Repath around blocking units or structures.

OpenRa.Game/Game.cs

@@ -22,7 +22,7 @@ namespace OpenRa.Game
 		static TreeCache treeCache;
 		public static TerrainRenderer terrain;
 		public static Viewport viewport;
-		public static PathFinder pathFinder;
+		public static PathFinder PathFinder;
 		public static Network network;
 		public static WorldRenderer worldRenderer;
 		public static Controller controller;
@@ -65,7 +65,7 @@ namespace OpenRa.Game
 			LoadMapBuildings(mapFile);
 			LoadMapUnits(mapFile);
 
-			pathFinder = new PathFinder(map, terrain.tileSet);
+			PathFinder = new PathFinder(map, terrain.tileSet);
 
 			network = new Network();
 

OpenRa.Game/PathFinder.cs

@@ -42,6 +42,32 @@ namespace OpenRa.Game
 			return path;
 		}
 
+		public List<int2> FindPathToPath( int2 from, List<int2> path, UnitMovementType umt )
+		{
+			var offset = map.Offset;
+			var cellInfo = InitCellInfo();
+			var queue = new PriorityQueue<PathDistance>();
+			var estimator = DefaultEstimator( from );
+
+			var cost = 0.0;
+			var prev = path[ 0 ] + offset;
+			for( int i = 0 ; i < path.Count ; i++ )
+			{
+				var sl = path[ i ] + offset;
+				if( Game.BuildingInfluence.GetBuildingAt( path[ i ] ) == null & Game.UnitInfluence.GetUnitAt( path[ i ] ) == null )
+				{
+					queue.Add( new PathDistance( estimator( sl - offset ), sl ) );
+					cellInfo[ sl.X, sl.Y ] = new CellInfo( cost, prev, false );
+				}
+				var d = sl - prev;
+				cost += ( ( d.X * d.Y != 0 ) ? 1.414213563 : 1.0 ) * passableCost[ (int)umt ][ sl.X, sl.Y ];
+				prev = sl;
+			}
+			var ret = FindPath( cellInfo, queue, estimator, umt, true );
+			ret.Reverse();
+			return ret;
+		}
+
 		List<int2> FindUnitPath( int2 unitLocation, Func<int2,double> estimator, UnitMovementType umt )
 		{
 			var startLocation = unitLocation + map.Offset;
@@ -50,13 +76,8 @@ namespace OpenRa.Game
 
 		List<int2> FindUnitPath(IEnumerable<int2> startLocations, Func<int2, double> estimator, UnitMovementType umt)
 		{
-			var cellInfo = new CellInfo[128, 128];
 			var offset = map.Offset;
-
+			var cellInfo = InitCellInfo();
-			for (int x = 0; x < 128; x++)
-				for (int y = 0; y < 128; y++)
-					cellInfo[x, y] = new CellInfo(double.PositiveInfinity, new int2(x, y), false);
-
 			var queue = new PriorityQueue<PathDistance>();
 
 			foreach (var sl in startLocations)
@@ -65,6 +86,13 @@ namespace OpenRa.Game
 				cellInfo[sl.X, sl.Y].MinCost = 0;
 			}
 
+			return FindPath( cellInfo, queue, estimator, umt, false );
+		}
+
+		List<int2> FindPath( CellInfo[ , ] cellInfo, PriorityQueue<PathDistance> queue, Func<int2, double> estimator, UnitMovementType umt, bool checkForBlock )
+		{
+			var offset = map.Offset;
+
 			while( !queue.Empty )
 			{
 				PathDistance p = queue.Pop();
@@ -84,6 +112,8 @@ namespace OpenRa.Game
 						continue;
 					if (Game.BuildingInfluence.GetBuildingAt(newHere - offset) != null)
 						continue;
+					if( checkForBlock && Game.UnitInfluence.GetUnitAt( newHere - offset ) != null )
+						continue;
 
 					double cellCost = ( ( d.X * d.Y != 0 ) ? 1.414213563 : 1.0 ) * passableCost[(int)umt][ newHere.X, newHere.Y ];
 					double newCost = cellInfo[ here.X, here.Y ].MinCost + cellCost;
@@ -102,6 +132,15 @@ namespace OpenRa.Game
 			return new List<int2>();
 		}
 
+		static CellInfo[ , ] InitCellInfo()
+		{
+			var cellInfo = new CellInfo[ 128, 128 ];
+			for( int x = 0 ; x < 128 ; x++ )
+				for( int y = 0 ; y < 128 ; y++ )
+					cellInfo[ x, y ] = new CellInfo( double.PositiveInfinity, new int2( x, y ), false );
+			return cellInfo;
+		}
+
 		List<int2> MakePath( CellInfo[ , ] cellInfo, int2 destination, int2 offset )
 		{
 			List<int2> ret = new List<int2>();

OpenRa.Game/Traits/Mobile.cs

@@ -128,7 +128,7 @@ namespace OpenRa.Game.Traits
 
 			public MoveTo( int2 destination )
 			{
-				this.getPath = (self, mobile) => Game.pathFinder.FindUnitPath(
+				this.getPath = (self, mobile) => Game.PathFinder.FindUnitPath(
 					self.Location, destination,
 					mobile.GetMovementType());
 				this.destination = destination;
@@ -136,7 +136,7 @@ namespace OpenRa.Game.Traits
 
 			public MoveTo(Actor target, int range)
 			{
-				this.getPath = (self, mobile) => Game.pathFinder.FindUnitPathToRange(
+				this.getPath = (self, mobile) => Game.PathFinder.FindUnitPathToRange(
 					self.Location, target.Location,
 					mobile.GetMovementType(), range);
 				this.destination = null;
@@ -145,7 +145,8 @@ namespace OpenRa.Game.Traits
 			static bool CanEnterCell(int2 c, Actor self)
 			{
 				var u = Game.UnitInfluence.GetUnitAt(c);
-				return u == null || u == self;
+				var b = Game.BuildingInfluence.GetBuildingAt(c);
+				return (u == null || u == self) && b == null;
 			}
 
 			public void Tick( Actor self, Mobile mobile )
@@ -169,21 +170,23 @@ namespace OpenRa.Game.Traits
 					destination = mobile.toCell;
 					return;
 				}
-				else
+
 				destination = path[0];
 
-				var nextCell = path[ path.Count - 1 ];
+				var nextCell = PopPath( self, mobile );
-				int2 dir = nextCell - mobile.fromCell;
+				if( nextCell == null )
+					return;
+
+				int2 dir = nextCell.Value - mobile.fromCell;
 				var firstFacing = Util.GetFacing( dir, mobile.facing );
 				if( firstFacing != mobile.facing )
+				{
 					mobile.currentActivity = new Turn( firstFacing ) { NextActivity = this };
+					path.Add( nextCell.Value );
+				}
 				else
 				{
-					if (!CanEnterCell(nextCell, self)) return;	/* todo: repath, sometimes */
+					mobile.toCell = nextCell.Value;
-
-					mobile.toCell = nextCell;
-					path.RemoveAt( path.Count - 1 );
-
 					move = new MoveFirstHalf(
 						CenterOfCell( mobile.fromCell ),
 						BetweenCells( mobile.fromCell, mobile.toCell ),
@@ -196,6 +199,25 @@ namespace OpenRa.Game.Traits
 				mobile.currentActivity.Tick( self, mobile );
 			}
 
+			int2? PopPath( Actor self, Mobile mobile )
+			{
+				if( path.Count == 0 ) return null;
+				var nextCell = path[ path.Count - 1 ];
+				if( !CanEnterCell( nextCell, self ) )
+				{
+					Game.UnitInfluence.Remove( mobile );
+					path = Game.PathFinder.FindPathToPath( self.Location, path, mobile.GetMovementType() )
+						.TakeWhile( a => a != self.Location )
+						.ToList();
+					Game.UnitInfluence.Add( mobile );
+					if( path.Count == 0 )
+						return null;
+					nextCell = path[ path.Count - 1 ];
+				}
+				path.RemoveAt( path.Count - 1 );
+				return nextCell;
+			}
+
 			static float2 CenterOfCell( int2 loc )
 			{
 				return new float2( 12, 12 ) + Game.CellSize * (float2)loc;
@@ -261,27 +283,24 @@ namespace OpenRa.Game.Traits
 
 				protected override MovePart OnComplete( Actor self, Mobile mobile, MoveTo parent )
 				{
-					if( parent.path.Count > 0 )
+					var nextCell = parent.PopPath( self, mobile );
+					if( nextCell != null )
 					{
-						var nextCell = parent.path[ parent.path.Count - 1 ];
 						if( ( nextCell - mobile.toCell ) != ( mobile.toCell - mobile.fromCell ) )
 						{
-							if( CanEnterCell( nextCell, self ) )
-							{
-								parent.path.RemoveAt( parent.path.Count - 1 );
-
 							var ret = new MoveFirstHalf(
 								BetweenCells( mobile.fromCell, mobile.toCell ),
-									BetweenCells( mobile.toCell, nextCell ),
+								BetweenCells( mobile.toCell, nextCell.Value ),
 								mobile.facing,
-									Util.GetNearestFacing( mobile.facing, Util.GetFacing( nextCell - mobile.toCell, mobile.facing ) ),
+								Util.GetNearestFacing( mobile.facing, Util.GetFacing( nextCell.Value - mobile.toCell, mobile.facing ) ),
 								moveFraction - moveFractionTotal );
 							mobile.fromCell = mobile.toCell;
-								mobile.toCell = nextCell;
+							mobile.toCell = nextCell.Value;
 							Game.UnitInfluence.Update( mobile );
 							return ret;
 						}
-						}
+						else
+							parent.path.Add( nextCell.Value );
 					}
 					var ret2 = new MoveSecondHalf(
 						BetweenCells( mobile.fromCell, mobile.toCell ),

OpenRa.Game/UnitInfluenceMap.cs

@@ -25,7 +25,13 @@ namespace OpenRa.Game
 				Update(u);
 		}
 
-		public Actor GetUnitAt(int2 a) { return influence[a.X, a.Y]; }
+		public Actor GetUnitAt( int2 a )
+		{
+			var actor = influence[ a.X, a.Y ];
+			if( actor != null && !actor.traits.Get<Mobile>().OccupiedCells().Contains( a ) )
+				throw new InvalidOperationException( "UIM: Unit is not in influenced square" );
+			return actor;
+		}
 
 		public void Add(Mobile a)
 		{