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Improved the performance and intelligence of resource harvesting by

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refactoring the Harvesters' pathfinding. Now they in first place assess
which is the closest resource inside their search area and then a path is
calculated

Changed the way harvesters find resources by always trying to find the
closest resource to their refinery.

Changed the strategy of finding to find resources in Annulus.
This commit is contained in:
David Jiménez
2015-03-13 14:58:22 +01:00
committed by reaperrr
parent a0dc38c252
commit 787609d51e
6 changed files with 154 additions and 132 deletions
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28
OpenRA.Mods.Common/Pathfinder/PathSearch.cs
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@@ -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))
{