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Use CellLayer for pathfinding.

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This commit is contained in:
Paul Chote
2014-05-17 14:12:43 +12:00
parent 435f47158f
commit 441971f6d7
2 changed files with 42 additions and 39 deletions
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36
OpenRA.Mods.RA/Move/PathFinder.cs
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@@ -12,6 +12,7 @@ using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using OpenRA;
using OpenRA.Primitives;
using OpenRA.Support;
using OpenRA.Traits;
@@ -136,9 +137,7 @@ namespace OpenRA.Mods.RA.Move
var dbg = world.WorldActor.TraitOrDefault<PathfinderDebugOverlay>();
if (dbg != null)
{
dbg.AddLayer(search.Considered.Select(p => new Pair<CPos, int>(p, search.CellInfo[p.X, p.Y].MinCost)), search.MaxCost, search.Owner);
}
dbg.AddLayer(search.Considered.Select(p => new Pair<CPos, int>(p, search.CellInfo[p].MinCost)), search.MaxCost, search.Owner);
if (path != null)
return path;
@@ -149,15 +148,15 @@ namespace OpenRA.Mods.RA.Move
}
}
static List<CPos> MakePath(CellInfo[,] cellInfo, CPos destination)
static List<CPos> MakePath(CellLayer<CellInfo> cellInfo, CPos destination)
{
var ret = new List<CPos>();
var pathNode = destination;
while (cellInfo[pathNode.X, pathNode.Y].Path != pathNode)
while (cellInfo[pathNode].Path != pathNode)
{
ret.Add(pathNode);
pathNode = cellInfo[pathNode.X, pathNode.Y].Path;
pathNode = cellInfo[pathNode].Path;
}
ret.Add(pathNode);
@@ -165,9 +164,8 @@ namespace OpenRA.Mods.RA.Move
return ret;
}
public List<CPos> FindBidiPath( /* searches from both ends toward each other */
PathSearch fromSrc,
PathSearch fromDest)
// Searches from both ends toward each other
public List<CPos> FindBidiPath(PathSearch fromSrc, PathSearch fromDest)
{
using (new PerfSample("Pathfinder"))
{
@@ -181,8 +179,8 @@ namespace OpenRA.Mods.RA.Move
/* make some progress on the first search */
var p = fromSrc.Expand(world);
if (fromDest.CellInfo[p.X, p.Y].Seen &&
fromDest.CellInfo[p.X, p.Y].MinCost < float.PositiveInfinity)
if (fromDest.CellInfo[p].Seen &&
fromDest.CellInfo[p].MinCost < float.PositiveInfinity)
{
path = MakeBidiPath(fromSrc, fromDest, p);
break;
@@ -191,8 +189,8 @@ namespace OpenRA.Mods.RA.Move
/* make some progress on the second search */
var q = fromDest.Expand(world);
if (fromSrc.CellInfo[q.X, q.Y].Seen &&
fromSrc.CellInfo[q.X, q.Y].MinCost < float.PositiveInfinity)
if (fromSrc.CellInfo[q].Seen &&
fromSrc.CellInfo[q].MinCost < float.PositiveInfinity)
{
path = MakeBidiPath(fromSrc, fromDest, q);
break;
@@ -202,8 +200,8 @@ namespace OpenRA.Mods.RA.Move
var dbg = world.WorldActor.TraitOrDefault<PathfinderDebugOverlay>();
if (dbg != null)
{
dbg.AddLayer(fromSrc.Considered.Select(p => new Pair<CPos, int>(p, fromSrc.CellInfo[p.X, p.Y].MinCost)), fromSrc.MaxCost, fromSrc.Owner);
dbg.AddLayer(fromDest.Considered.Select(p => new Pair<CPos, int>(p, fromDest.CellInfo[p.X, p.Y].MinCost)), fromDest.MaxCost, fromDest.Owner);
dbg.AddLayer(fromSrc.Considered.Select(p => new Pair<CPos, int>(p, fromSrc.CellInfo[p].MinCost)), fromSrc.MaxCost, fromSrc.Owner);
dbg.AddLayer(fromDest.Considered.Select(p => new Pair<CPos, int>(p, fromDest.CellInfo[p].MinCost)), fromDest.MaxCost, fromDest.Owner);
}
if (path != null)
@@ -222,19 +220,19 @@ namespace OpenRA.Mods.RA.Move
var ret = new List<CPos>();
var q = p;
while (ca[q.X, q.Y].Path != q)
while (ca[q].Path != q)
{
ret.Add(q);
q = ca[q.X, q.Y].Path;
q = ca[q].Path;
}
ret.Add(q);
ret.Reverse();
q = p;
while (cb[q.X, q.Y].Path != q)
while (cb[q].Path != q)
{
q = cb[q.X, q.Y].Path;
q = cb[q].Path;
ret.Add(q);
}