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Bring PathSearch in line with the current code style.

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This commit is contained in:
Paul Chote
2014-05-17 13:45:11 +12:00
parent 2026747f2a
commit 97a61273dd
3 changed files with 148 additions and 132 deletions
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2
OpenRA.Mods.RA/Activities/MoveAdjacentTo.cs
View File

@@ -119,7 +119,7 @@ namespace OpenRA.Mods.RA.Activities
var path = pathFinder.FindBidiPath(
PathSearch.FromPoints(self.World, mobile.Info, self, searchCells, loc, true),
PathSearch.FromPoint(self.World, mobile.Info, self, loc, targetPosition, true).InReverse()
PathSearch.FromPoint(self.World, mobile.Info, self, loc, targetPosition, true).Reverse()
);
inner = mobile.MoveTo(() => path);

30
OpenRA.Mods.RA/Move/PathFinder.cs Executable file → Normal file
View File

@@ -68,7 +68,7 @@ namespace OpenRA.Mods.RA.Move
var pb = FindBidiPath(
PathSearch.FromPoint(world, mi, self, target, from, true),
PathSearch.FromPoint(world, mi, self, from, target, true).InReverse()
PathSearch.FromPoint(world, mi, self, from, target, true).Reverse()
);
CheckSanePath2(pb, from, target);
@@ -109,7 +109,7 @@ namespace OpenRA.Mods.RA.Move
var path = FindBidiPath(
PathSearch.FromPoints(world, mi, self, tilesInRange, src, true),
PathSearch.FromPoint(world, mi, self, src, targetCell, true).InReverse()
PathSearch.FromPoint(world, mi, self, src, targetCell, true).Reverse()
);
return path;
@@ -124,12 +124,12 @@ namespace OpenRA.Mods.RA.Move
{
List<CPos> path = null;
while (!search.queue.Empty)
while (!search.Queue.Empty)
{
var p = search.Expand(world);
if (search.heuristic(p) == 0)
if (search.Heuristic(p) == 0)
{
path = MakePath(search.cellInfo, p);
path = MakePath(search.CellInfo, p);
break;
}
}
@@ -137,7 +137,7 @@ namespace OpenRA.Mods.RA.Move
var dbg = world.WorldActor.TraitOrDefault<PathfinderDebugOverlay>();
if (dbg != null)
{
dbg.AddLayer(search.considered.Select(p => new Pair<CPos, int>(p, search.cellInfo[p.X, p.Y].MinCost)), search.maxCost, search.owner);
dbg.AddLayer(search.Considered.Select(p => new Pair<CPos, int>(p, search.CellInfo[p.X, p.Y].MinCost)), search.MaxCost, search.Owner);
}
if (path != null)
@@ -176,13 +176,13 @@ namespace OpenRA.Mods.RA.Move
{
List<CPos> path = null;
while (!fromSrc.queue.Empty && !fromDest.queue.Empty)
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)
if (fromDest.CellInfo[p.X, p.Y].Seen &&
fromDest.CellInfo[p.X, p.Y].MinCost < float.PositiveInfinity)
{
path = MakeBidiPath(fromSrc, fromDest, p);
break;
@@ -191,8 +191,8 @@ namespace OpenRA.Mods.RA.Move
/* 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)
if (fromSrc.CellInfo[q.X, q.Y].Seen &&
fromSrc.CellInfo[q.X, q.Y].MinCost < float.PositiveInfinity)
{
path = MakeBidiPath(fromSrc, fromDest, q);
break;
@@ -202,8 +202,8 @@ namespace OpenRA.Mods.RA.Move
var dbg = world.WorldActor.TraitOrDefault<PathfinderDebugOverlay>();
if (dbg != null)
{
dbg.AddLayer(fromSrc.considered.Select(p => new Pair<CPos, int>(p, fromSrc.cellInfo[p.X, p.Y].MinCost)), fromSrc.maxCost, fromSrc.owner);
dbg.AddLayer(fromDest.considered.Select(p => new Pair<CPos, int>(p, fromDest.cellInfo[p.X, p.Y].MinCost)), fromDest.maxCost, fromDest.owner);
dbg.AddLayer(fromSrc.Considered.Select(p => new Pair<CPos, int>(p, fromSrc.CellInfo[p.X, p.Y].MinCost)), fromSrc.MaxCost, fromSrc.Owner);
dbg.AddLayer(fromDest.Considered.Select(p => new Pair<CPos, int>(p, fromDest.CellInfo[p.X, p.Y].MinCost)), fromDest.MaxCost, fromDest.Owner);
}
if (path != null)
@@ -216,8 +216,8 @@ namespace OpenRA.Mods.RA.Move
static List<CPos> MakeBidiPath(PathSearch a, PathSearch b, CPos p)
{
var ca = a.cellInfo;
var cb = b.cellInfo;
var ca = a.CellInfo;
var cb = b.CellInfo;
var ret = new List<CPos>();

244
OpenRA.Mods.RA/Move/PathSearch.cs
View File

@@ -1,6 +1,6 @@
#region Copyright & License Information
/*
* Copyright 2007-2011 The OpenRA Developers (see AUTHORS)
* Copyright 2007-2014 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. For more information,
@@ -17,38 +17,88 @@ namespace OpenRA.Mods.RA.Move
{
public sealed class PathSearch : IDisposable
{
World world;
public CellInfo[,] cellInfo;
public PriorityQueue<PathDistance> queue;
public Func<CPos, int> heuristic;
public CellInfo[,] CellInfo;
public PriorityQueue<PathDistance> Queue;
public Func<CPos, int> Heuristic;
public bool CheckForBlocked;
public Actor IgnoreBuilding;
public bool InReverse;
public HashSet<CPos> Considered;
public Player Owner { get { return self.Owner; } }
public int MaxCost;
Actor self;
MobileInfo mobileInfo;
Func<CPos, int> customCost;
Func<CPos, bool> customBlock;
public bool checkForBlocked;
public Actor ignoreBuilding;
public bool inReverse;
public HashSet<CPos> considered;
public int maxCost;
Pair<CVec, int>[] nextDirections;
MobileInfo mobileInfo;
Actor self;
public Player owner { get { return self.Owner; } }
int laneBias = 1;
public PathSearch(World world, MobileInfo mobileInfo, Actor self)
{
this.world = world;
cellInfo = InitCellInfo();
this.self = self;
CellInfo = InitCellInfo();
this.mobileInfo = mobileInfo;
this.self = self;
customCost = null;
queue = new PriorityQueue<PathDistance>();
considered = new HashSet<CPos>();
maxCost = 0;
Queue = new PriorityQueue<PathDistance>();
Considered = new HashSet<CPos>();
MaxCost = 0;
nextDirections = CVec.directions.Select(d => new Pair<CVec, int>(d, 0)).ToArray();
}
public PathSearch InReverse()
public static PathSearch Search(World world, MobileInfo mi, Actor self, bool checkForBlocked)
{
inReverse = true;
var search = new PathSearch(world, mi, self)
{
CheckForBlocked = checkForBlocked
};
return search;
}
public static PathSearch FromPoint(World world, MobileInfo mi, Actor self, CPos from, CPos target, bool checkForBlocked)
{
var search = new PathSearch(world, mi, self)
{
Heuristic = DefaultEstimator(target),
CheckForBlocked = checkForBlocked
};
search.AddInitialCell(from);
return search;
}
public static PathSearch FromPoints(World world, MobileInfo mi, Actor self, IEnumerable<CPos> froms, CPos target, bool checkForBlocked)
{
var search = new PathSearch(world, mi, self)
{
Heuristic = DefaultEstimator(target),
CheckForBlocked = checkForBlocked
};
foreach (var sl in froms)
search.AddInitialCell(sl);
return search;
}
public static Func<CPos, int> DefaultEstimator(CPos destination)
{
return here =>
{
var diag = Math.Min(Math.Abs(here.X - destination.X), Math.Abs(here.Y - destination.Y));
var straight = Math.Abs(here.X - destination.X) + Math.Abs(here.Y - destination.Y);
// HACK: this relies on fp and cell-size assumptions.
var h = (3400 * diag / 24) + 100 * (straight - (2 * diag));
return (int)(h * 1.001);
};
}
public PathSearch Reverse()
{
InReverse = true;
return this;
}
@@ -60,13 +110,13 @@ namespace OpenRA.Mods.RA.Move
public PathSearch WithIgnoredBuilding(Actor b)
{
ignoreBuilding = b;
IgnoreBuilding = b;
return this;
}
public PathSearch WithHeuristic(Func<CPos, int> h)
{
heuristic = h;
Heuristic = h;
return this;
}
@@ -78,7 +128,7 @@ namespace OpenRA.Mods.RA.Move
public PathSearch WithoutLaneBias()
{
LaneBias = 0;
laneBias = 0;
return this;
}
@@ -88,18 +138,18 @@ namespace OpenRA.Mods.RA.Move
return this;
}
int LaneBias = 1;
public CPos Expand(World world)
{
var p = queue.Pop();
while (cellInfo[p.Location.X, p.Location.Y].Seen)
if (queue.Empty)
var p = Queue.Pop();
while (CellInfo[p.Location.X, p.Location.Y].Seen)
{
if (Queue.Empty)
return p.Location;
else
p = queue.Pop();
cellInfo[p.Location.X, p.Location.Y].Seen = true;
p = Queue.Pop();
}
CellInfo[p.Location.X, p.Location.Y].Seen = true;
var thisCost = mobileInfo.MovementCostForCell(world, p.Location);
@@ -114,7 +164,7 @@ namespace OpenRA.Mods.RA.Move
}
// This current cell is ok; check all immediate directions:
considered.Add(p.Location);
Considered.Add(p.Location);
for (var i = 0; i < nextDirections.Length; ++i)
{
@@ -126,7 +176,8 @@ namespace OpenRA.Mods.RA.Move
// Is this direction flat-out unusable or already seen?
if (!world.Map.IsInMap(newHere))
continue;
if (cellInfo[newHere.X, newHere.Y].Seen)
if (CellInfo[newHere.X, newHere.Y].Seen)
continue;
// Now we may seriously consider this direction using heuristics:
@@ -135,18 +186,19 @@ namespace OpenRA.Mods.RA.Move
if (costHere == int.MaxValue)
continue;
if (!mobileInfo.CanEnterCell(world, self, newHere, ignoreBuilding, checkForBlocked, false))
if (!mobileInfo.CanEnterCell(world, self, newHere, IgnoreBuilding, CheckForBlocked, false))
continue;
if (customBlock != null && customBlock(newHere))
continue;
var est = heuristic(newHere);
var est = Heuristic(newHere);
if (est == int.MaxValue)
continue;
var cellCost = costHere;
if (d.X * d.Y != 0) cellCost = (cellCost * 34) / 24;
if (d.X * d.Y != 0)
cellCost = (cellCost * 34) / 24;
var userCost = 0;
if (customCost != null)
@@ -156,105 +208,80 @@ namespace OpenRA.Mods.RA.Move
}
// directional bonuses for smoother flow!
if (LaneBias != 0)
if (laneBias != 0)
{
var ux = (newHere.X + (inReverse ? 1 : 0) & 1);
var uy = (newHere.Y + (inReverse ? 1 : 0) & 1);
var ux = newHere.X + (InReverse ? 1 : 0) & 1;
var uy = newHere.Y + (InReverse ? 1 : 0) & 1;
if (ux == 0 && d.Y < 0) cellCost += LaneBias;
else if (ux == 1 && d.Y > 0) cellCost += LaneBias;
if (uy == 0 && d.X < 0) cellCost += LaneBias;
else if (uy == 1 && d.X > 0) cellCost += LaneBias;
if (ux == 0 && d.Y < 0)
cellCost += laneBias;
else if (ux == 1 && d.Y > 0)
cellCost += laneBias;
if (uy == 0 && d.X < 0)
cellCost += laneBias;
else if (uy == 1 && d.X > 0)
cellCost += laneBias;
}
var newCost = cellInfo[p.Location.X, p.Location.Y].MinCost + cellCost;
var newCost = CellInfo[p.Location.X, p.Location.Y].MinCost + cellCost;
// Cost is even higher; next direction:
if (newCost > cellInfo[newHere.X, newHere.Y].MinCost)
if (newCost > CellInfo[newHere.X, newHere.Y].MinCost)
continue;
cellInfo[newHere.X, newHere.Y].Path = p.Location;
cellInfo[newHere.X, newHere.Y].MinCost = newCost;
CellInfo[newHere.X, newHere.Y].Path = p.Location;
CellInfo[newHere.X, newHere.Y].MinCost = newCost;
nextDirections[i].Second = newCost + est;
queue.Add(new PathDistance(newCost + est, newHere));
Queue.Add(new PathDistance(newCost + est, newHere));
if (newCost > maxCost) maxCost = newCost;
considered.Add(newHere);
if (newCost > MaxCost)
MaxCost = newCost;
Considered.Add(newHere);
}
// Sort to prefer the cheaper direction:
// Array.Sort(nextDirections, (a, b) => a.Second.CompareTo(b.Second));
return p.Location;
}
public void AddInitialCell(CPos location)
{
if (!world.Map.IsInMap(location))
if (!self.World.Map.IsInMap(location))
return;
cellInfo[location.X, location.Y] = new CellInfo(0, location, false);
queue.Add(new PathDistance(heuristic(location), location));
CellInfo[location.X, location.Y] = new CellInfo(0, location, false);
Queue.Add(new PathDistance(Heuristic(location), location));
}
public static PathSearch Search(World world, MobileInfo mi, Actor self, bool checkForBlocked)
{
var search = new PathSearch(world, mi, self)
{
checkForBlocked = checkForBlocked
};
return search;
}
public static PathSearch FromPoint(World world, MobileInfo mi, Actor self, CPos from, CPos target, bool checkForBlocked)
{
var search = new PathSearch(world, mi, self)
{
heuristic = DefaultEstimator(target),
checkForBlocked = checkForBlocked
};
search.AddInitialCell(from);
return search;
}
public static PathSearch FromPoints(World world, MobileInfo mi, Actor self, IEnumerable<CPos> froms, CPos target, bool checkForBlocked)
{
var search = new PathSearch(world, mi, self)
{
heuristic = DefaultEstimator(target),
checkForBlocked = checkForBlocked
};
foreach (var sl in froms)
search.AddInitialCell(sl);
return search;
}
static readonly Queue<CellInfo[,]> cellInfoPool = new Queue<CellInfo[,]>();
static readonly Queue<CellInfo[,]> CellInfoPool = new Queue<CellInfo[,]>();
static CellInfo[,] GetFromPool()
{
lock (cellInfoPool)
return cellInfoPool.Dequeue();
lock (CellInfoPool)
return CellInfoPool.Dequeue();
}
static void PutBackIntoPool(CellInfo[,] ci)
{
lock (cellInfoPool)
cellInfoPool.Enqueue(ci);
lock (CellInfoPool)
CellInfoPool.Enqueue(ci);
}
CellInfo[,] InitCellInfo()
{
CellInfo[,] result = null;
while (cellInfoPool.Count > 0)
// HACK: Uses a static cache so that double-ended searches (which have two PathSearch instances)
// can implicitly share data. The PathFinder should allocate the CellInfo array and pass it
// explicitly to the things that need to share it.
while (CellInfoPool.Count > 0)
{
var cellInfo = GetFromPool();
if (cellInfo.GetUpperBound(0) != world.Map.MapSize.X - 1 ||
cellInfo.GetUpperBound(1) != world.Map.MapSize.Y - 1)
if (cellInfo.GetUpperBound(0) != self.World.Map.MapSize.X - 1 ||
cellInfo.GetUpperBound(1) != self.World.Map.MapSize.Y - 1)
{
Log.Write("debug", "Discarding old pooled CellInfo of wrong size.");
continue;
@@ -265,36 +292,25 @@ namespace OpenRA.Mods.RA.Move
}
if (result == null)
result = new CellInfo[world.Map.MapSize.X, world.Map.MapSize.Y];
result = new CellInfo[self.World.Map.MapSize.X, self.World.Map.MapSize.Y];
for (var x = 0; x < world.Map.MapSize.X; x++)
for (var y = 0; y < world.Map.MapSize.Y; y++)
for (var x = 0; x < self.World.Map.MapSize.X; x++)
for (var y = 0; y < self.World.Map.MapSize.Y; y++)
result[x, y] = new CellInfo(int.MaxValue, new CPos(x, y), false);
return result;
}
public static Func<CPos, int> DefaultEstimator(CPos destination)
{
return here =>
{
var diag = Math.Min(Math.Abs(here.X - destination.X), Math.Abs(here.Y - destination.Y));
var straight = (Math.Abs(here.X - destination.X) + Math.Abs(here.Y - destination.Y));
var h = (3400 * diag / 24) + 100 * (straight - (2 * diag));
h = (int)(h * 1.001);
return h;
};
}
bool disposed;
public void Dispose()
{
if (disposed)
return;
disposed = true;
PutBackIntoPool(cellInfo);
cellInfo = null;
PutBackIntoPool(CellInfo);
CellInfo = null;
GC.SuppressFinalize(this);
}