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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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45
OpenRA.Mods.RA/Move/PathSearch.cs
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@@ -10,14 +10,16 @@
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using OpenRA;
using OpenRA.Primitives;
namespace OpenRA.Mods.RA.Move
{
public sealed class PathSearch : IDisposable
{
public CellInfo[,] CellInfo;
public CellLayer<CellInfo> CellInfo;
public PriorityQueue<PathDistance> Queue;
public Func<CPos, int> Heuristic;
public bool CheckForBlocked;
@@ -141,7 +143,7 @@ namespace OpenRA.Mods.RA.Move
public CPos Expand(World world)
{
var p = Queue.Pop();
while (CellInfo[p.Location.X, p.Location.Y].Seen)
while (CellInfo[p.Location].Seen)
{
if (Queue.Empty)
return p.Location;
@@ -149,7 +151,9 @@ namespace OpenRA.Mods.RA.Move
p = Queue.Pop();
}
CellInfo[p.Location.X, p.Location.Y].Seen = true;
var pCell = CellInfo[p.Location];
pCell.Seen = true;
CellInfo[p.Location] = pCell;
var thisCost = mobileInfo.MovementCostForCell(world, p.Location);
@@ -177,7 +181,7 @@ namespace OpenRA.Mods.RA.Move
if (!world.Map.IsInMap(newHere))
continue;
if (CellInfo[newHere.X, newHere.Y].Seen)
if (CellInfo[newHere].Seen)
continue;
// Now we may seriously consider this direction using heuristics:
@@ -224,14 +228,16 @@ namespace OpenRA.Mods.RA.Move
cellCost += laneBias;
}
var newCost = CellInfo[p.Location.X, p.Location.Y].MinCost + cellCost;
var newCost = CellInfo[p.Location].MinCost + cellCost;
// Cost is even higher; next direction:
if (newCost > CellInfo[newHere.X, newHere.Y].MinCost)
if (newCost > CellInfo[newHere].MinCost)
continue;
CellInfo[newHere.X, newHere.Y].Path = p.Location;
CellInfo[newHere.X, newHere.Y].MinCost = newCost;
var hereCell = CellInfo[newHere];
hereCell.Path = p.Location;
hereCell.MinCost = newCost;
CellInfo[newHere] = hereCell;
nextDirections[i].Second = newCost + est;
Queue.Add(new PathDistance(newCost + est, newHere));
@@ -252,27 +258,28 @@ namespace OpenRA.Mods.RA.Move
if (!self.World.Map.IsInMap(location))
return;
CellInfo[location.X, location.Y] = new CellInfo(0, location, false);
CellInfo[location] = new CellInfo(0, location, false);
Queue.Add(new PathDistance(Heuristic(location), location));
}
static readonly Queue<CellInfo[,]> CellInfoPool = new Queue<CellInfo[,]>();
static readonly Queue<CellLayer<CellInfo>> CellInfoPool = new Queue<CellLayer<CellInfo>>();
static CellInfo[,] GetFromPool()
static CellLayer<CellInfo> GetFromPool()
{
lock (CellInfoPool)
return CellInfoPool.Dequeue();
}
static void PutBackIntoPool(CellInfo[,] ci)
static void PutBackIntoPool(CellLayer<CellInfo> ci)
{
lock (CellInfoPool)
CellInfoPool.Enqueue(ci);
}
CellInfo[,] InitCellInfo()
CellLayer<CellInfo> InitCellInfo()
{
CellInfo[,] result = null;
CellLayer<CellInfo> result = null;
var mapSize = new Size(self.World.Map.MapSize.X, self.World.Map.MapSize.Y);
// HACK: Uses a static cache so that double-ended searches (which have two PathSearch instances)
// can implicitly share data. The PathFinder should allocate the CellInfo array and pass it
@@ -280,8 +287,7 @@ namespace OpenRA.Mods.RA.Move
while (CellInfoPool.Count > 0)
{
var cellInfo = GetFromPool();
if (cellInfo.GetUpperBound(0) != self.World.Map.MapSize.X - 1 ||
cellInfo.GetUpperBound(1) != self.World.Map.MapSize.Y - 1)
if (cellInfo.Size != mapSize)
{
Log.Write("debug", "Discarding old pooled CellInfo of wrong size.");
continue;
@@ -292,11 +298,10 @@ namespace OpenRA.Mods.RA.Move
}
if (result == null)
result = new CellInfo[self.World.Map.MapSize.X, self.World.Map.MapSize.Y];
result = new CellLayer<CellInfo>(self.World.Map);
for (var x = 0; x < self.World.Map.MapSize.X; x++)
for (var y = 0; y < self.World.Map.MapSize.Y; y++)
result[x, y] = new CellInfo(int.MaxValue, new CPos(x, y), false);
foreach (var cell in self.World.Map.Cells)
result[cell] = new CellInfo(int.MaxValue, cell, false);
return result;
}