt(args, i + 1, 30);
else if(args[i].equalsIgnoreCase("-h"))
height = tryParseInt(args, i + 1, 20);
else if(args[i].equalsIgnoreCase("-f"))
floors = tryParseInt(args, i + 1, 1);
}
Generator mapGenerator = new Generator(width, height, floors);
List<Map> maps = mapGenerator.generateMaps();
Exporter mapExporter = new Exporter();
if(argsList.contains("-c"))
mapExporter.exportToConsole(maps);
else
System.out.println("No export option selected, quitting");
}
private static int tryParseInt(String[] args, int index, int deflt) {
int res;
if(index >= args.length) // index out of range
res = deflt;
try {
res = Integer.parseInt(args[index], 10);
} catch(NumberFormatException ex) {
res = deflt;
}
return res;
}
}
Generator.java
public class Generator {
private static final int
MIN_ROOMS = 1,
MAX_ROOMS = 5,
MIN_DIM = 3, // dim = min and max room dimensions
MAX_DIM = 10;
private AStar pathfinder;
private Random random;
private int mapWidth, mapHeight, floors;
public Generator(int mapWidth, int mapHeight, int floors) {
pathfinder = new AStar();
random = new Random(System.currentTimeMillis());
this.mapWidth = mapWidth;
this.mapHeight = mapHeight;
this.floors = floors;
}
public List<Map> generateMaps() {
List<Map> mapList = new ArrayList<>();
for(int i = 0; i < floors; i++) {
Map map = new Map(i + 1, mapWidth, mapHeight, generateRooms(mapWidth, mapHeight), null);
generateDoors(map, map.getRooms());
debugFindPath(map);
mapList.add(map);
}
return mapList;
}
private List<Room> generateRooms(int mapWidth, int mapHeight) {
List<Room> roomList = new ArrayList<>();
int nRooms = random.nextInt(5) + 1;
for(int i = 0; i < nRooms; i++) {
Room room = null;
do {
int w = 0, h = 0, x = 0, y = 0;
w = getRandomDim();
h = getRandomDim();
x = random.nextInt(mapWidth - w);
y = random.nextInt(mapHeight - h);
room = new Room(x, y, w, h);
} while(roomsOverlap(room, roomList));
roomList.add(room);
}
return roomList;
}
private boolean roomsOverlap(Room room, List<Room> rooms) {
for(Room listRoom : rooms) {
if(room.overlapsWithRoom(listRoom))
return true;
}
return false;
}
private int getRandomDim() {
return random.nextInt(MAX_DIM - MIN_DIM + 1) + MIN_DIM;
}
private void generateDoors(Map map, List<Room> roomList) {
for(int i = 0; i < roomList.size(); i++) {
Door door = new Door(roomList.get(i));
do {
door.setSide(getRandomCardinal());
door.setDistNW(getRandomDistNW(roomList.get(i), door.getSide()));
} while(!validateDoor(map, door));
roomList.get(i).setDoors(Arrays.asList(new Door[] { door }));
map.getDoors().add(door);
}
}
private Cardinal getRandomCardinal() {
int cardinalInt = random.nextInt(4);
Cardinal cardinal;
switch(cardinalInt) {
case 1:
cardinal = Cardinal.EAST;
break;
case 2:
cardinal = Cardinal.SOUTH;
break;
case 3:
cardinal = Cardinal.WEST;
case 0:
default:
cardinal = Cardinal.NORTH;
break;
}
return cardinal;
}
private int getRandomDistNW(Room room, Cardinal cardinal) {
int distNW = 0;
if(cardinal == Cardinal.NORTH || cardinal == Cardinal.SOUTH)
distNW = random.nextInt(room.getW() - 2) + 1; // exclude corners
else if(cardinal == Cardinal.EAST || cardinal == Cardinal.WEST)
distNW = random.nextInt(room.getH() - 2) + 1; // exclude corners
return distNW;
}
private boolean validateDoor(Map map, Door door) {
Coords doorCoordsOnMap = door.getCoordsOnMap();
if(door.getSide() == Cardinal.NORTH
&& (door.getParent().getTop() == 0
// check if adjacent to another room
|| map.isWall(new Coords(doorCoordsOnMap.getX(), doorCoordsOnMap.getY() - 1))))
return false;
else if(door.getSide() == Cardinal.EAST
&& (door.getParent().getRight() == mapWidth - 1
// check if adjacent to another room
|| map.isWall(new Coords(doorCoordsOnMap.getX() + 1, doorCoordsOnMap.getY()))))
return false;
else if(door.getSide() == Cardinal.SOUTH
&& (door.getParent().getBottom() == mapHeight - 1
// check if adjacent to another room
|| map.isWall(new Coords(doorCoordsOnMap.getX(), doorCoordsOnMap.getY() + 1))))
return false;
else if(door.getSide() == Cardinal.WEST
&& (door.getParent().getLeft() == 0
// check if adjacent to another room
|| map.isWall(new Coords(doorCoordsOnMap.getX() - 1, doorCoordsOnMap.getY()))))
return false;
return true;
}
private void debugFindPath(Map map) {
if(map.getRooms().size() == 1)
return;
map.setDebugCorridor(pathfinder.findPath(
map.getRooms().get(0).getDoors().get(0).getCoordsOnMap(),
map.getRooms().get(1).getDoors().get(0).getCoordsOnMap(),
map
));
}
}
Room.java
public class Room {
private Coords topLeft;
private int w, h;
private List<Door> doors;
public Room(int topLeftX, int topLeftY, int w, int h) {
topLeft = new Coords(topLeftX, topLeftY);
this.w = w;
this.h = h;
doors = new ArrayList<>();
}
public boolean overlapsWithRoom(Room otherRoom) {
return !(otherRoom.getLeft() > this.getRight()
|| otherRoom.getRight() < this.getLeft()
|| otherRoom.getTop() > this.getBottom()
|| otherRoom.getBottom() < this.getTop());
}
#Override
public String toString() {
return "Room ~ top: " + getTop() + " right: " + getRight()
+ " bottom: " + getBottom() + " left: " + getLeft()
+ " width: " + w + " height: " + h;
}
public boolean isWall(Coords coords) { /*** TESTAA!!! ***/
if(
// x is either left or right, y is between top and bottom
((coords.getX() == topLeft.getX() || coords.getX() == topLeft.getX() + w)
&& coords.getY() >= topLeft.getY() && coords.getY() < topLeft.getY() + h + 1)
||
// y is either top or bottom, x is between left and right
((coords.getY() == topLeft.getY() || coords.getY() == topLeft.getY() + h)
&& coords.getX() >= topLeft.getX() && coords.getX() < topLeft.getX() + w)
)
return true;
return false;
}
}
Door.java
(Cardinal is a simple enum containing NORTH, EAST, SOUTH and WEST)
public class Door {
private Room parent;
private Cardinal side;
private int distNW = 0;
public Door(Room parent) {
this.parent = parent;
this.side = null;
}
public Door(Room parent, Cardinal side) {
this.parent = parent;
this.side = side;
}
public Coords getCoordsOnMap() {
Coords coords = null;
if(side == Cardinal.NORTH)
coords = new Coords(parent.getLeft() + distNW, parent.getTop());
else if(side == Cardinal.EAST)
coords = new Coords(parent.getRight(), parent.getTop() + distNW);
else if(side == Cardinal.SOUTH)
coords = new Coords(parent.getLeft() + distNW, parent.getBottom());
else if(side == Cardinal.WEST)
coords = new Coords(parent.getLeft(), parent.getTop() + distNW);
return coords;
}
}

In AStar, your A* pathfinding algorithm adds to its opened and closed lists before returning the chosen path
When pathfinding with different start/end destinations or a different map, those lists will need to be reset
The issue is that you're reusing the AStar object for each path you're trying to find, causing conflicts with old searches
To fix it, use a new AStar object for every path you search, or add a method to clear the old data

I removed this line from the Generator constructor:
public Generator(int mapWidth, int mapHeight, int floors) {
// pathfinder = new AStar(); // REMOVED THIS LINE
...
}
And I added the following line to the Generator.generateMaps method:
public List<Map> generateMaps() {
List<Map> mapList = new ArrayList<>();
for(int i = 0; i < floors; i++) {
pathfinder = new AStar(); // ADDED THIS LINE
Map map = new Map(i + 1, mapWidth, mapHeight, generateRooms(mapWidth, mapHeight), null);
generateDoors(map, map.getRooms());
debugFindPath(map);
mapList.add(map);
}
return mapList;
}
And now everything seems to work.
Another option is to add the following lines to AStar.findPath():
public List<Coords> findPath(Coords start, Coords end, Map map) {
openList = new ArrayList<>();
closedList = new ArrayList<>();
...
}

Making a responsive control in JavaFX

I'm trying to make a responsive design like in Word. I used Toolbar and ToolbarSkin code and made changes to it. Now I don't know how to make it so it will check the priority of the control, and the lowest priority gets resized, while the control with the highest priority still shows full-size.
Code I changed in ToolbarSkin:
private void addNodesToToolBar() {
final Responser toolbar = getSkinnable();
double length = 0;
if (getSkinnable().getOrientation() == Orientation.VERTICAL) {
length = snapSize(toolbar.getHeight()) - snappedTopInset() - snappedBottomInset() + getSpacing();
} else {
length = snapSize(toolbar.getWidth()) - snappedLeftInset() - snappedRightInset() + getSpacing();
}
// Is there overflow ?
double x = 0;
boolean hasOverflow = false;
for (Node node : getSkinnable().getItems()) {
if (getSkinnable().getOrientation() == Orientation.VERTICAL) {
x += snapSize(node.prefHeight(-1)) + getSpacing();
} else {
x += snapSize(node.prefWidth(-1)) + getSpacing();
}
if (x > length) {
hasOverflow = true;
break;
}
}
if (hasOverflow) {
if (getSkinnable().getOrientation() == Orientation.VERTICAL) {
length -= snapSize(overflowMenu.prefHeight(-1));
} else {
length -= snapSize(overflowMenu.prefWidth(-1));
}
length -= getSpacing();
}
// Determine which node goes to the toolbar and which goes to the overflow.
x = 0;
overflowMenuItems.clear();
box.getChildren().clear();
for (Node node : getSkinnable().getItems()) {
node.getStyleClass().remove("menu-item");
node.getStyleClass().remove("custom-menu-item");
if (getSkinnable().getOrientation() == Orientation.VERTICAL) {
x += snapSize(node.prefHeight(-1)) + getSpacing();
} else {
x += snapSize(node.prefWidth(-1)) + getSpacing();
}
if (x <= length) {
box.getChildren().add(node);
} else {
if (node.isFocused()) {
if (!box.getChildren().isEmpty()) {
Node last = engine.selectLast();
if (last != null) {
last.requestFocus();
}
} else {
overflowMenu.requestFocus();
}
}
if (node instanceof Separator) {
overflowMenuItems.add(new SeparatorMenuItem());
} else {
CustomMenuItem customMenuItem = new CustomMenuItem(node);
// RT-36455:
// We can't be totally certain of all nodes, but for the
// most common nodes we can check to see whether we should
// hide the menu when the node is clicked on. The common
// case is for TextField or Slider.
// This list won't be exhaustive (there is no point really
// considering the ListView case), but it should try to
// include most common control types that find themselves
// placed in menus.
final String nodeType = node.getTypeSelector();
switch (nodeType) {
case "Button":
case "Hyperlink":
case "Label":
customMenuItem.setHideOnClick(true);
break;
case "CheckBox":
case "ChoiceBox":
case "ColorPicker":
case "ComboBox":
case "DatePicker":
case "MenuButton":
case "PasswordField":
case "RadioButton":
case "ScrollBar":
case "ScrollPane":
case "Slider":
case "SplitMenuButton":
case "SplitPane":
case "TextArea":
case "TextField":
case "ToggleButton":
case "ToolBar":
customMenuItem.setHideOnClick(false);
break;
}
overflowMenuItems.add(customMenuItem);
box.getChildren().clear();
setNameToButton(make,box.getParent().getId());
box.getChildren().add(make);
// overflowMenuItems.remove(overflowMenuItems.size()-1);
}
}
}
// Check if we overflowed.
overflow = overflowMenuItems.size() > 0;
if (!overflow && overflowMenu.isFocused()) {
Node last = engine.selectLast();
if (last != null) {
last.requestFocus();
}
}
overflowMenu.setVisible(overflow);
overflowMenu.setManaged(overflow);
}
and:
#Override protected void layoutChildren(final double x,final double y,
final double w, final double h) {
final Responser toolbar = getSkinnable();
if (toolbar.getOrientation() == Orientation.VERTICAL) {
if (snapSize(toolbar.getHeight()) != previousHeight || needsUpdate) {
((VBox)box).setSpacing(getSpacing());
((VBox)box).setAlignment(getBoxAlignment());
previousHeight = snapSize(toolbar.getHeight());
addNodesToToolBar();
}
} else {
if (snapSize(toolbar.getWidth()) != previousWidth || needsUpdate) {
((HBox)box).setSpacing(getSpacing());
((HBox)box).setAlignment(getBoxAlignment());
previousWidth = snapSize(toolbar.getWidth());
addNodesToToolBar();
}
}
needsUpdate = false;
double toolbarWidth = w;
double toolbarHeight = h;
if (getSkinnable().getOrientation() == Orientation.VERTICAL) {
toolbarHeight -= (overflow ? snapSize(overflowMenu.prefHeight(-1)) : 0);
} else {
toolbarWidth -= (overflow ? snapSize(overflowMenu.prefWidth(-1)) : 0);
}
box.resize(toolbarWidth, toolbarHeight);
positionInArea(box, x, y,
toolbarWidth, toolbarHeight, /*baseline ignored*/0, HPos.CENTER, VPos.CENTER);
// If popup menu is not null show the overflowControl
if (overflow) {
double overflowMenuWidth = snapSize(overflowMenu.prefWidth(-1));
double overflowMenuHeight = snapSize(overflowMenu.prefHeight(-1));
double overflowX = x;
double overflowY = x;
if (getSkinnable().getOrientation() == Orientation.VERTICAL) {
// This is to prevent the overflow menu from moving when there
// are no items in the toolbar.
if (toolbarWidth == 0) {
toolbarWidth = savedPrefWidth;
}
HPos pos = ((VBox)box).getAlignment().getHpos();
if (HPos.LEFT.equals(pos)) {
overflowX = x + Math.abs((toolbarWidth - overflowMenuWidth)/2);
} else if (HPos.RIGHT.equals(pos)) {
overflowX = (snapSize(toolbar.getWidth()) - snappedRightInset() - toolbarWidth) +
Math.abs((toolbarWidth - overflowMenuWidth)/2);
} else {
overflowX = x +
Math.abs((snapSize(toolbar.getWidth()) - (x) +
snappedRightInset() - overflowMenuWidth)/2);
}
overflowY = snapSize(toolbar.getHeight()) - overflowMenuHeight - y;
} else {
// This is to prevent the overflow menu from moving when there
// are no items in the toolbar.
if (toolbarHeight == 0) {
toolbarHeight = savedPrefHeight;
}
VPos pos = ((HBox)box).getAlignment().getVpos();
if (VPos.TOP.equals(pos)) {
overflowY = y +
Math.abs((toolbarHeight - overflowMenuHeight)/2);
} else if (VPos.BOTTOM.equals(pos)) {
overflowY = (snapSize(toolbar.getHeight()) - snappedBottomInset() - toolbarHeight) +
Math.abs((toolbarHeight - overflowMenuHeight)/2);
} else {
overflowY = y + Math.abs((toolbarHeight - overflowMenuHeight)/2);
}
overflowX = snapSize(toolbar.getWidth()) - overflowMenuWidth - snappedRightInset();
}
overflowMenu.resize(overflowMenuWidth, overflowMenuHeight);
positionInArea(overflowMenu, overflowX, overflowY, overflowMenuWidth, overflowMenuHeight, /*baseline ignored*/0,
HPos.CENTER, VPos.CENTER);
}
}
Also I don't know how can I implement so only one control will shrink at the time, not all of them.
Thank you for your help.

Within polygon region calculation

I got the following code where I read GPS coordinates from a XML file then i want to check that my current location (lat and long) is within this polygon region... Not sure if am doing something wrong :( Look like my IsInsideRegion method is failing. Any advise welcome.
public class Point {
private double _latitude = 0d;
private double _longitude = 0d;
public Point() {
}
public Point(double aLatitude, double aLongitude) {
_latitude = aLatitude;
_longitude = aLongitude;
}
public Point(String pointData) throws Exception {
FromString(pointData);
}
public static String ToString(Point point) {
StringBuilder result = new StringBuilder();
result.append(point._latitude).append(",").append(point._longitude);
return result.toString();
}
public void FromString(String pointData) throws Exception {
String[] fields = pointData.split(",");
if (fields.length != 2)
throw new FormatException("Invalid input data: " + pointData + " in " + this.getClass().getName());
_latitude = parseDouble(fields[0]);
_longitude = parseDouble(fields[1]);
}
private double parseDouble(String aValue) {
double result = 0d;
try {
result = Double.parseDouble(aValue);
} catch (Exception ex) {
}
return result;
}
public double getLatitude() {
return _latitude;
}
public double getLongitude() {
return _longitude;
}
public boolean IsInsideRegion(double latitude, double longitude)
{
//Log.d("<GPD><POLY>","PR :" + String.valueOf(_pointList));
Boolean result = false;
if (_pointList != null && _pointList.size() > 0) {
int Index1 = 0;
int Index2 = _pointList.size() - 1;
while (Index1 < _pointList.size())
{
if ((((_pointList.get(Index1).getLongitude() <= longitude) && (longitude < _pointList.get(Index2).getLongitude())) || ((_pointList.get(Index2).getLongitude() <= longitude) && (longitude < _pointList.get(Index1).getLongitude()))))
{
if (latitude < (_pointList.get(Index2).getLatitude() - _pointList.get(Index1).getLatitude()) * (longitude - _pointList.get(Index1).getLongitude()) / (_pointList.get(Index2).getLongitude() - _pointList.get(Index1).getLongitude()) + _pointList.get(Index1).getLatitude())
result = !result;
}
Index2 = Index1;
Index1++;
}
}
if (result)
Log.d("<GPD><POLY>", "In Polygon Region:" + this.getId());
return result;
}
private void calculateMinMaxLatLong(double aMinLatitude, double aMaxLatitude, double aMinLongitude, double aMaxLongitude)
{
/*
_minLatitude = 0d;
_maxLatitude = 0d;
_minLongitude = 0d;
_maxLongitude = 0d;
for (Point currentPoint: _pointList)
{
if (currentPoint.getLatitude() < aMinLatitude)
_minLatitude = currentPoint.getLatitude();
if (currentPoint.getLatitude() > aMaxLatitude)
_maxLatitude = currentPoint.getLatitude();
if (currentPoint.getLongitude() < aMinLongitude)
_minLongitude = currentPoint.getLongitude();
if (currentPoint.getLongitude() > aMaxLongitude)
_maxLongitude = currentPoint.getLongitude();
}*/
double smallestLat = _pointList.get(0).getLatitude();
double largestLat = _pointList.get(0).getLatitude();
double smallestLong = _pointList.get(0).getLongitude();
double largestLong = _pointList.get(0).getLongitude();
for (int x = 0; x < _pointList.size(); x++){
if(smallestLat > _pointList.get(x).getLatitude())
smallestLat = _pointList.get(x).getLatitude();
if(largestLat < _pointList.get(x).getLatitude())
largestLat = _pointList.get(x).getLatitude();
if(smallestLong > _pointList.get(x).getLongitude())
smallestLong = _pointList.get(x).getLongitude();
if(largestLong < _pointList.get(x).getLongitude())
largestLong = _pointList.get(x).getLongitude();
}
_minLatitude = smallestLat;
_maxLatitude = largestLat;
_minLongitude = smallestLong;
_maxLongitude = largestLong;
}
public RegionChecker()
{}
public RegionChecker(boolean aEnterFirstOnly) {
_enterFirstOnly = aEnterFirstOnly;
}
public List<Region> CheckGpsPosition(List<Region> aActiveRegion, List<Region> aRegionList, MyLocation aLocation, IRegionEventListener aListener) {
List<Region> result = new ArrayList<Region>();
Log.i("RegionChecker", "aRegionList " + String.valueOf(aRegionList.size()));
boolean regionChanges = false;
List<Region> overlappingPositionsList = new Regions().InsideRegions(aRegionList, aLocation.getLatitude(), aLocation.getLongitude());
if (_enterFirstOnly)
{
if (overlappingPositionsList != null && overlappingPositionsList.size() > 0)
{
Region firstRegion = overlappingPositionsList.get(0);
overlappingPositionsList.clear();
overlappingPositionsList.add(firstRegion);
}
}
Log.i("RegionChecker", "_activeRegions " + String.valueOf(aActiveRegion.size()));
Log.i("RegionChecker", "overlappingPositionsList " + String.valueOf(overlappingPositionsList.size()));
for(Region currentRegion: overlappingPositionsList) {
Log.i("overlap check", String.valueOf(aActiveRegion.contains(currentRegion)));
if (!aActiveRegion.contains(currentRegion)) {
regionChanges = true;
aListener.onRegionEnter(currentRegion, aLocation);
}
}
for(Region currentRegion: aActiveRegion) {
if (!overlappingPositionsList.contains(currentRegion)) {
regionChanges = true;
aListener.OnRegionExit(currentRegion, aLocation);
}
}
result = overlappingPositionsList;
if (regionChanges)
aListener.OnCurrentRegionsChanged(result);
return result;
}

I think you have to modify your region checker.
It should use longitude or latitude but not both. So it checks how many times a horizontal ray crosses the lines between vertices. Or it checks how many times a vertical line does.
It needs to handle the point pairs and indices 0 & 1, 1 & 2 ... n-2 & n-1 and n-1 & 0.
I didn't see where you do that last pair, but there is a lot of code to read.