Added QuadRenderer to render shaded/colored quads. Added DebugOverlay to World to show A* bidi search cost per cell.

OpenRA.Mods.RA/Move/PathFinder.cs

@@ -12,6 +12,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.Linq;
+using OpenRA.FileFormats;
 using OpenRA.Support;
 using OpenRA.Traits;
 
@@ -125,21 +126,43 @@ namespace OpenRA.Mods.RA.Move
 			{
 				using (fromSrc)
 				using (fromDest)
+				{
+					List<CPos> path = null;
+
 					while (!fromSrc.queue.Empty && !fromDest.queue.Empty)
 					{
 						/* make some progress on the first search */
 						var p = fromSrc.Expand(world);
 
-						if (fromDest.cellInfo[p.X, p.Y].Seen && fromDest.cellInfo[p.X, p.Y].MinCost < float.PositiveInfinity)
-							return MakeBidiPath(fromSrc, fromDest, p);
+						if (fromDest.cellInfo[p.X, p.Y].Seen &&
+							fromDest.cellInfo[p.X, p.Y].MinCost < float.PositiveInfinity)
+						{
+							path = MakeBidiPath(fromSrc, fromDest, p);
+							break;
+						}
 
 						/* make some progress on the second search */
 						var q = fromDest.Expand(world);
 
-						if (fromSrc.cellInfo[q.X, q.Y].Seen && fromSrc.cellInfo[q.X, q.Y].MinCost < float.PositiveInfinity)
-							return MakeBidiPath(fromSrc, fromDest, q);
+						if (fromSrc.cellInfo[q.X, q.Y].Seen &&
+							fromSrc.cellInfo[q.X, q.Y].MinCost < float.PositiveInfinity)
+						{
+							path = MakeBidiPath(fromSrc, fromDest, q);
+							break;
+						}
 					}
 
+					var dbg = world.WorldActor.TraitOrDefault<DebugOverlay>();
+					if (dbg != null)
+					{
+						dbg.AddLayer(fromSrc.considered.Select(p => new Pair<CPos, int>(p, fromSrc.cellInfo[p.X, p.Y].MinCost)), fromSrc.maxCost);
+						dbg.AddLayer(fromDest.considered.Select(p => new Pair<CPos, int>(p, fromDest.cellInfo[p.X, p.Y].MinCost)), fromDest.maxCost);
+					}
+
+					if (path != null)
+						return path;
+				}
+
 				return new List<CPos>(0);
 			}
 		}

OpenRA.Mods.RA/Move/PathSearch.cs

@@ -26,7 +26,8 @@ namespace OpenRA.Mods.RA.Move
 		public bool checkForBlocked;
 		public Actor ignoreBuilding;
 		public bool inReverse;
-
+		public HashSet<CPos> considered;
+		public int maxCost;
 		MobileInfo mobileInfo;
 		Actor self;
 		public Player owner { get { return self.Owner; } }
@@ -39,6 +40,8 @@ namespace OpenRA.Mods.RA.Move
 			this.self = self;
 			customCost = null;
 			queue = new PriorityQueue<PathDistance>();
+			considered = new HashSet<CPos>();
+			maxCost = 0;
 		}
 
 		public PathSearch InReverse()
@@ -108,14 +111,20 @@ namespace OpenRA.Mods.RA.Move
 					return p.Location;
 			}
 
+			// This current cell is ok; check all immediate directions:
+			considered.Add(p.Location);
+
 			foreach( CVec d in directions )
 			{
 				CPos newHere = p.Location + d;
 
-				if (!world.Map.IsInMap(newHere.X, newHere.Y)) continue;
+				// Is this direction flat-out unusable or already seen?
+				if (!world.Map.IsInMap(newHere.X, newHere.Y))
+					continue;
 				if (cellInfo[newHere.X, newHere.Y].Seen)
 					continue;
 
+				// Now we may seriously consider this direction using heuristics:
 				var costHere = mobileInfo.MovementCostForCell(world, newHere);
 
 				if (costHere == int.MaxValue)
@@ -134,8 +143,12 @@ namespace OpenRA.Mods.RA.Move
 				int cellCost = costHere;
 				if (d.X * d.Y != 0) cellCost = (cellCost * 34) / 24;
 
+				int userCost = 0;
 				if (customCost != null)
-					cellCost += customCost(newHere);
+				{
+					userCost = customCost(newHere);
+					cellCost += userCost;
+				}
 
 				// directional bonuses for smoother flow!
 				if (LaneBias != 0)
@@ -151,6 +164,7 @@ namespace OpenRA.Mods.RA.Move
 
 				int newCost = cellInfo[p.Location.X, p.Location.Y].MinCost + cellCost;
 
+				// Cost is even higher; next direction:
 				if (newCost >= cellInfo[newHere.X, newHere.Y].MinCost)
 					continue;
 
@@ -158,7 +172,11 @@ namespace OpenRA.Mods.RA.Move
 				cellInfo[newHere.X, newHere.Y].MinCost = newCost;
 
 				queue.Add(new PathDistance(newCost + est, newHere));
+
+				if (newCost > maxCost) maxCost = newCost;
+				considered.Add(newHere);
 			}
+
 			return p.Location;
 		}
 

OpenRA.Mods.RA/OpenRA.Mods.RA.csproj

@@ -403,6 +403,7 @@
     <Compile Include="Widgets\WorldCommandWidget.cs" />
     <Compile Include="Widgets\WorldTooltipWidget.cs" />
     <Compile Include="World\ChooseBuildTabOnSelect.cs" />
+    <Compile Include="World\DebugOverlay.cs" />
     <Compile Include="World\ResourceClaim.cs" />
     <Compile Include="World\ResourceClaimLayer.cs" />
     <Compile Include="World\PlayMusicOnMapLoad.cs" />

OpenRA.Mods.RA/World/DebugOverlay.cs

@@ -0,0 +1,60 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using OpenRA.FileFormats;
+using OpenRA.Graphics;
+using OpenRA.Traits;
+
+namespace OpenRA.Mods.RA
+{
+	class DebugOverlayInfo : Traits.TraitInfo<DebugOverlay>
+	{
+	}
+
+	class DebugOverlay : IRenderOverlay, IWorldLoaded
+	{
+		int[,] layer;
+		int refreshTick;
+		World world;
+
+		public void WorldLoaded(World w)
+		{
+			this.world = w;
+			this.layer = new int[w.Map.MapSize.X, w.Map.MapSize.Y];
+			this.refreshTick = 0;
+		}
+
+		public void AddLayer(IEnumerable<Pair<CPos, int>> cellWeights, int maxWeight)
+		{
+			if (maxWeight == 0) return;
+
+			foreach (var p in cellWeights)
+				layer[p.First.X, p.First.Y] = layer[p.First.X, p.First.Y] / 2 + (p.Second * 128 / maxWeight);
+		}
+
+		public void Render(WorldRenderer wr)
+		{
+			var qr = Game.Renderer.WorldQuadRenderer;
+			bool doSwap = refreshTick - world.FrameNumber <= 0;
+			if (doSwap) refreshTick = world.FrameNumber + 20;
+
+			for (int j = world.Map.Bounds.Top; j <= world.Map.Bounds.Bottom; ++j)
+				for (int i = world.Map.Bounds.Left; i <= world.Map.Bounds.Right; ++i)
+				{
+					if (!world.Map.IsInMap(i, j)) continue;
+
+					var cell = new CPos(i, j);
+					var pix = cell.ToPPos();
+
+					var w = Math.Max(0, Math.Min(layer[i, j], 224));
+					if (doSwap)
+					{
+						layer[i, j] = layer[i, j] * 4 / 5;
+					}
+					qr.FillRect(new RectangleF(pix.X, pix.Y, Game.CellSize, Game.CellSize), Color.FromArgb(w, Color.White));
+				}
+		}
+	}
+}