Merge pull request #82 from tgiachi/develop

release: A* pathfinding

Author: tgiachi

docs/articles/game.md

@@ -0,0 +1 @@
+[!include[](../../src/SquidStd.Game/README.md)]

docs/articles/toc.yml

@@ -130,5 +130,7 @@
   href: crypto.md
 - name: SquidStd.Secrets.Aws
   href: secrets-aws.md
+- name: SquidStd.Game
+  href: game.md
 - name: Felix Network
   href: felix.md

src/SquidStd.Game/Pathfinding/AStarPathfinder.cs

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+using System.Diagnostics;
+using SquidStd.Core.Collections.PriorityQueues;
+
+namespace SquidStd.Game.Pathfinding;
+
+/// <summary>
+/// Generic A* pathfinder over any graph: the caller supplies the successors of a node, the
+/// edge cost, and the goal heuristic as delegates, so any node type works. A consistent
+/// (monotone) heuristic - one that never decreases by more than the edge cost between
+/// adjacent nodes, which includes all common geometric distances and the zero heuristic -
+/// guarantees an optimal path; a zero heuristic turns the search into Dijkstra. Instances
+/// hold no search state - every <see cref="FindPath" /> call keeps its own - so a single
+/// pathfinder is thread-safe and reusable across concurrent searches, provided the supplied
+/// delegates and comparer are themselves safe for concurrent invocation.
+/// </summary>
+/// <typeparam name="TNode">The graph node type.</typeparam>
+public sealed class AStarPathfinder<TNode> where TNode : notnull
+{
+    private const int InitialOpenSetCapacity = 64;
+
+    private readonly IEqualityComparer<TNode> _comparer;
+    private readonly Func<TNode, TNode, double> _cost;
+    private readonly Func<TNode, TNode, double> _heuristic;
+    private readonly Func<TNode, IEnumerable<TNode>> _neighbors;
+
+    /// <summary>
+    /// Initializes the pathfinder with the graph delegates.
+    /// </summary>
+    /// <param name="neighbors">
+    /// Returns the reachable successors of a node. Must never return null - an empty
+    /// sequence means no successors.
+    /// </param>
+    /// <param name="cost">
+    /// Edge cost from a node to a successor. Must be non-negative; negative costs are
+    /// undefined behavior and only checked in DEBUG builds. Model impassable edges by
+    /// omitting the neighbor rather than returning an infinite cost.
+    /// </param>
+    /// <param name="heuristic">
+    /// Estimated remaining cost from a node to the goal. Consistent (monotone) estimates
+    /// yield optimal paths; return 0 for Dijkstra behavior.
+    /// </param>
+    /// <param name="comparer">Node equality comparer; defaults to <see cref="EqualityComparer{T}.Default" />.</param>
+    public AStarPathfinder(
+        Func<TNode, IEnumerable<TNode>> neighbors,
+        Func<TNode, TNode, double> cost,
+        Func<TNode, TNode, double> heuristic,
+        IEqualityComparer<TNode>? comparer = null
+    )
+    {
+        ArgumentNullException.ThrowIfNull(neighbors);
+        ArgumentNullException.ThrowIfNull(cost);
+        ArgumentNullException.ThrowIfNull(heuristic);
+
+        _neighbors = neighbors;
+        _cost = cost;
+        _heuristic = heuristic;
+        _comparer = comparer ?? EqualityComparer<TNode>.Default;
+    }
+
+    /// <summary>
+    /// Finds the cheapest path from <paramref name="start" /> to <paramref name="goal" />.
+    /// The result includes both endpoints; it is empty (never null) when the goal is
+    /// unreachable or the expansion budget runs out, and contains only the start node when
+    /// start equals goal.
+    /// </summary>
+    /// <param name="start">The start node.</param>
+    /// <param name="goal">The goal node.</param>
+    /// <param name="maxExpandedNodes">
+    /// Optional per-call budget: the maximum number of nodes to expand before giving up.
+    /// Protects real-time callers from unbounded searches toward unreachable goals.
+    /// </param>
+    /// <returns>The path, or an empty list.</returns>
+    public IReadOnlyList<TNode> FindPath(TNode start, TNode goal, int? maxExpandedNodes = null)
+    {
+        if (maxExpandedNodes.HasValue && maxExpandedNodes.Value <= 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(maxExpandedNodes));
+        }
+
+        if (_comparer.Equals(start, goal))
+        {
+            return [start];
+        }
+
+        var open = new GenericPriorityQueue<SearchNode, double>(InitialOpenSetCapacity);
+        var nodes = new Dictionary<TNode, SearchNode>(_comparer);
+
+        var startNode = new SearchNode(start) { GScore = 0.0, HScore = _heuristic(start, goal) };
+        Debug.Assert(!double.IsNaN(startNode.HScore), "A* requires non-NaN heuristic estimates.");
+        nodes[start] = startNode;
+        open.Enqueue(startNode, startNode.HScore);
+
+        var expanded = 0;
+
+        while (open.Count > 0)
+        {
+            var current = open.Dequeue();
+            current.Expanded = true;
+            expanded++;
+
+            if (_comparer.Equals(current.Value, goal))
+            {
+                return Reconstruct(current);
+            }
+
+            if (expanded >= maxExpandedNodes)
+            {
+                return [];
+            }
+
+            foreach (var neighbor in _neighbors(current.Value))
+            {
+                var edgeCost = _cost(current.Value, neighbor);
+                Debug.Assert(edgeCost >= 0.0, "A* requires non-negative edge costs.");
+
+                var tentative = current.GScore + edgeCost;
+
+                if (nodes.TryGetValue(neighbor, out var known))
+                {
+                    if (known.Expanded || tentative >= known.GScore)
+                    {
+                        continue;
+                    }
+
+                    known.GScore = tentative;
+                    known.Parent = current;
+                    open.UpdatePriority(known, tentative + known.HScore);
+                }
+                else
+                {
+                    var created = new SearchNode(neighbor)
+                    {
+                        GScore = tentative, HScore = _heuristic(neighbor, goal), Parent = current
+                    };
+                    Debug.Assert(!double.IsNaN(created.HScore), "A* requires non-NaN heuristic estimates.");
+                    nodes[neighbor] = created;
+
+                    if (open.Count == open.MaxSize)
+                    {
+                        open.Resize(open.MaxSize * 2);
+                    }
+
+                    open.Enqueue(created, tentative + created.HScore);
+                }
+            }
+        }
+
+        return [];
+    }
+
+    /// <summary>
+    /// Try-variant of <see cref="FindPath" />: returns false (with an empty path) when the
+    /// goal is unreachable or the expansion budget runs out.
+    /// </summary>
+    /// <param name="start">The start node.</param>
+    /// <param name="goal">The goal node.</param>
+    /// <param name="path">The found path, or an empty list.</param>
+    /// <param name="maxExpandedNodes">Optional per-call expansion budget.</param>
+    /// <returns>True when a path was found.</returns>
+    public bool TryFindPath(TNode start, TNode goal, out IReadOnlyList<TNode> path, int? maxExpandedNodes = null)
+    {
+        path = FindPath(start, goal, maxExpandedNodes);
+
+        return path.Count > 0;
+    }
+
+    private static IReadOnlyList<TNode> Reconstruct(SearchNode goalNode)
+    {
+        var path = new List<TNode>();
+
+        for (var node = goalNode; node is not null; node = node.Parent)
+        {
+            path.Add(node.Value);
+        }
+
+        path.Reverse();
+
+        return path;
+    }
+
+    private sealed class SearchNode : GenericPriorityQueueNode<double>
+    {
+        public bool Expanded { get; set; }
+
+        public double GScore { get; set; }
+
+        public double HScore { get; set; }
+
+        public SearchNode? Parent { get; set; }
+
+        public TNode Value { get; }
+
+        public SearchNode(TNode value)
+        {
+            Value = value;
+        }
+    }
+}

src/SquidStd.Game/README.md

@@ -0,0 +1,71 @@
+<h1 align="center">SquidStd.Game</h1>
+
+Small, dependency-light building blocks for games: dice-notation rolling and a generic A*
+pathfinder. Both are pure logic - no engine, no renderer, no fixed grid type - so they drop into
+any turn-based or real-time game loop built on SquidStd.
+
+## Install
+
+```bash
+dotnet add package SquidStd.Game
+```
+
+## Usage
+
+```csharp
+using SquidStd.Game.Dice;
+
+// Parse dice notation: "[N]dS[+/-M]" (for example "2d6+1", "d20"), the wrapped
+// "dice(2d6+1)" form, or a pure constant such as "5".
+var expression = DiceExpression.Parse("2d6+1");
+
+expression.Min;     // 3  - every die shows 1
+expression.Max;     // 13 - every die shows its max face
+expression.Average; // 8.0
+
+var total = expression.Roll(); // random total in [Min, Max]
+```
+
+## Pathfinding
+
+```csharp
+using SquidStd.Game.Pathfinding;
+
+const int width = 20;
+const int height = 20;
+var blocked = new HashSet<(int X, int Y)> { (5, 5), (5, 6), (5, 7) };
+
+var pathfinder = new AStarPathfinder<(int X, int Y)>(
+    neighbors: p => new (int X, int Y)[] { (p.X + 1, p.Y), (p.X - 1, p.Y), (p.X, p.Y + 1), (p.X, p.Y - 1) }
+        .Where(c => c.X >= 0 && c.X < width && c.Y >= 0 && c.Y < height && !blocked.Contains(c)),
+    cost: (_, _) => 1.0,
+    heuristic: (p, goal) => Math.Abs(p.X - goal.X) + Math.Abs(p.Y - goal.Y) // Manhattan distance
+);
+
+var path = pathfinder.FindPath((0, 0), (10, 10), maxExpandedNodes: 5_000);
+
+// Or the try-variant, which reports success instead of checking for an empty list:
+var found = pathfinder.TryFindPath((0, 0), (10, 10), out var tryPath, maxExpandedNodes: 5_000);
+```
+
+The returned path includes both the start and the goal node. It is empty (never null) when the
+goal is unreachable or the expansion budget runs out, and contains only the start node when start
+equals goal. A consistent (monotone) heuristic - one that never decreases by more than the edge
+cost between adjacent nodes, which includes Manhattan/Euclidean distance and the zero heuristic -
+guarantees an optimal path; a zero heuristic turns the search into Dijkstra. The optional
+`maxExpandedNodes` budget caps the work done per call so real-time callers (game loops) don't stall
+chasing an unreachable goal. A pathfinder instance holds no search state of its own - every
+`FindPath` call keeps its own - so a single instance is thread-safe and reusable across concurrent
+searches, provided the supplied delegates and comparer are themselves safe for concurrent
+invocation.
+
+## Key types
+
+| Type                      | Purpose                                                             |
+|---------------------------|-----------------------------------------------------------------------|
+| `DiceExpression`          | Parsed `[N]dS[+/-M]` dice notation with `Min`/`Max`/`Average`/`Roll`. |
+| `AStarPathfinder<TNode>`  | Generic A* over any graph via neighbor/cost/heuristic delegates.      |
+
+## License
+
+MIT - part of [SquidStd](https://github.com/tgiachi/squid-std).