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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);
}
}
}