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Add a PathFinderOverlay to visualize path searches.

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Activated with the '/path-debug' chat command, this displays the explored search space and costs when searching for paths. It supports custom movement layers, bi-directional searches as well as visualizing searches over the abstract graph of the HierarchicalPathFinder. The most recent search among selected units is shown.
This commit is contained in:
RoosterDragon
2022-05-22 15:20:38 +01:00
committed by Matthias Mailänder
parent aef65d353d
commit 93998dc4a7
8 changed files with 283 additions and 20 deletions
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31
OpenRA.Mods.Common/Pathfinder/HierarchicalPathFinder.cs
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@@ -586,11 +586,13 @@ namespace OpenRA.Mods.Common.Pathfinder
/// </summary>
public List<CPos> FindPath(Actor self, IReadOnlyCollection<CPos> sources, CPos target,
BlockedByActor check, int heuristicWeightPercentage, Func<CPos, int> customCost,
Actor ignoreActor, bool laneBias)
Actor ignoreActor, bool laneBias, PathFinderOverlay pathFinderOverlay)
{
if (costEstimator == null)
return PathFinder.NoPath;
pathFinderOverlay?.NewRecording(self, sources, target);
RebuildDirtyGrids();
var targetAbstractCell = AbstractCellForLocalCell(target);
@@ -622,7 +624,7 @@ namespace OpenRA.Mods.Common.Pathfinder
// Determine an abstract path to all sources, for use in a unidirectional search.
var estimatedSearchSize = (abstractGraph.Count + 2) / 8;
using (var reverseAbstractSearch = PathSearch.ToTargetCellOverGraph(
fullGraph.GetConnections, locomotor, target, target, estimatedSearchSize))
fullGraph.GetConnections, locomotor, target, target, estimatedSearchSize, pathFinderOverlay?.RecordAbstractEdges(self)))
{
var sourcesWithPathableNodes = new List<CPos>(sourcesWithReachableNodes.Count);
foreach (var source in sourcesWithReachableNodes)
@@ -637,7 +639,8 @@ namespace OpenRA.Mods.Common.Pathfinder
using (var fromSrc = GetLocalPathSearch(
self, sourcesWithPathableNodes, target, customCost, ignoreActor, check, laneBias, null, heuristicWeightPercentage,
heuristic: Heuristic(reverseAbstractSearch, estimatedSearchSize)))
heuristic: Heuristic(reverseAbstractSearch, estimatedSearchSize),
recorder: pathFinderOverlay?.RecordLocalEdges(self)))
return fromSrc.FindPath();
}
}
@@ -649,7 +652,7 @@ namespace OpenRA.Mods.Common.Pathfinder
/// </summary>
public List<CPos> FindPath(Actor self, CPos source, CPos target,
BlockedByActor check, int heuristicWeightPercentage, Func<CPos, int> customCost,
Actor ignoreActor, bool laneBias)
Actor ignoreActor, bool laneBias, PathFinderOverlay pathFinderOverlay)
{
if (costEstimator == null)
return PathFinder.NoPath;
@@ -670,15 +673,20 @@ namespace OpenRA.Mods.Common.Pathfinder
source.Layer),
false);
pathFinderOverlay?.NewRecording(self, new[] { source }, target);
List<CPos> localPath;
using (var search = GetLocalPathSearch(
self, new[] { source }, target, customCost, ignoreActor, check, laneBias, gridToSearch, heuristicWeightPercentage))
self, new[] { source }, target, customCost, ignoreActor, check, laneBias, gridToSearch, heuristicWeightPercentage,
recorder: pathFinderOverlay?.RecordLocalEdges(self)))
localPath = search.FindPath();
if (localPath.Count > 0)
return localPath;
}
pathFinderOverlay?.NewRecording(self, new[] { source }, target);
RebuildDirtyGrids();
var targetAbstractCell = AbstractCellForLocalCell(target);
@@ -697,22 +705,24 @@ namespace OpenRA.Mods.Common.Pathfinder
// Determine an abstract path in both directions, for use in a bidirectional search.
var estimatedSearchSize = (abstractGraph.Count + 2) / 8;
using (var forwardAbstractSearch = PathSearch.ToTargetCellOverGraph(
fullGraph.GetConnections, locomotor, source, target, estimatedSearchSize))
fullGraph.GetConnections, locomotor, source, target, estimatedSearchSize, pathFinderOverlay?.RecordAbstractEdges(self)))
{
if (!forwardAbstractSearch.ExpandToTarget())
return PathFinder.NoPath;
using (var reverseAbstractSearch = PathSearch.ToTargetCellOverGraph(
fullGraph.GetConnections, locomotor, target, source, estimatedSearchSize))
fullGraph.GetConnections, locomotor, target, source, estimatedSearchSize, pathFinderOverlay?.RecordAbstractEdges(self)))
{
reverseAbstractSearch.ExpandToTarget();
using (var fromSrc = GetLocalPathSearch(
self, new[] { source }, target, customCost, ignoreActor, check, laneBias, null, heuristicWeightPercentage,
heuristic: Heuristic(reverseAbstractSearch, estimatedSearchSize)))
heuristic: Heuristic(reverseAbstractSearch, estimatedSearchSize),
recorder: pathFinderOverlay?.RecordLocalEdges(self)))
using (var fromDest = GetLocalPathSearch(
self, new[] { target }, source, customCost, ignoreActor, check, laneBias, null, heuristicWeightPercentage,
heuristic: Heuristic(forwardAbstractSearch, estimatedSearchSize),
recorder: pathFinderOverlay?.RecordLocalEdges(self),
inReverse: true))
return PathSearch.FindBidiPath(fromDest, fromSrc);
}
@@ -979,11 +989,12 @@ namespace OpenRA.Mods.Common.Pathfinder
Actor self, IEnumerable<CPos> srcs, CPos dst, Func<CPos, int> customCost,
Actor ignoreActor, BlockedByActor check, bool laneBias, Grid? grid, int heuristicWeightPercentage,
Func<CPos, int> heuristic = null,
bool inReverse = false)
bool inReverse = false,
PathSearch.IRecorder recorder = null)
{
return PathSearch.ToTargetCell(
world, locomotor, self, srcs, dst, check, heuristicWeightPercentage,
customCost, ignoreActor, laneBias, inReverse, heuristic, grid);
customCost, ignoreActor, laneBias, inReverse, heuristic, grid, recorder);
}
}
}

25
OpenRA.Mods.Common/Pathfinder/PathSearch.cs
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@@ -20,6 +20,11 @@ namespace OpenRA.Mods.Common.Pathfinder
{
public sealed class PathSearch : IDisposable
{
public interface IRecorder
{
void Add(CPos source, CPos destination, int costSoFar, int estimatedRemainingCost);
}
// PERF: Maintain a pool of layers used for paths searches for each world. These searches are performed often
// so we wish to avoid the high cost of initializing a new search space every time by reusing the old ones.
static readonly ConditionalWeakTable<World, CellInfoLayerPool> LayerPoolTable = new ConditionalWeakTable<World, CellInfoLayerPool>();
@@ -35,10 +40,11 @@ namespace OpenRA.Mods.Common.Pathfinder
IEnumerable<CPos> froms, Func<CPos, bool> targetPredicate, BlockedByActor check,
Func<CPos, int> customCost = null,
Actor ignoreActor = null,
bool laneBias = true)
bool laneBias = true,
IRecorder recorder = null)
{
var graph = new MapPathGraph(LayerPoolForWorld(world), locomotor, self, world, check, customCost, ignoreActor, laneBias, false);
var search = new PathSearch(graph, loc => 0, 0, targetPredicate);
var search = new PathSearch(graph, loc => 0, 0, targetPredicate, recorder);
foreach (var sl in froms)
if (world.Map.Contains(sl))
@@ -55,7 +61,8 @@ namespace OpenRA.Mods.Common.Pathfinder
bool laneBias = true,
bool inReverse = false,
Func<CPos, int> heuristic = null,
Grid? grid = null)
Grid? grid = null,
IRecorder recorder = null)
{
IPathGraph graph;
if (grid != null)
@@ -64,7 +71,7 @@ namespace OpenRA.Mods.Common.Pathfinder
graph = new MapPathGraph(LayerPoolForWorld(world), locomotor, self, world, check, customCost, ignoreActor, laneBias, inReverse);
heuristic = heuristic ?? DefaultCostEstimator(locomotor, target);
var search = new PathSearch(graph, heuristic, heuristicWeightPercentage, loc => loc == target);
var search = new PathSearch(graph, heuristic, heuristicWeightPercentage, loc => loc == target, recorder);
foreach (var sl in froms)
if (world.Map.Contains(sl))
@@ -75,10 +82,10 @@ namespace OpenRA.Mods.Common.Pathfinder
public static PathSearch ToTargetCellOverGraph(
Func<CPos, List<GraphConnection>> edges, Locomotor locomotor, CPos from, CPos target,
int estimatedSearchSize = 0)
int estimatedSearchSize = 0, IRecorder recorder = null)
{
var graph = new SparsePathGraph(edges, estimatedSearchSize);
var search = new PathSearch(graph, DefaultCostEstimator(locomotor, target), 100, loc => loc == target);
var search = new PathSearch(graph, DefaultCostEstimator(locomotor, target), 100, loc => loc == target, recorder);
search.AddInitialCell(from);
@@ -128,6 +135,7 @@ namespace OpenRA.Mods.Common.Pathfinder
public Func<CPos, bool> TargetPredicate { get; set; }
readonly Func<CPos, int> heuristic;
readonly int heuristicWeightPercentage;
readonly IRecorder recorder;
readonly IPriorityQueue<GraphConnection> openQueue;
/// <summary>
@@ -144,12 +152,13 @@ namespace OpenRA.Mods.Common.Pathfinder
/// The search can skip some areas of the search space, meaning it has less work to do.
/// </param>
/// <param name="targetPredicate">Determines if the given cell is the target.</param>
PathSearch(IPathGraph graph, Func<CPos, int> heuristic, int heuristicWeightPercentage, Func<CPos, bool> targetPredicate)
PathSearch(IPathGraph graph, Func<CPos, int> heuristic, int heuristicWeightPercentage, Func<CPos, bool> targetPredicate, IRecorder recorder)
{
Graph = graph;
this.heuristic = heuristic;
this.heuristicWeightPercentage = heuristicWeightPercentage;
TargetPredicate = targetPredicate;
this.recorder = recorder;
openQueue = new PriorityQueue<GraphConnection>(GraphConnection.ConnectionCostComparer);
}
@@ -219,6 +228,8 @@ namespace OpenRA.Mods.Common.Pathfinder
else
estimatedRemainingCostToTarget = heuristic(neighbor) * heuristicWeightPercentage / 100;
recorder?.Add(currentMinNode, neighbor, costSoFarToNeighbor, estimatedRemainingCostToTarget);
var estimatedTotalCostToTarget = costSoFarToNeighbor + estimatedRemainingCostToTarget;
Graph[neighbor] = new CellInfo(CellStatus.Open, costSoFarToNeighbor, estimatedTotalCostToTarget, currentMinNode);
openQueue.Add(new GraphConnection(neighbor, estimatedTotalCostToTarget));

11
OpenRA.Mods.Common/Traits/World/PathFinder.cs
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@@ -39,6 +39,7 @@ namespace OpenRA.Mods.Common.Traits
const int DefaultHeuristicWeightPercentage = 125;
readonly World world;
PathFinderOverlay pathFinderOverlay;
Dictionary<Locomotor, HierarchicalPathFinder> hierarchicalPathFindersByLocomotor;
public PathFinder(Actor self)
@@ -55,6 +56,8 @@ namespace OpenRA.Mods.Common.Traits
public void WorldLoaded(World w, WorldRenderer wr)
{
pathFinderOverlay = world.WorldActor.TraitOrDefault<PathFinderOverlay>();
// Requires<LocomotorInfo> ensures all Locomotors have been initialized.
hierarchicalPathFindersByLocomotor = w.WorldActor.TraitsImplementing<Locomotor>().ToDictionary(
locomotor => locomotor,
@@ -106,12 +109,12 @@ namespace OpenRA.Mods.Common.Traits
// Use a hierarchical path search, which performs a guided bidirectional search.
return hierarchicalPathFindersByLocomotor[locomotor].FindPath(
self, source, target, check, DefaultHeuristicWeightPercentage, customCost, ignoreActor, laneBias);
self, source, target, check, DefaultHeuristicWeightPercentage, customCost, ignoreActor, laneBias, pathFinderOverlay);
}
// Use a hierarchical path search, which performs a guided unidirectional search.
return hierarchicalPathFindersByLocomotor[locomotor].FindPath(
self, sourcesList, target, check, DefaultHeuristicWeightPercentage, customCost, ignoreActor, laneBias);
self, sourcesList, target, check, DefaultHeuristicWeightPercentage, customCost, ignoreActor, laneBias, pathFinderOverlay);
}
/// <summary>
@@ -129,9 +132,11 @@ namespace OpenRA.Mods.Common.Traits
Actor ignoreActor = null,
bool laneBias = true)
{
pathFinderOverlay?.NewRecording(self, sources, null);
// With no pre-specified target location, we can only use a unidirectional search.
using (var search = PathSearch.ToTargetCellByPredicate(
world, GetActorLocomotor(self), self, sources, targetPredicate, check, customCost, ignoreActor, laneBias))
world, GetActorLocomotor(self), self, sources, targetPredicate, check, customCost, ignoreActor, laneBias, pathFinderOverlay?.RecordLocalEdges(self)))
return search.FindPath();
}

232
OpenRA.Mods.Common/Traits/World/PathFinderOverlay.cs Normal file
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@@ -0,0 +1,232 @@
#region Copyright & License Information
/*
* Copyright 2007-2022 The OpenRA Developers (see AUTHORS)
* This file is part of OpenRA, which is free software. It is made
* available to you under the terms of the GNU General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version. For more
* information, see COPYING.
*/
#endregion
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using OpenRA.Graphics;
using OpenRA.Mods.Common.Commands;
using OpenRA.Mods.Common.Graphics;
using OpenRA.Mods.Common.Pathfinder;
using OpenRA.Primitives;
using OpenRA.Traits;
namespace OpenRA.Mods.Common.Traits
{
[TraitLocation(SystemActors.World)]
[Desc("Renders a visualization overlay showing how the pathfinder searches for paths. Attach this to the world actor.")]
public class PathFinderOverlayInfo : TraitInfo, Requires<PathFinderInfo>
{
public readonly string Font = "TinyBold";
public readonly Color TargetLineColor = Color.Red;
public readonly Color AbstractColor1 = Color.Lime;
public readonly Color AbstractColor2 = Color.PaleGreen;
public readonly Color LocalColor1 = Color.Yellow;
public readonly Color LocalColor2 = Color.LightYellow;
public readonly bool ShowCosts = true;
public override object Create(ActorInitializer init) { return new PathFinderOverlay(this); }
}
public class PathFinderOverlay : IRenderAnnotations, IWorldLoaded, IChatCommand
{
const string CommandName = "path-debug";
const string CommandDesc = "toggles a visualization of path searching.";
sealed class Record : PathSearch.IRecorder, IEnumerable<(CPos Source, CPos Destination, int CostSoFar, int EstimatedRemainingCost)>
{
readonly Dictionary<CPos, (CPos Source, int CostSoFar, int EstimatedRemainingCost)> edges
= new Dictionary<CPos, (CPos Source, int CostSoFar, int EstimatedRemainingCost)>();
public void Add(CPos source, CPos destination, int costSoFar, int estimatedRemainingCost)
{
edges[destination] = (source, costSoFar, estimatedRemainingCost);
}
public IEnumerator<(CPos Source, CPos Destination, int CostSoFar, int EstimatedRemainingCost)> GetEnumerator()
{
return edges
.Select(kvp => (kvp.Value.Source, kvp.Key, kvp.Value.CostSoFar, kvp.Value.EstimatedRemainingCost))
.GetEnumerator();
}
IEnumerator IEnumerable.GetEnumerator() => GetEnumerator();
}
readonly PathFinderOverlayInfo info;
readonly SpriteFont font;
public bool Enabled { get; private set; }
Actor forActor;
CPos[] sourceCells;
CPos? targetCell;
Record abstractEdges1;
Record abstractEdges2;
Record localEdges1;
Record localEdges2;
public PathFinderOverlay(PathFinderOverlayInfo info)
{
this.info = info;
font = Game.Renderer.Fonts[info.Font];
}
void IWorldLoaded.WorldLoaded(World w, WorldRenderer wr)
{
var console = w.WorldActor.TraitOrDefault<ChatCommands>();
var help = w.WorldActor.TraitOrDefault<HelpCommand>();
if (console == null || help == null)
return;
console.RegisterCommand(CommandName, this);
help.RegisterHelp(CommandName, CommandDesc);
}
void IChatCommand.InvokeCommand(string name, string arg)
{
if (name == CommandName)
Enabled ^= true;
}
public void NewRecording(Actor actor, IEnumerable<CPos> sources, CPos? target)
{
if (!Enabled)
{
forActor = null;
return;
}
if (!actor.World.Selection.Contains(actor))
return;
abstractEdges1 = null;
abstractEdges2 = null;
localEdges1 = null;
localEdges2 = null;
sourceCells = sources.ToArray();
targetCell = target;
forActor = actor;
}
public PathSearch.IRecorder RecordAbstractEdges(Actor actor)
{
if (forActor != actor)
return null;
if (abstractEdges1 == null)
return abstractEdges1 = new Record();
if (abstractEdges2 == null)
return abstractEdges2 = new Record();
throw new InvalidOperationException("Maximum two records permitted.");
}
public PathSearch.IRecorder RecordLocalEdges(Actor actor)
{
if (forActor != actor)
return null;
if (localEdges1 == null)
return localEdges1 = new Record();
if (localEdges2 == null)
return localEdges2 = new Record();
throw new InvalidOperationException("Maximum two records permitted.");
}
IEnumerable<IRenderable> IRenderAnnotations.RenderAnnotations(Actor self, WorldRenderer wr)
{
if (!Enabled || forActor == null)
yield break;
foreach (var sourceCell in sourceCells)
yield return new TargetLineRenderable(new[]
{
self.World.Map.CenterOfSubCell(sourceCell, SubCell.FullCell),
self.World.Map.CenterOfSubCell(targetCell ?? sourceCell, SubCell.FullCell),
}, info.TargetLineColor, 8, 8);
foreach (var line in RenderEdges(self, abstractEdges1, 8, 6, info.AbstractColor1))
yield return line;
foreach (var line in RenderEdges(self, abstractEdges2, 6, 4, info.AbstractColor2))
yield return line;
foreach (var line in RenderEdges(self, localEdges1, 5, 3, info.LocalColor1))
yield return line;
foreach (var line in RenderEdges(self, localEdges2, 4, 2, info.LocalColor2))
yield return line;
if (!info.ShowCosts)
yield break;
const int HorizontalOffset = 320;
const int VerticalOffset = 512;
foreach (var line in RenderCosts(self, abstractEdges1, new WVec(-HorizontalOffset, -VerticalOffset, 0), font, info.AbstractColor1))
yield return line;
foreach (var line in RenderCosts(self, abstractEdges2, new WVec(-HorizontalOffset, VerticalOffset, 0), font, info.AbstractColor2))
yield return line;
foreach (var line in RenderCosts(self, localEdges1, new WVec(HorizontalOffset, -VerticalOffset, 0), font, info.LocalColor1))
yield return line;
foreach (var line in RenderCosts(self, localEdges2, new WVec(HorizontalOffset, VerticalOffset, 0), font, info.LocalColor2))
yield return line;
}
static IEnumerable<IRenderable> RenderEdges(Actor self, Record edges, int nodeSize, int edgeSize, Color color)
{
if (edges == null)
yield break;
var customColor = CustomLayerColor(color);
foreach (var (source, destination, _, _) in edges)
yield return new TargetLineRenderable(new[]
{
self.World.Map.CenterOfSubCell(source, SubCell.FullCell) + CustomLayerOffset(source),
self.World.Map.CenterOfSubCell(destination, SubCell.FullCell) + CustomLayerOffset(destination),
}, destination.Layer == 0 ? color : customColor, edgeSize, nodeSize);
}
static IEnumerable<IRenderable> RenderCosts(Actor self, Record edges, WVec textOffset, SpriteFont font, Color color)
{
if (edges == null)
yield break;
var customColor = CustomLayerColor(color);
foreach (var (_, destination, costSoFar, estimatedRemainingCost) in edges)
{
var centerPos = self.World.Map.CenterOfSubCell(destination, SubCell.FullCell) +
CustomLayerOffset(destination) + textOffset;
yield return new TextAnnotationRenderable(font, centerPos, 0,
destination.Layer == 0 ? color : customColor,
$"{costSoFar}|{estimatedRemainingCost}|{costSoFar + estimatedRemainingCost}");
}
}
static Color CustomLayerColor(Color original)
{
(var a, var h, var s, var v) = original.ToAhsv();
return Color.FromAhsv(a, h, s, v * .7f);
}
static WVec CustomLayerOffset(CPos cell)
{
return cell.Layer == 0
? WVec.Zero
: new WVec(0, -352, 0);
}
bool IRenderAnnotations.SpatiallyPartitionable => false;
}
}

1
mods/cnc/rules/world.yaml
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@@ -153,6 +153,7 @@ World:
ChatCommands:
DevCommands:
DebugVisualizationCommands:
PathFinderOverlay:
HierarchicalPathFinderOverlay:
PlayerCommands:
HelpCommand:

1
mods/d2k/rules/world.yaml
View File

@@ -120,6 +120,7 @@ World:
ChatCommands:
DevCommands:
DebugVisualizationCommands:
PathFinderOverlay:
HierarchicalPathFinderOverlay:
PlayerCommands:
HelpCommand:

1
mods/ra/rules/world.yaml
View File

@@ -165,6 +165,7 @@ World:
ChatCommands:
DevCommands:
DebugVisualizationCommands:
PathFinderOverlay:
HierarchicalPathFinderOverlay:
PlayerCommands:
HelpCommand:

1
mods/ts/rules/world.yaml
View File

@@ -235,6 +235,7 @@ World:
ChatCommands:
DevCommands:
DebugVisualizationCommands:
PathFinderOverlay:
HierarchicalPathFinderOverlay:
PlayerCommands:
HelpCommand: