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Merge pull request #8622 from reaperrr/hv-refactor2

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Refactored harvester resource search
This commit is contained in:
Oliver Brakmann
2015-07-22 14:26:31 +02:00
parent bd73783cef 3b1607883d
commit 5a1b6bb644
7 changed files with 173 additions and 135 deletions
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171
OpenRA.Mods.Common/Activities/FindResources.cs
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@@ -8,7 +8,6 @@
*/
#endregion
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
@@ -58,91 +57,111 @@ namespace OpenRA.Mods.Common.Activities
if (harv.IsFull)
return Util.SequenceActivities(deliver, NextActivity);
var closestHarvestablePosition = ClosestHarvestablePos(self);
// If no harvestable position could be found, either deliver the remaining resources
// or get out of the way and do not disturb.
if (!closestHarvestablePosition.HasValue)
{
if (!harv.IsEmpty)
return deliver;
var cachedPosition = self.Location;
harv.UnblockRefinery(self);
// Only do this if UnblockRefinery did nothing.
if (self.Location == cachedPosition)
{
var unblockCell = harv.LastHarvestedCell ?? (self.Location + harvInfo.UnblockCell);
var moveTo = mobile.NearestMoveableCell(unblockCell, 2, 5);
self.QueueActivity(mobile.MoveTo(moveTo, 1));
self.SetTargetLine(Target.FromCell(self.World, moveTo), Color.Gray, false);
}
var randFrames = self.World.SharedRandom.Next(100, 175);
return Util.SequenceActivities(NextActivity, new Wait(randFrames), this);
}
else
{
var next = this;
// Attempt to claim a resource as ours
if (territory != null)
{
if (!territory.ClaimResource(self, closestHarvestablePosition.Value))
return Util.SequenceActivities(new Wait(25), next);
}
// If not given a direct order, assume ordered to the first resource location we find:
if (!harv.LastOrderLocation.HasValue)
harv.LastOrderLocation = closestHarvestablePosition;
self.SetTargetLine(Target.FromCell(self.World, closestHarvestablePosition.Value), Color.Red, false);
var notify = self.TraitsImplementing<INotifyHarvesterAction>();
foreach (var n in notify)
n.MovingToResources(self, closestHarvestablePosition.Value, next);
return Util.SequenceActivities(mobile.MoveTo(closestHarvestablePosition.Value, 1), new HarvestResource(self), next);
}
}
bool IsHarvestable(Actor self, CPos pos)
{
var resType = resLayer.GetResource(pos);
if (resType == null)
return false;
// Can the harvester collect this kind of resource?
if (!harvInfo.Resources.Contains(resType.Info.Name))
return false;
if (territory != null)
{
// Another harvester has claimed this resource:
ResourceClaim claim;
if (territory.IsClaimedByAnyoneElse(self as Actor, pos, out claim))
return false;
}
return true;
}
/// <summary>
/// Finds the closest harvestable pos between the current position of the harvester
/// and the last order location
/// </summary>
CPos? ClosestHarvestablePos(Actor self)
{
if (IsHarvestable(self, self.Location))
return self.Location;
// Determine where to search from and how far to search:
var searchFromLoc = harv.LastOrderLocation ?? (harv.LastLinkedProc ?? harv.LinkedProc ?? self).Location;
var searchRadius = harv.LastOrderLocation.HasValue ? harvInfo.SearchFromOrderRadius : harvInfo.SearchFromProcRadius;
var searchRadiusSquared = searchRadius * searchRadius;
// Find harvestable resources nearby:
var path = pathFinder.FindPath(
PathSearch.Search(self.World, mobileInfo, self, true)
.WithHeuristic(loc =>
{
// Avoid this cell:
if (avoidCell.HasValue && loc == avoidCell.Value)
return EstimateDistance(loc, searchFromLoc) + Constants.CellCost;
// Don't harvest out of range:
var distSquared = (loc - searchFromLoc).LengthSquared;
if (distSquared > searchRadiusSquared)
return EstimateDistance(loc, searchFromLoc) + Constants.CellCost * 2;
// Get the resource at this location:
var resType = resLayer.GetResource(loc);
if (resType == null)
return EstimateDistance(loc, searchFromLoc) + Constants.CellCost;
// Can the harvester collect this kind of resource?
if (!harvInfo.Resources.Contains(resType.Info.Name))
return EstimateDistance(loc, searchFromLoc) + Constants.CellCost;
if (territory != null)
{
// Another harvester has claimed this resource:
ResourceClaim claim;
if (territory.IsClaimedByAnyoneElse(self, loc, out claim))
return EstimateDistance(loc, searchFromLoc) + Constants.CellCost;
}
return 0;
})
.FromPoint(self.Location));
var next = this;
if (path.Count == 0)
{
if (!harv.IsEmpty)
return deliver;
else
var search = PathSearch.Search(self.World, mobileInfo, self, true,
loc => IsHarvestable(self, loc))
.WithCustomCost(loc =>
{
// Get out of the way if we are:
harv.UnblockRefinery(self);
var randFrames = self.World.SharedRandom.Next(90, 160);
if (NextActivity != null)
return Util.SequenceActivities(NextActivity, new Wait(randFrames), next);
else
return Util.SequenceActivities(new Wait(randFrames), next);
}
}
if ((avoidCell.HasValue && loc == avoidCell.Value) ||
(loc - self.Location).LengthSquared > searchRadiusSquared)
return int.MaxValue;
// Attempt to claim a resource as ours:
if (territory != null)
{
if (!territory.ClaimResource(self, path[0]))
return Util.SequenceActivities(new Wait(25), next);
}
return 0;
})
.FromPoint(self.Location)
.FromPoint(searchFromLoc);
// If not given a direct order, assume ordered to the first resource location we find:
if (harv.LastOrderLocation == null)
harv.LastOrderLocation = path[0];
// Find any harvestable resources:
var path = pathFinder.FindPath(search);
self.SetTargetLine(Target.FromCell(self.World, path[0]), Color.Red, false);
if (path.Count > 0)
return path[0];
var notify = self.TraitsImplementing<INotifyHarvesterAction>();
foreach (var n in notify)
n.MovingToResources(self, path[0], next);
return Util.SequenceActivities(mobile.MoveTo(path[0], 1), new HarvestResource(self), next);
}
// Diagonal distance heuristic
static int EstimateDistance(CPos here, CPos destination)
{
var diag = Math.Min(Math.Abs(here.X - destination.X), Math.Abs(here.Y - destination.Y));
var straight = Math.Abs(here.X - destination.X) + Math.Abs(here.Y - destination.Y);
return Constants.CellCost * straight + (Constants.DiagonalCellCost - 2 * Constants.CellCost) * diag;
return null;
}
public override IEnumerable<Target> GetTargets(Actor self)

4
OpenRA.Mods.Common/Pathfinder/BasePathSearch.cs
View File

@@ -110,6 +110,7 @@ namespace OpenRA.Mods.Common.Pathfinder
public bool Debug { get; set; }
string id;
protected Func<CPos, int> heuristic;
protected Func<CPos, bool> isGoal;
// This member is used to compute the ID of PathSearch.
// Essentially, it represents a collection of the initial
@@ -194,8 +195,7 @@ namespace OpenRA.Mods.Common.Pathfinder
public bool IsTarget(CPos location)
{
var locInfo = Graph[location];
return locInfo.EstimatedTotal - locInfo.CostSoFar == 0;
return isGoal(location);
}
public abstract CPos Expand();

2
OpenRA.Mods.Common/Pathfinder/Constants.cs
View File

@@ -25,5 +25,7 @@ namespace OpenRA.Mods.Common.Pathfinder
/// a unit took to move one cell diagonally)
/// </summary>
public const int DiagonalCellCost = 177;
public const int InvalidNode = int.MaxValue;
}
}

27
OpenRA.Mods.Common/Pathfinder/PathGraph.cs
View File

@@ -23,7 +23,7 @@ namespace OpenRA.Mods.Common.Pathfinder
/// <summary>
/// Gets all the Connections for a given node in the graph
/// </summary>
ICollection<GraphConnection> GetConnections(CPos position);
IEnumerable<GraphConnection> GetConnections(CPos position);
/// <summary>
/// Retrieves an object given a node in the graph
@@ -102,7 +102,7 @@ namespace OpenRA.Mods.Common.Pathfinder
new[] { new CVec(1, -1), new CVec(1, 0), new CVec(-1, 1), new CVec(0, 1), new CVec(1, 1) },
};
public ICollection<GraphConnection> GetConnections(CPos position)
public IEnumerable<GraphConnection> GetConnections(CPos position)
{
var previousPos = cellInfo[position].PreviousPos;
@@ -116,7 +116,7 @@ namespace OpenRA.Mods.Common.Pathfinder
{
var neighbor = position + directions[i];
var movementCost = GetCostToNode(neighbor, directions[i]);
if (movementCost != InvalidNode)
if (movementCost != Constants.InvalidNode)
validNeighbors.AddLast(new GraphConnection(position, neighbor, movementCost));
}
@@ -137,7 +137,7 @@ namespace OpenRA.Mods.Common.Pathfinder
return CalculateCellCost(destNode, direction, movementCost);
}
return InvalidNode;
return Constants.InvalidNode;
}
int CalculateCellCost(CPos neighborCPos, CVec direction, int movementCost)
@@ -148,7 +148,13 @@ namespace OpenRA.Mods.Common.Pathfinder
cellCost = (cellCost * 34) / 24;
if (CustomCost != null)
cellCost += CustomCost(neighborCPos);
{
var customCost = CustomCost(neighborCPos);
if (customCost == Constants.InvalidNode)
return Constants.InvalidNode;
cellCost += customCost;
}
// directional bonuses for smoother flow!
if (LaneBias != 0)
@@ -184,15 +190,8 @@ namespace OpenRA.Mods.Common.Pathfinder
public CellInfo this[CPos pos]
{
get
{
return cellInfo[pos];
}
set
{
cellInfo[pos] = value;
}
get { return cellInfo[pos]; }
set { cellInfo[pos] = value; }
}
}
}

28
OpenRA.Mods.Common/Pathfinder/PathSearch.cs
View File

@@ -8,6 +8,7 @@
*/
#endregion
using System;
using System.Collections.Generic;
using System.Linq;
using OpenRA.Mods.Common.Traits;
@@ -32,10 +33,13 @@ namespace OpenRA.Mods.Common.Pathfinder
considered = new LinkedList<Pair<CPos, int>>();
}
public static IPathSearch Search(World world, MobileInfo mi, Actor self, bool checkForBlocked)
public static IPathSearch Search(World world, MobileInfo mi, Actor self, bool checkForBlocked, Func<CPos, bool> goalCondition)
{
var graph = new PathGraph(CellInfoLayerManager.Instance.NewLayer(world.Map), mi, self, world, checkForBlocked);
return new PathSearch(graph);
var search = new PathSearch(graph);
search.isGoal = goalCondition;
search.heuristic = loc => 0;
return search;
}
public static IPathSearch FromPoint(World world, MobileInfo mi, Actor self, CPos from, CPos target, bool checkForBlocked)
@@ -46,6 +50,12 @@ namespace OpenRA.Mods.Common.Pathfinder
heuristic = DefaultEstimator(target)
};
search.isGoal = loc =>
{
var locInfo = search.Graph[loc];
return locInfo.EstimatedTotal - locInfo.CostSoFar == 0;
};
if (world.Map.Contains(from))
search.AddInitialCell(from);
@@ -60,6 +70,12 @@ namespace OpenRA.Mods.Common.Pathfinder
heuristic = DefaultEstimator(target)
};
search.isGoal = loc =>
{
var locInfo = search.Graph[loc];
return locInfo.EstimatedTotal - locInfo.CostSoFar == 0;
};
foreach (var sl in froms.Where(sl => world.Map.Contains(sl)))
search.AddInitialCell(sl);
@@ -88,12 +104,8 @@ namespace OpenRA.Mods.Common.Pathfinder
var currentCell = Graph[currentMinNode];
Graph[currentMinNode] = new CellInfo(currentCell.CostSoFar, currentCell.EstimatedTotal, currentCell.PreviousPos, CellStatus.Closed);
if (Graph.CustomCost != null)
{
var c = Graph.CustomCost(currentMinNode);
if (c == int.MaxValue)
return currentMinNode;
}
if (Graph.CustomCost != null && Graph.CustomCost(currentMinNode) == Constants.InvalidNode)
return currentMinNode;
foreach (var connection in Graph.GetConnections(currentMinNode))
{

63
OpenRA.Mods.Common/Traits/Harvester.cs
View File

@@ -26,6 +26,9 @@ namespace OpenRA.Mods.Common.Traits
[Desc("How long (in ticks) to wait until (re-)checking for a nearby available DeliveryBuilding if not yet linked to one.")]
public readonly int SearchForDeliveryBuildingDelay = 125;
[Desc("Cell to move to when automatically unblocking DeliveryBuilding.")]
public readonly CVec UnblockCell = new CVec(0, 4);
[Desc("How much resources it can carry.")]
public readonly int Capacity = 28;
@@ -164,7 +167,7 @@ namespace OpenRA.Mods.Common.Traits
// 4 harvesters clogs up the refinery's delivery location:
if (occupancy >= 3)
return int.MaxValue;
return Constants.InvalidNode;
// Prefer refineries with less occupancy (multiplier is to offset distance cost):
return occupancy * 12;
@@ -196,7 +199,8 @@ namespace OpenRA.Mods.Common.Traits
if (self.Location == deliveryLoc)
{
// Get out of the way:
var moveTo = LastHarvestedCell ?? (deliveryLoc + new CVec(0, 4));
var unblockCell = LastHarvestedCell ?? (deliveryLoc + info.UnblockCell);
var moveTo = mobile.NearestMoveableCell(unblockCell, 1, 5);
self.QueueActivity(mobile.MoveTo(moveTo, 1));
self.SetTargetLine(Target.FromCell(self.World, moveTo), Color.Gray, false);
@@ -209,8 +213,7 @@ namespace OpenRA.Mods.Common.Traits
foreach (var n in notify)
n.MovingToResources(self, moveTo, next);
self.QueueActivity(new FindResources(self));
return;
self.QueueActivity(next);
}
}
}
@@ -320,51 +323,46 @@ namespace OpenRA.Mods.Common.Traits
self.CancelActivity();
CPos? loc;
if (order.TargetLocation != CPos.Zero)
{
var loc = order.TargetLocation;
var territory = self.World.WorldActor.TraitOrDefault<ResourceClaimLayer>();
loc = order.TargetLocation;
var territory = self.World.WorldActor.TraitOrDefault<ResourceClaimLayer>();
if (territory != null)
{
// Find the nearest claimable cell to the order location (useful for group-select harvest):
loc = mobile.NearestCell(loc, p => mobile.CanEnterCell(p) && territory.ClaimResource(self, p), 1, 6);
loc = mobile.NearestCell(loc.Value, p => mobile.CanEnterCell(p) && territory.ClaimResource(self, p), 1, 6);
}
else
{
// Find the nearest cell to the order location (useful for group-select harvest):
var taken = new HashSet<CPos>();
loc = mobile.NearestCell(loc, p => mobile.CanEnterCell(p) && taken.Add(p), 1, 6);
loc = mobile.NearestCell(loc.Value, p => mobile.CanEnterCell(p) && taken.Add(p), 1, 6);
}
self.QueueActivity(mobile.MoveTo(loc, 0));
self.SetTargetLine(Target.FromCell(self.World, loc), Color.Red);
var notify = self.TraitsImplementing<INotifyHarvesterAction>();
var next = new FindResources(self);
foreach (var n in notify)
n.MovingToResources(self, loc, next);
LastOrderLocation = loc;
}
else
{
// A bot order gives us a CPos.Zero TargetLocation, so find some good resources for him:
var loc = FindNextResourceForBot(self);
loc = FindNextResourceForBot(self);
// No more resources? Oh well.
if (!loc.HasValue)
return;
self.QueueActivity(mobile.MoveTo(loc.Value, 0));
self.SetTargetLine(Target.FromCell(self.World, loc.Value), Color.Red);
LastOrderLocation = loc;
}
var next = new FindResources(self);
self.QueueActivity(next);
self.SetTargetLine(Target.FromCell(self.World, loc.Value), Color.Red);
var notify = self.TraitsImplementing<INotifyHarvesterAction>();
foreach (var n in notify)
n.MovingToResources(self, loc.Value, next);
LastOrderLocation = loc;
// This prevents harvesters returning to an empty patch when the player orders them to a new patch:
LastHarvestedCell = LastOrderLocation;
self.QueueActivity(new FindResources(self));
}
else if (order.OrderString == "Deliver")
{
@@ -413,32 +411,31 @@ namespace OpenRA.Mods.Common.Traits
// Find any harvestable resources:
var path = self.World.WorldActor.Trait<IPathFinder>().FindPath(
PathSearch.Search(self.World, mobileInfo, self, true)
.WithHeuristic(loc =>
PathSearch.Search(self.World, mobileInfo, self, true,
loc =>
{
// Get the resource at this location:
var resType = resLayer.GetResource(loc);
if (resType == null)
return Constants.CellCost;
return false;
// Can the harvester collect this kind of resource?
if (!harvInfo.Resources.Contains(resType.Info.Name))
return Constants.CellCost;
return false;
if (territory != null)
{
// Another harvester has claimed this resource:
ResourceClaim claim;
if (territory.IsClaimedByAnyoneElse(self, loc, out claim))
return Constants.CellCost;
return false;
}
return 0;
return true;
})
.FromPoint(self.Location));
if (path.Count == 0)
return (CPos?)null;
return null;
return path[0];
}

13
OpenRA.Mods.D2k/Traits/Carryable.cs
View File

@@ -10,6 +10,7 @@
using System.Linq;
using OpenRA.Activities;
using OpenRA.Mods.Common.Activities;
using OpenRA.Mods.Common.Traits;
using OpenRA.Traits;
@@ -113,7 +114,15 @@ namespace OpenRA.Mods.D2k.Traits
locked = false;
if (afterLandActivity != null)
self.QueueActivity(false, afterLandActivity);
{
// HACK: Harvesters need special treatment to avoid getting stuck on resource fields,
// so if a Harvester's afterLandActivity is not DeliverResources, queue a new FindResources activity
var findResources = self.HasTrait<Harvester>() && !(afterLandActivity is DeliverResources);
if (findResources)
self.QueueActivity(new FindResources(self));
else
self.QueueActivity(false, afterLandActivity);
}
}
public bool Reserve(Actor carrier)
@@ -148,7 +157,7 @@ namespace OpenRA.Mods.D2k.Traits
if (locked || !WantsTransport)
return false;
// Last change to change our mind...
// Last chance to change our mind...
var destPos = self.World.Map.CenterOfCell(Destination);
if ((self.CenterPosition - destPos).LengthSquared < info.MinDistance.LengthSquared)
{