customBlocker support in PathSearch; local unit avoidance in normal unit pathing

OpenRa.Game/PathFinder.cs

@@ -46,16 +46,14 @@ namespace OpenRa.Game
 			using (new PerfSample("find_unit_path"))
 			{
 				var pb = FindBidiPath(
-					PathSearch.FromPoint(target, from, umt, false),
-					PathSearch.FromPoint(from, target, umt, false));
+					PathSearch.FromPoint(target, from, umt, false).WithCustomBlocker(AvoidUnitsNear(from, 4)),
+					PathSearch.FromPoint(from, target, umt, false).WithCustomBlocker(AvoidUnitsNear(from, 4)));
 
 				CheckSanePath2(pb, from, target);
 				return pb;
 			}
 		}
 
-
-
 		public List<int2> FindUnitPathToRange( int2 src, int2 target, UnitMovementType umt, int range )
 		{
 			using( new PerfSample( "find_unit_path_multiple_src" ) )
@@ -69,15 +67,11 @@ namespace OpenRa.Game
 			}
 		}
 
-		public List<int2> FindPathToPath( int2 from, List<int2> path, UnitMovementType umt )
+		Func<int2, bool> AvoidUnitsNear(int2 p, int dist)
 		{
-			if( IsBlocked( from, umt ) )
-				return new List<int2>();
-
-			using (new PerfSample("find_path_to_path"))
-				return FindBidiPath(
-					PathSearch.FromPath(path, from, umt, true),
-					PathSearch.FromPoint(from, path[0], umt, true));
+			return q => 
+				((p - q).LengthSquared < dist * dist) && 
+				(Game.UnitInfluence.GetUnitAt(q) != null);
 		}
 
 		public List<int2> FindPath( PathSearch search )

OpenRa.Game/PathSearch.cs

@@ -13,6 +13,7 @@ namespace OpenRa.Game
 		public PriorityQueue<PathDistance> queue;
 		public Func<int2, float> heuristic;
 		public UnitMovementType umt;
+		Func<int2, bool> customBlock;
 		public bool checkForBlocked;
 
 		public PathSearch()
@@ -21,6 +22,12 @@ namespace OpenRa.Game
 			queue = new PriorityQueue<PathDistance>();
 		}
 
+		public PathSearch WithCustomBlocker(Func<int2, bool> customBlock)
+		{
+			this.customBlock = customBlock;
+			return this;
+		}
+
 		public int2 Expand( float[][ , ] passableCost )
 		{
 			var p = queue.Pop();
@@ -38,6 +45,9 @@ namespace OpenRa.Game
 					continue;
 				if( checkForBlocked && Game.UnitInfluence.GetUnitAt( newHere ) != null )
 					continue;
+				if (customBlock != null && customBlock(newHere))
+					continue;
+
 				var est = heuristic( newHere );
 				if( est == float.PositiveInfinity )
 					continue;