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Fix PathFinder.FindPathToTargetCells.

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When this hits the case that "As both ends are accessible, we can freely swap them." - we must note that we are reversing the path search and pass the information into the HierarchicalPathFinder. When a normal path search occurs, the actor trying to pathfind will never check its own location - and thus never gets blocked by itself. When a search is reversed, the search will check the actors location. If we inform the search it is doing done in reverse, it will special case this scenario and avoid the actor blocking itself. But if it is not told about this scenario, then this special case is not applied and no path will be found when in fact a path is possible.
This commit is contained in:
RoosterDragon
2024-07-06 10:26:21 +01:00
committed by Gustas
parent c24913ea24
commit 1cd3e1bf3f
2 changed files with 25 additions and 21 deletions
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34
OpenRA.Mods.Common/Pathfinder/HierarchicalPathFinder.cs
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@@ -414,7 +414,7 @@ namespace OpenRA.Mods.Common.Pathfinder
{
var src = accessibleCells.First();
using (var search = GetLocalPathSearch(
null, new[] { src }, src, customCost, null, BlockedByActor.None, false, grid, 100))
null, new[] { src }, src, customCost, null, BlockedByActor.None, false, grid, 100, null, false, null))
{
var localCellsInRegion = search.ExpandAll();
var abstractCell = AbstractCellForLocalCells(localCellsInRegion, gridLayer);
@@ -725,7 +725,7 @@ namespace OpenRA.Mods.Common.Pathfinder
/// </summary>
public List<CPos> FindPath(Actor self, IReadOnlyCollection<CPos> sources, CPos target,
BlockedByActor check, int heuristicWeightPercentage, Func<CPos, int> customCost,
Actor ignoreActor, bool laneBias, PathFinderOverlay pathFinderOverlay)
Actor ignoreActor, bool inReverse, bool laneBias, PathFinderOverlay pathFinderOverlay)
{
if (costEstimator == null)
return PathFinder.NoPath;
@@ -812,8 +812,9 @@ namespace OpenRA.Mods.Common.Pathfinder
{
using (var fromSrc = GetLocalPathSearch(
self, sourcesWithPathableNodes, target, customCost, ignoreActor, check, laneBias, null, heuristicWeightPercentage,
heuristic: Heuristic(reverseAbstractSearch, estimatedSearchSize, sourcesWithPathableNodes, unpathableNodes),
recorder: pathFinderOverlay?.RecordLocalEdges(self)))
Heuristic(reverseAbstractSearch, estimatedSearchSize, sourcesWithPathableNodes, unpathableNodes),
inReverse,
pathFinderOverlay?.RecordLocalEdges(self)))
return fromSrc.FindPath();
}
}
@@ -825,7 +826,7 @@ namespace OpenRA.Mods.Common.Pathfinder
/// </summary>
public List<CPos> FindPath(Actor self, CPos source, CPos target,
BlockedByActor check, int heuristicWeightPercentage, Func<CPos, int> customCost,
Actor ignoreActor, bool laneBias, PathFinderOverlay pathFinderOverlay)
Actor ignoreActor, bool inReverse, bool laneBias, PathFinderOverlay pathFinderOverlay)
{
if (costEstimator == null)
return PathFinder.NoPath;
@@ -851,7 +852,9 @@ namespace OpenRA.Mods.Common.Pathfinder
List<CPos> localPath;
using (var search = GetLocalPathSearch(
self, new[] { source }, target, customCost, ignoreActor, check, laneBias, gridToSearch, heuristicWeightPercentage,
recorder: pathFinderOverlay?.RecordLocalEdges(self)))
null,
inReverse,
pathFinderOverlay?.RecordLocalEdges(self)))
localPath = search.FindPath();
if (localPath.Count > 0)
@@ -872,7 +875,7 @@ namespace OpenRA.Mods.Common.Pathfinder
// Call the other overload which can handle this scenario.
var sourceAbstractCell = AbstractCellForLocalCell(source);
if (sourceAbstractCell == null)
return FindPath(self, new[] { source }, target, check, heuristicWeightPercentage, customCost, ignoreActor, laneBias, pathFinderOverlay);
return FindPath(self, new[] { source }, target, check, heuristicWeightPercentage, customCost, ignoreActor, inReverse, laneBias, pathFinderOverlay);
// If the source and target belong to different domains, there is no path.
RebuildDomains();
@@ -903,13 +906,14 @@ namespace OpenRA.Mods.Common.Pathfinder
using (var fromSrc = GetLocalPathSearch(
self, new[] { source }, target, customCost, ignoreActor, check, laneBias, null, heuristicWeightPercentage,
heuristic: Heuristic(reverseAbstractSearch, estimatedSearchSize, null, null),
recorder: pathFinderOverlay?.RecordLocalEdges(self)))
Heuristic(reverseAbstractSearch, estimatedSearchSize, null, null),
inReverse,
pathFinderOverlay?.RecordLocalEdges(self)))
using (var fromDest = GetLocalPathSearch(
self, new[] { target }, source, customCost, ignoreActor, check, laneBias, null, heuristicWeightPercentage,
heuristic: Heuristic(forwardAbstractSearch, estimatedSearchSize, null, null),
inReverse: true,
recorder: pathFinderOverlay?.RecordLocalEdges(self)))
Heuristic(forwardAbstractSearch, estimatedSearchSize, null, null),
!inReverse,
pathFinderOverlay?.RecordLocalEdges(self)))
return PathSearch.FindBidiPath(fromDest, fromSrc);
}
}
@@ -1258,9 +1262,9 @@ namespace OpenRA.Mods.Common.Pathfinder
PathSearch GetLocalPathSearch(
Actor self, IEnumerable<CPos> srcs, CPos dst, Func<CPos, int> customCost,
Actor ignoreActor, BlockedByActor check, bool laneBias, Grid? grid, int heuristicWeightPercentage,
Func<CPos, bool, int> heuristic = null,
bool inReverse = false,
PathSearch.IRecorder recorder = null)
Func<CPos, bool, int> heuristic,
bool inReverse,
PathSearch.IRecorder recorder)
{
return PathSearch.ToTargetCell(
world, locomotor, self, srcs, dst, check, heuristicWeightPercentage,