Merge pull request #7618 from Rydra/upstream/hv-heuristic

Changed the harvester heuristic, solved several regressions in Pathfinder and harvesters

AUTHORS

@@ -38,6 +38,7 @@ Also thanks to:
     * D2k Sardaukar
     * Daniel Derejvanik (Harisson)
     * Danny Keary (Dan9550)
+    * David Jiménez (Rydra)
     * David Russell (DavidARussell)
     * DeadlySurprise
     * Erasmus Schroder (rasco)

OpenRA.Mods.Common/Activities/FindResources.cs

@@ -8,6 +8,7 @@
  */
 #endregion
 
+using System;
 using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
@@ -58,28 +59,28 @@ namespace OpenRA.Mods.Common.Activities
 					{
 						// Avoid this cell:
 						if (avoidCell.HasValue && loc == avoidCell.Value)
-							return Constants.CellCost;
+							return EstimateDistance(loc, searchFromLoc) + Constants.CellCost;
 
 						// Don't harvest out of range:
 						var distSquared = (loc - searchFromLoc).LengthSquared;
 						if (distSquared > searchRadiusSquared)
-							return Constants.CellCost * 2;
+							return EstimateDistance(loc, searchFromLoc) + Constants.CellCost * 2;
 
 						// Get the resource at this location:
 						var resType = resLayer.GetResource(loc);
 						if (resType == null)
-							return Constants.CellCost;
+							return EstimateDistance(loc, searchFromLoc) + Constants.CellCost;
 
 						// Can the harvester collect this kind of resource?
 						if (!harvInfo.Resources.Contains(resType.Info.Name))
-							return Constants.CellCost;
+							return EstimateDistance(loc, searchFromLoc) + Constants.CellCost;
 
 						if (territory != null)
 						{
 							// Another harvester has claimed this resource:
 							ResourceClaim claim;
 							if (territory.IsClaimedByAnyoneElse(self, loc, out claim))
-								return Constants.CellCost;
+								return EstimateDistance(loc, searchFromLoc) + Constants.CellCost;
 						}
 
 						return 0;
@@ -123,6 +124,15 @@ namespace OpenRA.Mods.Common.Activities
 			return Util.SequenceActivities(mobile.MoveTo(path[0], 1), new HarvestResource(), new FindResources());
 		}
 
+		// Diagonal distance heuristic
+		static int EstimateDistance(CPos here, CPos destination)
+		{
+			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);
+
+			return Constants.CellCost * straight + (Constants.DiagonalCellCost - 2 * Constants.CellCost) * diag;
+		}
+
 		public override IEnumerable<Target> GetTargets(Actor self)
 		{
 			yield return Target.FromCell(self.World, self.Location);

OpenRA.Mods.Common/Pathfinder/PathCacheStorage.cs

@@ -60,7 +60,6 @@ namespace OpenRA.Mods.Common.Pathfinder
 					return null;
 				}
 
-				cached.Tick = world.WorldTick;
 				return cached.Result;
 			}
 

OpenRA.Mods.Common/Pathfinder/PathSearch.cs

@@ -88,6 +88,13 @@ 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;
+			}
+
 			foreach (var connection in Graph.GetConnections(currentMinNode))
 			{
 				// Calculate the cost up to that point