Fxgl AI Pathfinding

FXGL AI — Pathfinding, GOAP & Sense AI

A* Pathfinding Setup

Build the grid from the world

// Create grid after level is loaded (in initGame, after setLevelFromMap)
private AStarGrid grid;

@Override
protected void initGame() {
    setLevelFromMap("level1.tmx");

    // Build grid: tile size must match Tiled tile width/height
    grid = AStarGrid.fromWorld(getGameWorld(), 32, 32);
    // Cells corresponding to WALL-type entities are automatically NOT_WALKABLE
    // Mark additional non-walkable cells:
    getGameWorld().getEntitiesByType(EntityType.OBSTACLE).forEach(e -> {
        int cx = (int)(e.getX() / 32);
        int cy = (int)(e.getY() / 32);
        grid.getCell(cx, cy).setState(CellState.NOT_WALKABLE);
    });
}

Find a path manually

// Returns null if no path exists
List<AStarCell> path = grid.getAStarSearch().findPath(
        (int)(startX / 32),   // cell X of start
        (int)(startY / 32),   // cell Y of start
        (int)(goalX  / 32),   // cell X of goal
        (int)(goalY  / 32)    // cell Y of goal
);

if (path != null) {
    path.forEach(cell -> {
        double worldX = cell.getX() * 32;
        double worldY = cell.getY() * 32;
        System.out.println("Step: " + worldX + ", " + worldY);
    });
}

AStarMoveComponent (enemy follows player)

// In enemy factory
@Spawns("enemy")
public Entity newEnemy(SpawnData data) {
    AStarMoveComponent astar = new AStarMoveComponent(new AStarGridView(grid));

    return entityBuilder(data)
            .type(EntityType.ENEMY)
            .view("enemy.png")
            .bbox(BoundingShape.box(32, 32))
            .with(astar)
            .with(new EnemyAIComponent())
            .build();
}

// In EnemyAIComponent.onUpdate — periodically recalculate path
public class EnemyAIComponent extends Component {
    private AStarMoveComponent astar;
    private double recalcTimer = 0;

    @Override
    public void onUpdate(double tpf) {
        recalcTimer += tpf;
        if (recalcTimer >= 0.5) {  // recalc every 0.5s (not every frame — expensive)
            recalcTimer = 0;
            Entity player = getGameWorld().getSingleton(e -> e.isType(EntityType.PLAYER));
            astar.moveToCell(
                    (int)(player.getX() / 32),
                    (int)(player.getY() / 32)
            );
        }
    }
}

RandomAStarMoveComponent (wandering)

RandomAStarMoveComponent wander = new RandomAStarMoveComponent(new AStarGridView(grid));
wander.setMoveSpeed(120);        // pixels per second
wander.setMinWanderDistance(3);  // min distance in cells between waypoints
wander.setMaxWanderDistance(8);  // max distance
entity.addComponent(wander);
// Entity wanders autonomously — no further code needed

Waypoint Patrol

WaypointMoveComponent patrol = new WaypointMoveComponent();
patrol.setSpeed(100);
patrol.setLooping(true);
patrol.addWaypoint(new Point2D(100, 200));
patrol.addWaypoint(new Point2D(500, 200));
patrol.addWaypoint(new Point2D(500, 400));
patrol.addWaypoint(new Point2D(100, 400));

entity.addComponent(patrol);

// Pause patrol on player detection, resume when player leaves
patrol.pause();
patrol.resume();

GOAP (Goal-Oriented Action Planning)

Define world state

// World state is a Map<String, Boolean>
Map<String, Boolean> worldState = new HashMap<>();
worldState.put("hasAmmo",    true);
worldState.put("hasWeapon",  false);
worldState.put("enemyDead",  false);
worldState.put("inRange",    false);

// Goal: what we want to achieve
Map<String, Boolean> goal = new HashMap<>();
goal.put("enemyDead", true);

Define actions

// Each action: preconditions + effects + cost + perform logic
public class FindWeaponAction extends GoapAction {
    public FindWeaponAction() {
        // Preconditions: none (always possible if weapon exists in world)
        // Effects: hasWeapon = true
        addEffect("hasWeapon", true);
        setCost(2.0f);
    }

    @Override
    public boolean checkProceduralPrecondition(Entity agent) {
        // Return true only if a weapon entity exists in the world
        return !getGameWorld().getEntitiesByType(EntityType.WEAPON).isEmpty();
    }

    @Override
    public boolean perform(Entity agent) {
        // Move toward nearest weapon and pick it up
        Entity weapon = getGameWorld().getClosestEntity(agent,
                e -> e.isType(EntityType.WEAPON));
        agent.getComponent(AStarMoveComponent.class).moveTo(weapon.getPosition());
        if (agent.getPosition().distance(weapon.getPosition()) < 20) {
            weapon.removeFromWorld();
            return true; // action complete
        }
        return false; // still in progress
    }
}

public class AttackAction extends GoapAction {
    public AttackAction() {
        addPrecondition("hasWeapon", true);
        addPrecondition("inRange",   true);
        addEffect("enemyDead", true);
        addEffect("hasAmmo",   false);
        setCost(1.0f);
    }

    @Override
    public boolean perform(Entity agent) {
        agent.getComponent(AttackComponent.class).attack();
        return true;
    }
}

public class MoveInRangeAction extends GoapAction {
    public MoveInRangeAction() {
        addPrecondition("hasWeapon", true);
        addEffect("inRange", true);
        setCost(1.5f);
    }

    @Override
    public boolean perform(Entity agent) {
        Entity player = getGameWorld().getSingleton(e -> e.isType(EntityType.PLAYER));
        if (agent.getPosition().distance(player.getPosition()) < 100) {
            return true;
        }
        agent.getComponent(AStarMoveComponent.class).moveTo(player.getPosition());
        return false;
    }
}

Run the planner

List<GoapAction> availableActions = List.of(
    new FindWeaponAction(),
    new MoveInRangeAction(),
    new AttackAction()
);

Queue<GoapAction> plan = GoapPlanner.plan(agentEntity, availableActions, worldState, goal);

if (plan != null) {
    // Execute plan in sequence
    GoapAction current = plan.poll();
    // In onUpdate: execute current action, advance to next when complete
}

Sense AI (Vision + Hearing)

// Add SenseAIComponent to enemy entity
SenseComponent sense = new SenseComponent(250.0, 120.0); // range=250, fov=120 degrees

sense.setOnEntered(other -> {
    if (other.isType(EntityType.PLAYER)) {
        isPlayerDetected = true;
        getComponent(AStarMoveComponent.class).moveTo(other.getPosition());
    }
});

sense.setOnLeft(other -> {
    if (other.isType(EntityType.PLAYER)) {
        isPlayerDetected = false;
        getComponent(WaypointMoveComponent.class).resume();
    }
});

entity.addComponent(sense);

Dungeon Generation

// Config
DungeonConfig config = new DungeonConfig()
        .gridWidth(40)
        .gridHeight(40)
        .minRoomSize(5)
        .maxRoomSize(12)
        .maxRooms(15);

// Generate
DungeonGenerator generator = new DungeonGenerator(config);
Grid2D<DungeonCell> dungeon = generator.generate();

// Render
dungeon.forEach((cell, x, y) -> {
    int worldX = x * TILE_SIZE;
    int worldY = y * TILE_SIZE;
    switch (cell.getType()) {
        case FLOOR     -> spawn("floor",    worldX, worldY);
        case WALL      -> spawn("wall",     worldX, worldY);
        case CORRIDOR  -> spawn("floor",    worldX, worldY);  // treat corridor as floor
        case DOOR      -> spawn("door",     worldX, worldY);
        case BOSS_ROOM -> spawn("bossFloor",worldX, worldY);
    }
});

// Player starts in first room
Room startRoom = generator.getRooms().get(0);
spawn("player", startRoom.getCenterX() * TILE_SIZE, startRoom.getCenterY() * TILE_SIZE);

// Boss in last room
Room bossRoom = generator.getRooms().get(generator.getRooms().size() - 1);
spawn("boss", bossRoom.getCenterX() * TILE_SIZE, bossRoom.getCenterY() * TILE_SIZE);

Maze Generation

MazeGenerator mazeGen = new MazeGenerator(20, 15); // width, height in cells
Grid2D<MazeCell> maze = mazeGen.generate();

maze.forEach((cell, x, y) -> {
    if (cell.hasTopWall())    spawnWall(x, y, "top");
    if (cell.hasLeftWall())   spawnWall(x, y, "left");
    if (cell.hasRightWall())  spawnWall(x, y, "right");
    if (cell.hasBottomWall()) spawnWall(x, y, "bottom");
});

Gotchas

• Rebuild AStarGrid after every level load — the grid caches cell states from the world; stale grids cause enemies to walk through walls spawned in the new level.
• Recalculate paths at intervals, not every frame — A* on a 40×40 grid costs ~0.5ms. At 60fps with 10 enemies, that's 300ms/s wasted. Recalc every 0.5s max.
• AStarGrid.fromWorld marks only STATIC physics bodies as NOT_WALKABLE — dynamic entities (other enemies) are ignored. Handle entity-entity avoidance separately.
• GOAP planner returns null when no plan is possible with the given actions. Always null-check and handle with a default behaviour (idle, wander, alert).
• WaypointMoveComponent requires exact world coordinates (pixels) not grid coordinates. Multiply grid cell indices by tile size.
• Dungeon generation is random — use DungeonConfig.seed(long) for reproducible layouts (e.g., seeded from the current level number for consistent procedural content).
• SenseAI field-of-view is from the entity's forward direction — make sure your enemy entity faces the direction of travel (update entity.setRotation(angle) each frame).