Repath around blocking units or structures.

OpenRa.Game/Game.cs

@@ -8,7 +8,7 @@ using IrrKlang;
 using IjwFramework.Collections;
 using System;
 using IjwFramework.Types;
-using OpenRa.Game.Traits;
+using OpenRa.Game.Traits;
 using OpenRa.Game.GameRules;
 
 namespace OpenRa.Game
@@ -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;
@@ -32,50 +32,50 @@ namespace OpenRa.Game
 		public static Dictionary<int, Player> players = new Dictionary<int, Player>();
 
 		public static Player LocalPlayer { get { return players[localPlayerIndex]; } }
-		public static BuildingInfluenceMap BuildingInfluence;
+		public static BuildingInfluenceMap BuildingInfluence;
 		public static UnitInfluenceMap UnitInfluence;
 
-		static ISoundEngine soundEngine;
+		static ISoundEngine soundEngine;
-
+
-		public static void Initialize(string mapName, Renderer renderer, int2 clientSize, int localPlayer)
+		public static void Initialize(string mapName, Renderer renderer, int2 clientSize, int localPlayer)
-		{
+		{
-			Rules.LoadRules(mapName);
+			Rules.LoadRules(mapName);
-
+
-			for (int i = 0; i < 8; i++)
+			for (int i = 0; i < 8; i++)
-				players.Add(i, new Player(i, string.Format("Multi{0}", i), Race.Soviet));
+				players.Add(i, new Player(i, string.Format("Multi{0}", i), Race.Soviet));
-
+
-			localPlayerIndex = localPlayer;
+			localPlayerIndex = localPlayer;
-
+
-			var mapFile = new IniFile(FileSystem.Open(mapName));
+			var mapFile = new IniFile(FileSystem.Open(mapName));
-			map = new Map(mapFile);
+			map = new Map(mapFile);
-			FileSystem.Mount(new Package(map.Theater + ".mix"));
+			FileSystem.Mount(new Package(map.Theater + ".mix"));
-
+
-			viewport = new Viewport(clientSize, map.Size, renderer);
+			viewport = new Viewport(clientSize, map.Size, renderer);
-
+
-			terrain = new TerrainRenderer(renderer, map, viewport);
+			terrain = new TerrainRenderer(renderer, map, viewport);
-			world = new World();
+			world = new World();
-			treeCache = new TreeCache(map);
+			treeCache = new TreeCache(map);
-
+
-			foreach (TreeReference treeReference in map.Trees)
+			foreach (TreeReference treeReference in map.Trees)
-				world.Add(new Actor(treeReference, treeCache, map.Offset));
+				world.Add(new Actor(treeReference, treeCache, map.Offset));
-
+
-			BuildingInfluence = new BuildingInfluenceMap(8);
+			BuildingInfluence = new BuildingInfluenceMap(8);
-			UnitInfluence = new UnitInfluenceMap();
+			UnitInfluence = new UnitInfluenceMap();
-
+
-			LoadMapBuildings(mapFile);
+			LoadMapBuildings(mapFile);
-			LoadMapUnits(mapFile);
+			LoadMapUnits(mapFile);
-
+
-			pathFinder = new PathFinder(map, terrain.tileSet);
+			PathFinder = new PathFinder(map, terrain.tileSet);
-
+
-			network = new Network();
+			network = new Network();
-
+
-			controller = new Controller();
+			controller = new Controller();
-			worldRenderer = new WorldRenderer(renderer);
+			worldRenderer = new WorldRenderer(renderer);
-
+
-			soundEngine = new ISoundEngine();
+			soundEngine = new ISoundEngine();
-			sounds = new Cache<string, ISoundSource>(LoadSound);
+			sounds = new Cache<string, ISoundSource>(LoadSound);
-
+
-			PlaySound("intro.aud", false);
+			PlaySound("intro.aud", false);
 		}
 
 		static void LoadMapBuildings( IniFile mapfile )
@@ -125,7 +125,7 @@ namespace OpenRa.Game
 		public static void Tick()
 		{
 			var stuffFromOtherPlayers = network.Tick();	// todo: actually use the orders!
-			world.Update();
+			world.Update();
 			UnitInfluence.Tick();
 
 			viewport.DrawRegions();
@@ -133,7 +133,7 @@ namespace OpenRa.Game
 
 		public static bool IsCellBuildable(int2 a, UnitMovementType umt)
 		{
-			if (BuildingInfluence.GetBuildingAt(a) != null) return false;
+			if (BuildingInfluence.GetBuildingAt(a) != null) return false;
 			if (UnitInfluence.GetUnitAt(a) != null) return false;
 
 			a += map.Offset;
@@ -158,19 +158,19 @@ namespace OpenRa.Game
 		{
 			return FindUnits(a - new float2(r, r), a + new float2(r, r))
 				.Where(x => (x.CenterLocation - a).LengthSquared < r * r);
-		}
+		}
-
+
-		public static IEnumerable<int2> FindTilesInCircle(int2 a, int r)
+		public static IEnumerable<int2> FindTilesInCircle(int2 a, int r)
-		{
+		{
-			var min = a - new int2(r, r);
+			var min = a - new int2(r, r);
-			var max = a + new int2(r, r);
+			var max = a + new int2(r, r);
-
+
-			for (var j = min.Y; j <= max.Y; j++)
+			for (var j = min.Y; j <= max.Y; j++)
-				for (var i = min.X; i <= max.X; i++)
+				for (var i = min.X; i <= max.X; i++)
-					if (r * r >= (new int2(i, j) - a).LengthSquared)
+					if (r * r >= (new int2(i, j) - a).LengthSquared)
-						yield return new int2(i, j);
+						yield return new int2(i, j);
-		}
+		}
-
+
 		public static IEnumerable<Actor> SelectUnitsInBox(float2 a, float2 b)
 		{
 			return FindUnits(a, b).Where(x => x.Owner == LocalPlayer && x.traits.Contains<Traits.Mobile>());
@@ -197,52 +197,52 @@ namespace OpenRa.Game
 		public static readonly Pair<VoicePool, VoicePool> SovietVoices =
 			Pair.New(
 				new VoicePool("ackno", "affirm1", "noprob", "overout", "ritaway", "roger", "ugotit"),
-				new VoicePool("await1", "ready", "report1", "yessir1"));
+				new VoicePool("await1", "ready", "report1", "yessir1"));
-
+
-		static int2? FindAdjacentTile(Actor a, UnitMovementType umt)
+		static int2? FindAdjacentTile(Actor a, UnitMovementType umt)
-		{
+		{
-			var tiles = Footprint.Tiles(a);
+			var tiles = Footprint.Tiles(a);
-			var min = tiles.Aggregate(int2.Min) - new int2(1, 1);
+			var min = tiles.Aggregate(int2.Min) - new int2(1, 1);
-			var max = tiles.Aggregate(int2.Max) + new int2(1, 1);
+			var max = tiles.Aggregate(int2.Max) + new int2(1, 1);
-
+
-			for (var j = min.Y; j <= max.Y; j++)
+			for (var j = min.Y; j <= max.Y; j++)
-				for (var i = min.X; i <= max.X; i++)
+				for (var i = min.X; i <= max.X; i++)
-					if (IsCellBuildable(new int2(i, j), umt))
+					if (IsCellBuildable(new int2(i, j), umt))
-						return new int2(i, j);
+						return new int2(i, j);
-
+
-			return null;
+			return null;
-		}
+		}
-
+
 		public static void BuildUnit(Player player, string name)
-		{
+		{
 			var producerTypes = Rules.UnitInfo[name].BuiltAt;
 			var producer = world.Actors
 				.FirstOrDefault(a => a.unitInfo != null 
 					&& producerTypes.Contains(a.unitInfo.Name) && a.Owner == player);
 
 			if (producer == null)
-				throw new InvalidOperationException("BuildUnit without suitable production structure!");
+				throw new InvalidOperationException("BuildUnit without suitable production structure!");
-
+
-			Actor unit;
+			Actor unit;
-
+
-			if (producerTypes.Contains("spen") || producerTypes.Contains("syrd"))
+			if (producerTypes.Contains("spen") || producerTypes.Contains("syrd"))
-			{
+			{
-				var space = FindAdjacentTile(producer, Rules.UnitInfo[name].WaterBound ? 
+				var space = FindAdjacentTile(producer, Rules.UnitInfo[name].WaterBound ? 
-					UnitMovementType.Float : UnitMovementType.Wheel );	/* hackety hack */
+					UnitMovementType.Float : UnitMovementType.Wheel );	/* hackety hack */
-
+
-				if (space == null)
+				if (space == null)
-					throw new NotImplementedException("Nowhere to place this unit.");
+					throw new NotImplementedException("Nowhere to place this unit.");
-
+
-				unit = new Actor(name, space.Value, player);
+				unit = new Actor(name, space.Value, player);
-				var mobile = unit.traits.Get<Mobile>();
+				var mobile = unit.traits.Get<Mobile>();
-				mobile.facing = SharedRandom.Next(256);
+				mobile.facing = SharedRandom.Next(256);
-			}
+			}
-			else
+			else
-			{
+			{
-				unit = new Actor(name, (1 / 24f * producer.CenterLocation).ToInt2(), player);
+				unit = new Actor(name, (1 / 24f * producer.CenterLocation).ToInt2(), player);
-				var mobile = unit.traits.Get<Mobile>();
+				var mobile = unit.traits.Get<Mobile>();
-				mobile.facing = 128;
+				mobile.facing = 128;
-				mobile.QueueActivity(new Mobile.MoveTo(unit.Location + new int2(0, 3)));
+				mobile.QueueActivity(new Mobile.MoveTo(unit.Location + new int2(0, 3)));
 			}
 
 			world.AddFrameEndTask(_ => world.Add(unit));

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

@@ -49,9 +49,9 @@ namespace OpenRa.Game.Traits
 
 		public Order Order(Actor self, int2 xy, bool lmb, Actor underCursor)
 		{
-			if( lmb ) return null;
+			if( lmb ) return null;
-
+
-			if( underCursor != null )
+			if( underCursor != null )
 				return null;
 
 			if (xy != toCell)
@@ -121,31 +121,32 @@ namespace OpenRa.Game.Traits
 			public CurrentActivity NextActivity { get; set; }
 
 			int2? destination;
-			public List<int2> path;
+			public List<int2> path;
 			Func<Actor, Mobile, List<int2>> getPath;
 
 			MovePart move;
 
 			public MoveTo( int2 destination )
-			{
+			{
-				this.getPath = (self, mobile) => Game.pathFinder.FindUnitPath(
+				this.getPath = (self, mobile) => Game.PathFinder.FindUnitPath(
-					self.Location, destination, 
+					self.Location, destination,
 					mobile.GetMovementType());
 				this.destination = destination;
-			}
+			}
-
+
-			public MoveTo(Actor target, int range)
+			public MoveTo(Actor target, int range)
-			{
+			{
-				this.getPath = (self, mobile) => Game.pathFinder.FindUnitPathToRange(
+				this.getPath = (self, mobile) => Game.PathFinder.FindUnitPathToRange(
-					self.Location, target.Location,
+					self.Location, target.Location,
-					mobile.GetMovementType(), range);
+					mobile.GetMovementType(), range);
-				this.destination = null;
+				this.destination = null;
 			}
 
 			static bool CanEnterCell(int2 c, Actor self)
 			{
-				var u = Game.UnitInfluence.GetUnitAt(c);
+				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 )
@@ -154,46 +155,67 @@ namespace OpenRa.Game.Traits
 				{
 					move.TickMove( self, mobile, this );
 					return;
-				}
+				}
 
 				if( destination == self.Location )
 				{
 					mobile.currentActivity = NextActivity;
 					return;
-				}
+				}
+
+				if (path == null) path = getPath(self, mobile).TakeWhile(a => a != self.Location).ToList();
+
+				if (path.Count == 0)
+				{
+					destination = mobile.toCell;
+					return;
+				}
+
+				destination = path[0];
 
-				if (path == null) path = getPath(self, mobile).TakeWhile(a => a != self.Location).ToList();
+				var nextCell = PopPath( self, mobile );
-
+				if( nextCell == null )
-				if (path.Count == 0)
+					return;
+
+				int2 dir = nextCell.Value - mobile.fromCell;
+				var firstFacing = Util.GetFacing( dir, mobile.facing );
+				if( firstFacing != mobile.facing )
 				{
-					destination = mobile.toCell;
+					mobile.currentActivity = new Turn( firstFacing ) { NextActivity = this };
-					return;
+					path.Add( nextCell.Value );
 				}
 				else
-					destination = path[0];
+				{
-
+					mobile.toCell = nextCell.Value;
-				var nextCell = path[ path.Count - 1 ];
+					move = new MoveFirstHalf(
-				int2 dir = nextCell - mobile.fromCell;
+						CenterOfCell( mobile.fromCell ),
-				var firstFacing = Util.GetFacing( dir, mobile.facing );
+						BetweenCells( mobile.fromCell, mobile.toCell ),
-				if( firstFacing != mobile.facing )
+						mobile.facing,
-					mobile.currentActivity = new Turn( firstFacing ) { NextActivity = this };
+						mobile.facing,
-				else
+						0 );
-				{
+
-					if (!CanEnterCell(nextCell, self)) return;	/* todo: repath, sometimes */
+					Game.UnitInfluence.Update( mobile );
-
-					mobile.toCell = nextCell;
-					path.RemoveAt( path.Count - 1 );
-
-					move = new MoveFirstHalf(
-						CenterOfCell( mobile.fromCell ),
-						BetweenCells( mobile.fromCell, mobile.toCell ),
-						mobile.facing,
-						mobile.facing,
-						0 );
-
-					Game.UnitInfluence.Update(mobile);
 				}
 				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 )
@@ -260,28 +282,25 @@ 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( ( nextCell - mobile.toCell ) != ( mobile.toCell - mobile.fromCell ) )
-						{
+						{
-							if( CanEnterCell( nextCell, self ) )
+							var ret = new MoveFirstHalf(
-							{
+								BetweenCells( mobile.fromCell, mobile.toCell ),
-								parent.path.RemoveAt( parent.path.Count - 1 );
+								BetweenCells( mobile.toCell, nextCell.Value ),
-
+								mobile.facing,
-								var ret = new MoveFirstHalf(
+								Util.GetNearestFacing( mobile.facing, Util.GetFacing( nextCell.Value - mobile.toCell, mobile.facing ) ),
-									BetweenCells( mobile.fromCell, mobile.toCell ),
+								moveFraction - moveFractionTotal );
-									BetweenCells( mobile.toCell, nextCell ),
+							mobile.fromCell = mobile.toCell;
-									mobile.facing,
+							mobile.toCell = nextCell.Value;
-									Util.GetNearestFacing( mobile.facing, Util.GetFacing( nextCell - mobile.toCell, mobile.facing ) ),
+							Game.UnitInfluence.Update( mobile );
-									moveFraction - moveFractionTotal );
+							return ret;
-								mobile.fromCell = mobile.toCell;
+						}
-								mobile.toCell = nextCell;
+						else
-								Game.UnitInfluence.Update( mobile );
+							parent.path.Add( nextCell.Value );
-								return ret;
-							}
-						}
 					}
 					var ret2 = new MoveSecondHalf(
 						BetweenCells( mobile.fromCell, mobile.toCell ),
@@ -314,13 +333,13 @@ namespace OpenRa.Game.Traits
 				path.Clear();
 				NextActivity = null;
 			}
-		}
+		}
-
+
-		public IEnumerable<int2> GetCurrentPath()
+		public IEnumerable<int2> GetCurrentPath()
-		{
+		{
-			var move = currentActivity as MoveTo;
+			var move = currentActivity as MoveTo;
-			if (move == null || move.path == null) return new int2[] { };
+			if (move == null || move.path == null) return new int2[] { };
-			return Enumerable.Reverse(move.path);
+			return Enumerable.Reverse(move.path);
-		}
+		}
 	}
 }

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)
 		{