Reworked groundwar pathfinding

[hemoridos]

Reworked the groundwar pathfinding. Did not touch much the overall infrastructure and AI logic. It mostly changes how passability checks are made and re-pathing strategy.

Some issues fixed:

• Unit location does not snap to the correct cell for pathfinding when moving diagonally in a horizontal line.
• Sometimes direct move orders get overwritten by attack orders that come from guard mode
• Minor things I might have forgot to note down as there was a lot of trial and error involved.

Non exhaustive list of changes:

• Replaced yielding with tile reservation and more aggressive re-pathing.
  Tile reservation is used instead of collision detection. This avoids issues that could come from fractional location coordinates, where multiple units might occupy the same node for pathing purposes. A tile is reserved by a unit as it starts its movement into it. The reservation is cleared when it arrives in the target cell.
• diagonal movement is only prohibited if the top/bottom/left/right cells are permanently impassable. This the same as in the original. Also makes group movement pathing much cleaner,
• Pathing requests are now stored in a LinkedHashMap for queing and discarding redundant requests of the same unit. This allows for more aggressive re-pathing requests without flooding the pathing queue and makes sure everyone gets their turn.
• do occasional re-pathing between cells. Rate is currently 1/10 chance when between movement steps. Seems to work OK.
• blocking objects considered temporary and thus ignored are:
  • enemy units in case of attack move(same as before)
  • friendly units in motion (fractional location or in rotation sequence)
  • inMotionPlanning no longer used
• Group move order now gives each selected unit a destination location around the initially ordered location based on it's relative location within the group. This helps to avoid competing for the same destination location and preventing units moving in a single file. Attack move remained the same with a single destination, only they pile up a bit slower if they arrive at that destination.
• attacking units re-path only if their target moves out of their maxRange relative to the original path destination.
• If a unit can't find a path try again x times before giving up.
• Treat paths of length 1 as empty as the first node is the one under the unit
• Readjust goal location if original goal is blocked by a unit standing still
• Merge pathing logic not needed as now all re-paths happen in stable(roundNum,roundNum) positions
• changed how commands are shown in debug mode and added some extra information about tiles that are taken ore reserved by a unit.

Side note:

• Removed the GroundWarManager from planet object as it is currently not used. What should be do with that?

Example videos:
https://drive.google.com/file/d/1Bd2k24DwUuamReztlFiDN7TmdGroS_HL/view?usp=drive_link
https://drive.google.com/file/d/1uS8y2frbkkevi6M51F4Krti80pg5hYrs/view?usp=drive_link

[hemoridos]

In larger battles there is a slight hit to performance as there now more units actively moving around the map.