54ae572303
Introduced also a small Unit test project to prove it. - Separated caching capabilities from PathFinder class to increase cohesion and maintainability. Refactored the pathfinding algorithm by extracting methods based on responsibilities like calculating costs and reordering functions. These changes should provide a in average a small increase in pathfinding performance and maintainability. - Optimized the pathfinder algorithm to reuse calculations like the MovementCost and heuristics. - Introduced base classes, IPathSearch and IPriorityQueue interfaces, and restructured code to ease readability and testability - Renamed the PathFinder related classes to more appropriate names. Made the traits rely on the interface IPathfinder instead of concrete PathFinder implementation. - Massive performance improvements - Solved error with harvesters' Heuristic - Updated the heuristic to ease redability and adjustability. D can be adjusted to offer best paths by decreasing and more performance by increasing it - Refactored the CellLayer<CellInfo> creation in its own Singleton class - Extracted the graph abstraction onto an IGraph interface, making the Pathfinder agnostic to the definition of world and terrain. This abstraction can help in the future to be able to cache graphs for similar classes and their costs, speeding up the pathfinder and being able to feed the A* algorithm with different types of graphs like Hierarchical graphs
443 lines
12 KiB
C#
443 lines
12 KiB
C#
#region Copyright & License Information
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/*
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* Copyright 2007-2015 The OpenRA Developers (see AUTHORS)
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* This file is part of OpenRA, which is free software. It is made
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* available to you under the terms of the GNU General Public License
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* as published by the Free Software Foundation. For more information,
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* see COPYING.
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*/
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#endregion
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using OpenRA.Activities;
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using OpenRA.Mods.Common.Pathfinder;
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using OpenRA.Mods.Common.Traits;
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using OpenRA.Primitives;
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using OpenRA.Traits;
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namespace OpenRA.Mods.Common.Activities
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{
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public class Move : Activity
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{
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static readonly List<CPos> NoPath = new List<CPos>();
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readonly Mobile mobile;
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readonly IEnumerable<IDisableMove> moveDisablers;
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readonly WRange nearEnough;
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readonly Func<List<CPos>> getPath;
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readonly Actor ignoredActor;
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List<CPos> path;
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CPos? destination;
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// For dealing with blockers
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bool hasWaited;
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bool hasNotifiedBlocker;
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int waitTicksRemaining;
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// Scriptable move order
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// Ignores lane bias and nearby units
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public Move(Actor self, CPos destination)
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{
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mobile = self.Trait<Mobile>();
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moveDisablers = self.TraitsImplementing<IDisableMove>();
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getPath = () =>
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self.World.WorldActor.Trait<IPathFinder>().FindPath(
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PathSearch.FromPoint(self.World, mobile.Info, self, mobile.ToCell, destination, false)
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.WithoutLaneBias());
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this.destination = destination;
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this.nearEnough = WRange.Zero;
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}
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// HACK: for legacy code
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public Move(Actor self, CPos destination, int nearEnough)
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: this(self, destination, WRange.FromCells(nearEnough)) { }
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public Move(Actor self, CPos destination, WRange nearEnough)
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{
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mobile = self.Trait<Mobile>();
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moveDisablers = self.TraitsImplementing<IDisableMove>();
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getPath = () => self.World.WorldActor.Trait<IPathFinder>()
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.FindUnitPath(mobile.ToCell, destination, self);
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this.destination = destination;
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this.nearEnough = nearEnough;
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}
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public Move(Actor self, CPos destination, SubCell subCell, WRange nearEnough)
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{
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mobile = self.Trait<Mobile>();
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moveDisablers = self.TraitsImplementing<IDisableMove>();
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getPath = () => self.World.WorldActor.Trait<IPathFinder>()
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.FindUnitPathToRange(mobile.FromCell, subCell, self.World.Map.CenterOfSubCell(destination, subCell), nearEnough, self);
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this.destination = destination;
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this.nearEnough = nearEnough;
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}
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public Move(Actor self, CPos destination, Actor ignoredActor)
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{
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mobile = self.Trait<Mobile>();
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moveDisablers = self.TraitsImplementing<IDisableMove>();
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getPath = () =>
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self.World.WorldActor.Trait<IPathFinder>().FindPath(
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PathSearch.FromPoint(self.World, mobile.Info, self, mobile.ToCell, destination, false)
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.WithIgnoredActor(ignoredActor));
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this.destination = destination;
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this.nearEnough = WRange.Zero;
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this.ignoredActor = ignoredActor;
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}
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public Move(Actor self, Target target, WRange range)
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{
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mobile = self.Trait<Mobile>();
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moveDisablers = self.TraitsImplementing<IDisableMove>();
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getPath = () =>
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{
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if (!target.IsValidFor(self))
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return NoPath;
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return self.World.WorldActor.Trait<IPathFinder>().FindUnitPathToRange(
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mobile.ToCell, mobile.ToSubCell, target.CenterPosition, range, self);
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};
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destination = null;
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nearEnough = range;
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}
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public Move(Actor self, Func<List<CPos>> getPath)
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{
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mobile = self.Trait<Mobile>();
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moveDisablers = self.TraitsImplementing<IDisableMove>();
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this.getPath = getPath;
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destination = null;
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nearEnough = WRange.Zero;
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}
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static int HashList<T>(List<T> xs)
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{
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var hash = 0;
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var n = 0;
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foreach (var x in xs)
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hash += n++ * x.GetHashCode();
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return hash;
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}
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List<CPos> EvalPath()
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{
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var path = getPath().TakeWhile(a => a != mobile.ToCell).ToList();
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mobile.PathHash = HashList(path);
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return path;
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}
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public override Activity Tick(Actor self)
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{
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if (moveDisablers.Any(d => d.MoveDisabled(self)))
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return this;
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if (destination == mobile.ToCell)
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return NextActivity;
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if (path == null)
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{
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if (mobile.TicksBeforePathing > 0)
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{
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--mobile.TicksBeforePathing;
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return this;
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}
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path = EvalPath();
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SanityCheckPath(mobile);
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}
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if (path.Count == 0)
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{
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destination = mobile.ToCell;
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return this;
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}
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destination = path[0];
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var nextCell = PopPath(self);
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if (nextCell == null)
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return this;
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var firstFacing = self.World.Map.FacingBetween(mobile.FromCell, nextCell.Value.First, mobile.Facing);
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if (firstFacing != mobile.Facing)
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{
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path.Add(nextCell.Value.First);
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return Util.SequenceActivities(new Turn(self, firstFacing), this);
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}
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else
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{
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mobile.SetLocation(mobile.FromCell, mobile.FromSubCell, nextCell.Value.First, nextCell.Value.Second);
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var move = new MoveFirstHalf(
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this,
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self.World.Map.CenterOfSubCell(mobile.FromCell, mobile.FromSubCell),
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Util.BetweenCells(self.World, mobile.FromCell, mobile.ToCell) + (self.World.Map.OffsetOfSubCell(mobile.FromSubCell) + self.World.Map.OffsetOfSubCell(mobile.ToSubCell)) / 2,
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mobile.Facing,
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mobile.Facing,
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0);
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return move;
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}
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}
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[Conditional("SANITY_CHECKS")]
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void SanityCheckPath(Mobile mobile)
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{
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if (path.Count == 0)
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return;
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var d = path[path.Count - 1] - mobile.ToCell;
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if (d.LengthSquared > 2)
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throw new InvalidOperationException("(Move) Sanity check failed");
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}
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Pair<CPos, SubCell>? PopPath(Actor self)
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{
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if (path.Count == 0)
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return null;
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var nextCell = path[path.Count - 1];
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// Next cell in the move is blocked by another actor
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if (!mobile.CanMoveFreelyInto(nextCell, ignoredActor, true))
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{
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// Are we close enough?
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var cellRange = nearEnough.Range / 1024;
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if ((mobile.ToCell - destination.Value).LengthSquared <= cellRange * cellRange)
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{
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path.Clear();
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return null;
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}
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// See if they will move
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if (!hasNotifiedBlocker)
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{
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self.NotifyBlocker(nextCell);
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hasNotifiedBlocker = true;
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}
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// Wait a bit to see if they leave
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if (!hasWaited)
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{
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var info = self.Info.Traits.Get<MobileInfo>();
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waitTicksRemaining = info.WaitAverage + self.World.SharedRandom.Next(-info.WaitSpread, info.WaitSpread);
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hasWaited = true;
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}
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if (--waitTicksRemaining >= 0)
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return null;
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if (mobile.TicksBeforePathing > 0)
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{
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--mobile.TicksBeforePathing;
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return null;
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}
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// Calculate a new path
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mobile.RemoveInfluence();
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var newPath = EvalPath();
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mobile.AddInfluence();
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if (newPath.Count != 0)
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path = newPath;
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return null;
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}
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hasNotifiedBlocker = false;
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hasWaited = false;
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path.RemoveAt(path.Count - 1);
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var subCell = mobile.GetAvailableSubCell(nextCell, SubCell.Any, ignoredActor);
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return Pair.New(nextCell, subCell);
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}
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public override void Cancel(Actor self)
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{
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path = NoPath;
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base.Cancel(self);
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}
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public override IEnumerable<Target> GetTargets(Actor self)
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{
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if (path != null)
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return Enumerable.Reverse(path).Select(c => Target.FromCell(self.World, c));
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if (destination != null)
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return new Target[] { Target.FromCell(self.World, destination.Value) };
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return Target.None;
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}
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abstract class MovePart : Activity
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{
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protected readonly Move Move;
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protected readonly WPos From, To;
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protected readonly int FromFacing, ToFacing;
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protected readonly int MoveFractionTotal;
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protected int moveFraction;
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public MovePart(Move move, WPos from, WPos to, int fromFacing, int toFacing, int startingFraction)
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{
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Move = move;
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From = from;
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To = to;
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FromFacing = fromFacing;
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ToFacing = toFacing;
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moveFraction = startingFraction;
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MoveFractionTotal = (to - from).Length;
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}
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public override void Cancel(Actor self)
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{
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Move.Cancel(self);
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base.Cancel(self);
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}
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public override void Queue(Activity activity)
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{
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Move.Queue(activity);
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}
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public override Activity Tick(Actor self)
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{
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var mobile = self.Trait<Mobile>();
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var ret = InnerTick(self, Move.mobile);
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mobile.IsMoving = ret is MovePart;
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if (moveFraction > MoveFractionTotal)
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moveFraction = MoveFractionTotal;
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UpdateCenterLocation(self, mobile);
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return ret;
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}
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Activity InnerTick(Actor self, Mobile mobile)
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{
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moveFraction += mobile.MovementSpeedForCell(self, mobile.ToCell);
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if (moveFraction <= MoveFractionTotal)
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return this;
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var next = OnComplete(self, mobile, Move);
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if (next != null)
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return next;
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return Move;
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}
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void UpdateCenterLocation(Actor self, Mobile mobile)
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{
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// avoid division through zero
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if (MoveFractionTotal != 0)
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mobile.SetVisualPosition(self, WPos.Lerp(From, To, moveFraction, MoveFractionTotal));
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else
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mobile.SetVisualPosition(self, To);
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if (moveFraction >= MoveFractionTotal)
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mobile.Facing = ToFacing & 0xFF;
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else
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mobile.Facing = int2.Lerp(FromFacing, ToFacing, moveFraction, MoveFractionTotal) & 0xFF;
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}
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protected abstract MovePart OnComplete(Actor self, Mobile mobile, Move parent);
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public override IEnumerable<Target> GetTargets(Actor self)
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{
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return Move.GetTargets(self);
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}
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}
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class MoveFirstHalf : MovePart
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{
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public MoveFirstHalf(Move move, WPos from, WPos to, int fromFacing, int toFacing, int startingFraction)
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: base(move, from, to, fromFacing, toFacing, startingFraction) { }
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static bool IsTurn(Mobile mobile, CPos nextCell)
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{
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return nextCell - mobile.ToCell !=
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mobile.ToCell - mobile.FromCell;
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}
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protected override MovePart OnComplete(Actor self, Mobile mobile, Move parent)
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{
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var fromSubcellOffset = self.World.Map.OffsetOfSubCell(mobile.FromSubCell);
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var toSubcellOffset = self.World.Map.OffsetOfSubCell(mobile.ToSubCell);
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var nextCell = parent.PopPath(self);
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if (nextCell != null)
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{
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if (IsTurn(mobile, nextCell.Value.First))
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{
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var nextSubcellOffset = self.World.Map.OffsetOfSubCell(nextCell.Value.Second);
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var ret = new MoveFirstHalf(
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Move,
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Util.BetweenCells(self.World, mobile.FromCell, mobile.ToCell) + (fromSubcellOffset + toSubcellOffset) / 2,
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Util.BetweenCells(self.World, mobile.ToCell, nextCell.Value.First) + (toSubcellOffset + nextSubcellOffset) / 2,
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mobile.Facing,
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Util.GetNearestFacing(mobile.Facing, self.World.Map.FacingBetween(mobile.ToCell, nextCell.Value.First, mobile.Facing)),
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moveFraction - MoveFractionTotal);
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mobile.FinishedMoving(self);
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mobile.SetLocation(mobile.ToCell, mobile.ToSubCell, nextCell.Value.First, nextCell.Value.Second);
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return ret;
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}
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parent.path.Add(nextCell.Value.First);
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}
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var ret2 = new MoveSecondHalf(
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Move,
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Util.BetweenCells(self.World, mobile.FromCell, mobile.ToCell) + (fromSubcellOffset + toSubcellOffset) / 2,
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self.World.Map.CenterOfCell(mobile.ToCell) + toSubcellOffset,
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mobile.Facing,
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mobile.Facing,
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moveFraction - MoveFractionTotal);
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mobile.EnteringCell(self);
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mobile.SetLocation(mobile.ToCell, mobile.ToSubCell, mobile.ToCell, mobile.ToSubCell);
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return ret2;
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}
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}
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class MoveSecondHalf : MovePart
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{
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public MoveSecondHalf(Move move, WPos from, WPos to, int fromFacing, int toFacing, int startingFraction)
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: base(move, from, to, fromFacing, toFacing, startingFraction) { }
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protected override MovePart OnComplete(Actor self, Mobile mobile, Move parent)
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{
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mobile.SetPosition(self, mobile.ToCell);
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return null;
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}
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}
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}
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public static class ActorExtensionsForMove
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{
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public static bool IsMoving(this Actor self)
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{
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var a = self.GetCurrentActivity();
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if (a == null)
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return false;
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// HACK: Dirty, but it suffices until we do something better:
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if (a.GetType() == typeof(Move)) return true;
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if (a.GetType() == typeof(MoveAdjacentTo)) return true;
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if (a.GetType() == typeof(AttackMoveActivity)) return true;
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// Not a move:
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return false;
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}
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}
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}
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