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- Introduced Unit Testing capabilities to the PathFinder trait and algorithm.

Browse Source 
Introduced also a small Unit test project to prove it.

- Separated caching capabilities from PathFinder class to increase cohesion and maintainability.
Refactored the pathfinding algorithm by extracting methods based on responsibilities like
calculating costs and reordering functions. These changes should provide a in average a small increase in
pathfinding performance and maintainability.

- Optimized the pathfinder algorithm to reuse calculations like the
MovementCost and heuristics.

- Introduced base classes, IPathSearch and IPriorityQueue interfaces,
and restructured code to ease readability and testability

- Renamed the PathFinder related classes to more appropriate names. Made the
traits rely on the interface IPathfinder instead of concrete PathFinder
implementation.

- Massive performance improvements

- Solved error with harvesters' Heuristic

- Updated the heuristic to ease redability and adjustability. D can be
adjusted to offer best paths by decreasing and more performance by
increasing it

- Refactored the CellLayer<CellInfo> creation in its own Singleton class

- Extracted the graph abstraction onto an IGraph interface, making the
Pathfinder agnostic to the definition of world and terrain. This
abstraction can help in the future to be able to cache graphs for similar
classes and their costs, speeding up the pathfinder and being able to feed
the A* algorithm with different types of graphs like Hierarchical graphs
This commit is contained in:
David Jiménez
2015-02-20 08:59:07 +01:00
parent 8659a3e71e
commit 54ae572303
28 changed files with 1727 additions and 667 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
OpenRA.Mods.Common/Activities/Move/Move.cs
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@@ -13,6 +13,7 @@ using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using OpenRA.Activities;
using OpenRA.Mods.Common.Pathfinder;
using OpenRA.Mods.Common.Traits;
using OpenRA.Primitives;
using OpenRA.Traits;
@@ -45,7 +46,7 @@ namespace OpenRA.Mods.Common.Activities
moveDisablers = self.TraitsImplementing<IDisableMove>();
getPath = () =>
self.World.WorldActor.Trait<PathFinder>().FindPath(
self.World.WorldActor.Trait<IPathFinder>().FindPath(
PathSearch.FromPoint(self.World, mobile.Info, self, mobile.ToCell, destination, false)
.WithoutLaneBias());
this.destination = destination;
@@ -61,7 +62,7 @@ namespace OpenRA.Mods.Common.Activities
mobile = self.Trait<Mobile>();
moveDisablers = self.TraitsImplementing<IDisableMove>();
getPath = () => self.World.WorldActor.Trait<PathFinder>()
getPath = () => self.World.WorldActor.Trait<IPathFinder>()
.FindUnitPath(mobile.ToCell, destination, self);
this.destination = destination;
this.nearEnough = nearEnough;
@@ -72,7 +73,7 @@ namespace OpenRA.Mods.Common.Activities
mobile = self.Trait<Mobile>();
moveDisablers = self.TraitsImplementing<IDisableMove>();
getPath = () => self.World.WorldActor.Trait<PathFinder>()
getPath = () => self.World.WorldActor.Trait<IPathFinder>()
.FindUnitPathToRange(mobile.FromCell, subCell, self.World.Map.CenterOfSubCell(destination, subCell), nearEnough, self);
this.destination = destination;
this.nearEnough = nearEnough;
@@ -84,7 +85,7 @@ namespace OpenRA.Mods.Common.Activities
moveDisablers = self.TraitsImplementing<IDisableMove>();
getPath = () =>
self.World.WorldActor.Trait<PathFinder>().FindPath(
self.World.WorldActor.Trait<IPathFinder>().FindPath(
PathSearch.FromPoint(self.World, mobile.Info, self, mobile.ToCell, destination, false)
.WithIgnoredActor(ignoredActor));
@@ -103,7 +104,7 @@ namespace OpenRA.Mods.Common.Activities
if (!target.IsValidFor(self))
return NoPath;
return self.World.WorldActor.Trait<PathFinder>().FindUnitPathToRange(
return self.World.WorldActor.Trait<IPathFinder>().FindUnitPathToRange(
mobile.ToCell, mobile.ToSubCell, target.CenterPosition, range, self);
};
@@ -132,7 +133,7 @@ namespace OpenRA.Mods.Common.Activities
return hash;
}
List<CPos> EvalPath(Actor self, Mobile mobile)
List<CPos> EvalPath()
{
var path = getPath().TakeWhile(a => a != mobile.ToCell).ToList();
mobile.PathHash = HashList(path);
@@ -155,7 +156,7 @@ namespace OpenRA.Mods.Common.Activities
return this;
}
path = EvalPath(self, mobile);
path = EvalPath();
SanityCheckPath(mobile);
}
@@ -167,7 +168,7 @@ namespace OpenRA.Mods.Common.Activities
destination = path[0];
var nextCell = PopPath(self, mobile);
var nextCell = PopPath(self);
if (nextCell == null)
return this;
@@ -202,7 +203,7 @@ namespace OpenRA.Mods.Common.Activities
throw new InvalidOperationException("(Move) Sanity check failed");
}
Pair<CPos, SubCell>? PopPath(Actor self, Mobile mobile)
Pair<CPos, SubCell>? PopPath(Actor self)
{
if (path.Count == 0)
return null;
@@ -210,7 +211,7 @@ namespace OpenRA.Mods.Common.Activities
var nextCell = path[path.Count - 1];
// Next cell in the move is blocked by another actor
if (!mobile.CanEnterCell(nextCell, ignoredActor, true))
if (!mobile.CanMoveFreelyInto(nextCell, ignoredActor, true))
{
// Are we close enough?
var cellRange = nearEnough.Range / 1024;
@@ -246,7 +247,7 @@ namespace OpenRA.Mods.Common.Activities
// Calculate a new path
mobile.RemoveInfluence();
var newPath = EvalPath(self, mobile);
var newPath = EvalPath();
mobile.AddInfluence();
if (newPath.Count != 0)
@@ -372,7 +373,7 @@ namespace OpenRA.Mods.Common.Activities
var fromSubcellOffset = self.World.Map.OffsetOfSubCell(mobile.FromSubCell);
var toSubcellOffset = self.World.Map.OffsetOfSubCell(mobile.ToSubCell);
var nextCell = parent.PopPath(self, mobile);
var nextCell = parent.PopPath(self);
if (nextCell != null)
{
if (IsTurn(mobile, nextCell.Value.First))