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Add domain checks to HierarchicalPathFinder.

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The domains in HierarchicalPathFinder can be compared to find disjoint areas. For example islands on a water map will belong to different domains. Use these domains in path searches to allow us to bail out early if a path is impossible, e.g. trying to path between different islands. Keeping the domains updated via the RebuildDomains method adds some cost to the average path search, but that savings from path searches that can bail early pays for this many times over.
This commit is contained in:
RoosterDragon
2023-10-28 13:43:40 +01:00
committed by Gustas
parent b35b560ca1
commit 5157bc375d
1 changed files with 20 additions and 0 deletions
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20
OpenRA.Mods.Common/Pathfinder/HierarchicalPathFinder.cs
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@@ -742,6 +742,9 @@ namespace OpenRA.Mods.Common.Pathfinder
if (targetAbstractCell == null)
return PathFinder.NoPath;
RebuildDomains();
var targetDomain = abstractDomains[targetAbstractCell.Value];
// Unlike the target cell, the source cell is allowed to be an unreachable location.
// Instead, what matters is whether any cell adjacent to the source cell can be reached.
var sourcesWithReachableNodes = new List<(CPos Source, CPos AdjacentSource)>(sources.Count);
@@ -755,6 +758,11 @@ namespace OpenRA.Mods.Common.Pathfinder
var sourceAbstractCell = AbstractCellForLocalCell(source);
if (sourceAbstractCell != null)
{
// If the source and target belong to different domains, there is no path.
var sourceDomain = abstractDomains[sourceAbstractCell.Value];
if (sourceDomain != targetDomain)
continue;
sourcesWithReachableNodes.Add((source, source));
var sourceEdge = EdgeFromLocalToAbstract(source, sourceAbstractCell.Value);
if (sourceEdge != null)
@@ -773,6 +781,11 @@ namespace OpenRA.Mods.Common.Pathfinder
if (adjacentSourceAbstractCell == null)
continue;
// If the source and target belong to different domains, there is no path.
var adjacentSourceDomain = abstractDomains[adjacentSourceAbstractCell.Value];
if (adjacentSourceDomain != targetDomain)
continue;
sourcesWithReachableNodes.Add((source, adjacentSource));
var sourceEdge = EdgeFromLocalToAbstract(adjacentSource, adjacentSourceAbstractCell.Value);
if (sourceEdge != null)
@@ -889,6 +902,13 @@ namespace OpenRA.Mods.Common.Pathfinder
if (sourceAbstractCell == null)
return FindPath(self, new[] { source }, target, check, heuristicWeightPercentage, customCost, ignoreActor, laneBias, pathFinderOverlay);
// If the source and target belong to different domains, there is no path.
RebuildDomains();
var targetDomain = abstractDomains[targetAbstractCell.Value];
var sourceDomain = abstractDomains[sourceAbstractCell.Value];
if (sourceDomain != targetDomain)
return PathFinder.NoPath;
var targetEdge = EdgeFromLocalToAbstract(target, targetAbstractCell.Value);
var sourceEdge = EdgeFromLocalToAbstract(source, sourceAbstractCell.Value);