133 lines
3.3 KiB
C#
Executable File
133 lines
3.3 KiB
C#
Executable File
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using OpenRa.Game.Graphics;
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using IjwFramework.Collections;
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namespace OpenRa.Game
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{
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class PathSearch
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{
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public CellInfo[ , ] cellInfo;
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public PriorityQueue<PathDistance> queue;
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public Func<int2, float> heuristic;
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public UnitMovementType umt;
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Func<int2, bool> customBlock;
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public bool checkForBlocked;
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public PathSearch()
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{
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cellInfo = InitCellInfo();
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queue = new PriorityQueue<PathDistance>();
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}
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public PathSearch WithCustomBlocker(Func<int2, bool> customBlock)
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{
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this.customBlock = customBlock;
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return this;
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}
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public int2 Expand( float[][ , ] passableCost )
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{
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var p = queue.Pop();
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cellInfo[ p.Location.X, p.Location.Y ].Seen = true;
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foreach( int2 d in Util.directions )
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{
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int2 newHere = p.Location + d;
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if( cellInfo[ newHere.X, newHere.Y ].Seen )
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continue;
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if( passableCost[ (int)umt ][ newHere.X, newHere.Y ] == float.PositiveInfinity )
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continue;
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if( !Game.BuildingInfluence.CanMoveHere( newHere ) )
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continue;
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if( checkForBlocked && Game.UnitInfluence.GetUnitAt( newHere ) != null )
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continue;
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if (customBlock != null && customBlock(newHere))
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continue;
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if (Game.map.IsOverlaySolid(newHere))
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continue;
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var est = heuristic( newHere );
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if( est == float.PositiveInfinity )
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continue;
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float cellCost = ( ( d.X * d.Y != 0 ) ? 1.414213563f : 1.0f ) * passableCost[ (int)umt ][ newHere.X, newHere.Y ];
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float newCost = cellInfo[ p.Location.X, p.Location.Y ].MinCost + cellCost;
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if( newCost >= cellInfo[ newHere.X, newHere.Y ].MinCost )
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continue;
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cellInfo[ newHere.X, newHere.Y ].Path = p.Location;
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cellInfo[ newHere.X, newHere.Y ].MinCost = newCost;
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queue.Add( new PathDistance( newCost + est, newHere ) );
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}
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return p.Location;
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}
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public void AddInitialCell( int2 location )
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{
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cellInfo[ location.X, location.Y ] = new CellInfo( 0, location, false );
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queue.Add( new PathDistance( heuristic( location ), location ) );
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}
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public static PathSearch FromPoint( int2 from, int2 target, UnitMovementType umt, bool checkForBlocked )
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{
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var search = new PathSearch {
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heuristic = DefaultEstimator( target ),
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umt = umt,
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checkForBlocked = checkForBlocked };
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search.AddInitialCell( from );
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return search;
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}
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public static PathSearch FromPoints( IEnumerable<int2> froms, int2 target, UnitMovementType umt, bool checkForBlocked )
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{
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var search = new PathSearch {
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heuristic = DefaultEstimator( target ),
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umt = umt,
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checkForBlocked = checkForBlocked };
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foreach( var sl in froms )
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search.AddInitialCell( sl );
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return search;
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}
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static CellInfo[ , ] InitCellInfo()
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{
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var cellInfo = new CellInfo[ 128, 128 ];
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for( int x = 0 ; x < 128 ; x++ )
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for( int y = 0 ; y < 128 ; y++ )
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cellInfo[ x, y ] = new CellInfo( float.PositiveInfinity, new int2( x, y ), false );
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return cellInfo;
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}
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static Func<int2, float> DefaultEstimator( int2 destination )
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{
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return here =>
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{
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int2 d = ( here - destination ).Abs();
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int diag = Math.Min( d.X, d.Y );
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int straight = Math.Abs( d.X - d.Y );
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return 1.5f * diag + straight;
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};
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}
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}
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}
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