feat: async pathfinding

src/logic/LevelController.cpp

@@ -11,6 +11,7 @@
 #include "objects/Player.hpp"
 #include "physics/Hitbox.hpp"
 #include "voxels/Chunks.hpp"
+#include "voxels/Pathfinding.hpp"
 #include "scripting/scripting.hpp"
 #include "lighting/Lighting.hpp"
 #include "settings.hpp"
@@ -69,6 +70,9 @@ LevelController::LevelController(
 }
 
 void LevelController::update(float delta, bool pause) {
+    level->pathfinding->performAllAsync(
+        settings.pathfinding.stepsPerAsyncAgent.get()
+    );
     for (const auto& [_, player] : *level->players) {
         if (player->isSuspended()) {
             continue;

src/logic/scripting/lua/libs/libpathfinding.cpp

@@ -31,8 +31,10 @@ static int l_make_route(lua::State* L) {
     if (auto agent = get_agent(L)) {
         auto start = lua::tovec3(L, 2);
         auto target = lua::tovec3(L, 3);
-        auto route = level->pathfinding->perform(*agent, start, target);
-        agent->route = route;
+        agent->state = {};
+        agent->start = start;
+        agent->target = target;
+        auto route = level->pathfinding->perform(*agent);
         if (!route.found) {
             return 0;
         }
@@ -46,6 +48,37 @@ static int l_make_route(lua::State* L) {
     return 0;
 }
 
+static int l_make_route_async(lua::State* L) {
+    if (auto agent = get_agent(L)) {
+        auto start = lua::tovec3(L, 2);
+        auto target = lua::tovec3(L, 3);
+        agent->state = {};
+        agent->start = start;
+        agent->target = target;
+        level->pathfinding->perform(*agent, 0);
+    }
+    return 0;
+}
+
+static int l_pull_route(lua::State* L) {
+    if (auto agent = get_agent(L)) {
+        auto& route = agent->route;
+        if (!agent->state.finished) {
+            return 0;
+        }
+        if (!route.found) {
+            return lua::createtable(L, 0, 0);
+        }
+        lua::createtable(L, route.nodes.size(), 0);
+        for (int i = 0; i < route.nodes.size(); i++) {
+            lua::pushvec3(L, route.nodes[i].pos);
+            lua::rawseti(L, i + 1);
+        }
+        return 1;
+    }
+    return 0;
+}
+
 static int l_set_max_visited_blocks(lua::State* L) {
     if (auto agent = get_agent(L)) {
         agent->maxVisitedBlocks = lua::tointeger(L, 2);
@@ -58,6 +91,8 @@ const luaL_Reg pathfindinglib[] = {
     {"set_enabled", lua::wrap<l_set_enabled>},
     {"is_enabled", lua::wrap<l_is_enabled>},
     {"make_route", lua::wrap<l_make_route>},
+    {"make_route_async", lua::wrap<l_make_route_async>},
+    {"pull_route", lua::wrap<l_pull_route>},
     {"set_max_visited", lua::wrap<l_set_max_visited_blocks>},
     {NULL, NULL}
 };